Automatic tightening apparatus for suction cup assembly

Abstract

An automatic tightening apparatus for a suction cup assembly. The apparatus comprises a suction cup assembly tightening apparatus bench and at least one tightening station, the tightening stations including a first automatic tightening station, a second automatic tightening station, a third automatic tightening station, a fourth automatic tightening station, and a fifth automatic tightening station which are sequentially mounted above the suction cup assembly tightening apparatus bench; and a tightening structure and moving module and a human-machine interface are provided above the suction cup assembly tightening apparatus bench. The beneficial effects are: by providing the tightening stations on the suction cup assembly tightening apparatus bench, sequentially arranging the tightening stations, and disposing the tightening structure and moving module horizontally, switching between the tightening stations can be achieved; the suction cup assembly tightening and assembly process is concentrated on the suction cup assembly tightening apparatus bench, the apparatus has a simple structure and a reasonable layout, and the area occupied by the tightening apparatus is reduced.

Description

Automatic tightening device for suction cup assembly Technical Field

[0001] The invention relates to the technical field of sucker tightening, and in particular to an automatic tightening device for a sucker assembly. Background Art

[0002] Suction cup assemblies are often used at the end of robots or manipulators to pick up and handle glass or plates. The traditional process for assembling suction cup assemblies involves manually placing the parts to be assembled on the work surface and tightening them with a standard hand wrench, following the limiter mechanism. However, the tightening stroke, force, and angle are not fixed and cannot be monitored. Furthermore, personnel may misjudge and fail to tighten the corresponding parts over long periods of time. This can result in some suction cup assemblies not being tightened or leaking air, making defective products more likely to appear. This adds to the difficulty of subsequent functional and quality testing.

[0003] Currently, the suction cup assembly device is relatively complex and occupies a large area. Therefore, an integrated device is needed to achieve fully automatic assembly of the suction cup assembly. Summary of the Invention

[0004] In order to overcome the above-mentioned problems existing in the prior art, the present invention provides an automatic tightening device for a suction cup assembly, comprising a suction cup assembly tightening device stand and at least one tightening station, the tightening station comprising an automatic tightening first station, an automatic tightening second station, an automatic tightening third station, an automatic tightening fourth station and an automatic tightening fifth station sequentially installed above the suction cup assembly tightening device stand, and a tightening structure, a mobile module and a human-machine interface are provided above the suction cup assembly tightening device stand.

[0005] On this basis, the automatic tightening first station includes a first product presence or absence induction sensor, a positioning auxiliary cylinder, a first auxiliary slide rail, a screw guide sleeve, a lock hole position adjustment cylinder, a rubber suction cup positioning pin and a guide sleeve lifting cylinder. The product presence or absence induction sensor is fixed to the base by installing sheet metal, the positioning auxiliary cylinder is installed on the base, the positioning auxiliary cylinder is connected to the rubber suction cup positioning pin, the first auxiliary slide rail is opened on the side of the base, the screw guide sleeve is fixed on the first auxiliary slide rail through a connecting block, the lock hole position adjustment cylinder is fixed to the base through a rod-shaped bracket, the rubber suction cup positioning pin is arranged below the screw guide sleeve, the screw guide sleeve is connected to the guide sleeve lifting cylinder, and the guide sleeve lifting cylinder is fixed on the base.

[0006] On this basis, the automatic tightening second station includes a product fixing lifting cylinder, a large suction cup induction sensor, a second auxiliary slide rail, an airtight tightening docking structure 1, an airtight tightening docking structure 2, a product fixing plate, a small suction cup tightening station, a large suction cup tightening station, a tightening lifting cylinder and a small suction cup induction sensor. The product fixing lifting cylinder is fixed on the base, and the product fixing plate is connected to the product fixing lifting cylinder through a floating joint. The large suction cup induction sensor and the small suction cup induction sensor are fixed to the base by installing sheet metal. The second auxiliary slide rail is arranged on the side of the base. The airtight tightening docking structure 1 and the airtight tightening docking structure 2 are fixed in the second auxiliary slide rail through a connecting plate. The small suction cup tightening station and the large suction cup tightening station are fixed to the base through a rod-shaped bracket. The tightening lifting cylinder is fixed on the base and connected to the airtight tightening docking structure 1 and the airtight tightening docking structure 2.

[0007] On this basis, the automatic tightening third station includes a first servo motor, a distance sensing sensor, a left support rod clamping cylinder, a front and rear slide cylinder, a rotating assembly stop cylinder, a lifting buffer assembly, a tightening docking structure four, a right inlet and outlet cylinder, a joint limit block, a right support rod clamping cylinder, a support rod clamping piece and a first lifting cylinder, the first servo motor is fixed to the base through a connecting plate, the distance sensing sensor is fixed to the base through sheet metal, the left support rod clamping cylinder and the right support rod clamping cylinder are respectively arranged on both sides of the vertical part of the base, the front and rear slide cylinders and the rotating assembly stop cylinder are all fixed on the base and are arranged on the upper side of the left support rod clamping cylinder and the right support rod clamping cylinder, the lifting buffer assembly consists of a guide rod and a spring, a slide rail is arranged on the base, the tightening docking structure four is installed on the slide rail through a connecting piece, the right inlet and outlet cylinder and the joint limit block are connected by a floating joint, and the first lifting cylinder is installed on the side of the base and connected to the support rod clamping piece.

[0008] On this basis, the automatic tightening fourth station includes a positioning clamping cylinder, a third auxiliary slide rail, a tightening docking structure five, a round nut magnetic head and a second lifting cylinder. The positioning clamping cylinder and the second lifting cylinder are fixed on the base, and the third auxiliary slide rail is arranged on the side of the base. The tightening docking structure five is arranged in the third auxiliary slide rail through a connecting plate, and the round nut magnetic head is fixed to the tightening docking structure five through a connecting rod.

[0009] On this basis, the fifth automatic tightening station includes a positioning cylinder, a downward pressure cylinder, an airtight tightening docking structure six, a second product presence or absence induction sensor, an inlet and outlet cylinder and a third lifting cylinder. The positioning cylinder and the inlet and outlet cylinder are installed on the base, the downward pressure cylinder and the third lifting cylinder are connected to the slide rail on the base through a mounting plate, the airtight tightening docking structure six is ​​installed in the third auxiliary slide rail through a connecting plate, and the second product presence or absence induction sensor is installed on the base through sheet metal.

[0010] On this basis, the tightening structure and moving module include a second servo motor, a first slide module, a fourth auxiliary slide rail, a third servo motor, a second slide module, a third lifting cylinder, a displacement sensor and a tightening gun. The third servo motor and the second slide module, the second slide module are installed on the slider of the first slide module and the fourth auxiliary slide rail through a connecting plate, the third lifting cylinder and the displacement sensor are installed on the slider of the second slide module, and the tightening gun is connected to the third lifting cylinder through a floating joint.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention sets tightening stations on the suction cup assembly tightening device stand, arranges the tightening work in sequence, and sets the tightening structure and the movable module horizontally, which can realize switching between various tightening tasks, and concentrates the tightening and assembly process of the suction cup assembly on the suction cup assembly tightening device stand. The structure is simple, the layout is reasonable, and the floor space of the tightening device is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic structural diagram of a suction cup assembly;

[0013] FIG2 is a schematic structural diagram of the automatic tightening device of the present invention;

[0014] FIG3 is a schematic structural diagram of the first automatic tightening station of the present invention;

[0015] FIG4 is a schematic structural diagram of the first automatic tightening station of the present invention;

[0016] FIG5 is a schematic structural diagram of the second automatic tightening station of the present invention;

[0017] FIG6 is a schematic structural diagram of the second automatic tightening station of the present invention;

[0018] FIG7 is a schematic structural diagram of the third automatic tightening station of the present invention;

[0019] FIG8 is a schematic structural diagram of the third automatic tightening station of the present invention;

[0020] 9 is a schematic structural diagram of the fourth automatic tightening station of the present invention;

[0021] 10 is a schematic structural diagram of the fourth automatic tightening station of the present invention;

[0022] 11 is a schematic structural diagram of the fifth station of the automatic tightening of the present invention;

[0023] 12 is a schematic structural diagram of the fifth station of the automatic tightening of the present invention;

[0024] 13 is a schematic diagram of the tightening structure and the movable module structure of the present invention;

[0025] In the picture:

[0026] A. Suction cup assembly tightening device stand;

[0027] B. Automatic tightening of the first station, B1. First product presence sensor, B2. Positioning auxiliary cylinder, B3. First auxiliary slide rail, B4. Screw guide sleeve, B5. Lock hole adjustment cylinder, B6. Rubber suction cup positioning pin, B7. Guide sleeve lifting cylinder;

[0028] C, automatic tightening second station, C1, product fixing lifting cylinder, C2, large suction cup with or without induction sensor, C3, second auxiliary slide rail, C4, airtight tightening docking structure 1, C5, airtight tightening docking structure 2, C6, product fixing plate, C7, small suction cup tightening station, C8, large suction cup tightening station, C9, tightening lifting cylinder, C10, small suction cup with or without induction sensor;

[0029] D, automatic tightening third station, D1, first servo motor, D2, distance sensing sensor, D3, left support rod clamping cylinder, D4, front and rear slide cylinders, D5, rotation assembly stop cylinder, D6, lifting buffer assembly, D7, tightening docking structure four, D8, right inlet and outlet cylinders, D9, joint limit block, D10, right support rod clamping cylinder, D11, support rod clamping piece, D12, first lifting cylinder;

[0030] E, automatic tightening of the fourth station, E1, positioning clamping cylinder, E2, third auxiliary slide rail, E3, tightening docking structure five, E4, round nut magnetic head, E5, second lifting cylinder;

[0031] F, automatic tightening fifth station, F1, positioning cylinder, F2, pressing cylinder, F3, airtight tightening docking structure five, F4, second product presence or absence sensor, F5, in and out cylinder, F6, third lifting cylinder;

[0032] G, tightening structure and moving module, G1, second servo motor, G2, first slide module, G3, fourth auxiliary slide rail, G4, third servo motor, G5, second slide module, G6, third lifting gas, G7, displacement sensor, G8, tightening gun;

[0033] H. Human-machine interface;

[0034] I. Suction cup assembly, I1. Fastening screw, I2. Suction cup, I3. Suction cup fixing plate, I4. First joint screw, I5. Support rod, I6. Spring, I7. Flat washer, I8. Round nut, I9. Lock washer, I10. Support rod fixing plate, I11. Support rod fixing sleeve, I12. Rubber pad, I13. Induction cup, I14. Second joint screw. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] Referring to Figure 1, a suction cup assembly I includes a fastening screw I1, a suction cup I2, a suction cup fixing plate I3, a first joint screw I4, a support rod I5, a spring I6, a flat washer I7, a round nut I8, a stop washer I9, a support rod fixing plate I10, a support rod fixing sleeve I11, a rubber pad I12, an induction cup I13 and a second joint screw I14. The parts need to be tightened during installation, and automated operations will improve production efficiency. Therefore, the present invention discloses an automatic tightening device for a suction cup assembly, referring to Figure 2, including a suction cup assembly tightening device stand A and five tightening stations. The tightening stations include an automatic tightening first station B, an automatic tightening second station C, an automatic tightening third station D, an automatic tightening fourth station E and an automatic tightening fifth station F, which are sequentially installed above the suction cup assembly tightening device stand A. A tightening structure, a mobile module G and a human-machine interface H are provided above the suction cup assembly tightening device stand A.

[0037] Referring to Figures 3 and 4, the automatic tightening first station B includes a first product presence induction sensor B1, a positioning auxiliary cylinder B2, a first auxiliary slide rail B3, a screw guide sleeve B4, a lock hole position adjustment cylinder B5, a rubber suction cup positioning pin B6 and a guide sleeve lifting cylinder B7. The product presence induction sensor B1 is fixed to the base by installing sheet metal, the positioning auxiliary cylinder B2 is installed on the base, the positioning auxiliary cylinder B2 is connected to the rubber suction cup positioning pin B6, the first auxiliary slide rail B3 is opened on the side of the base, the screw guide sleeve B4 is fixed to the first auxiliary slide rail B3 through a connecting block, the lock hole position adjustment cylinder B5 is fixed to the base through a rod-shaped bracket, the rubber suction cup positioning pin B6 is set below the screw guide sleeve B4, the screw guide sleeve B4 is connected to the guide sleeve lifting cylinder B7, and the guide sleeve lifting cylinder B7 is fixed to the base.

[0038] The first product presence / absence induction sensor B1 is used to sense whether the suction cup I2 is placed. The positioning auxiliary cylinder B2 is used to drive the rubber suction cup positioning pin B6 to fix the suction cup I2 so that it is not easy to shake. The first auxiliary slide rail B3 is used to lift the screw guide sleeve B4. The lock hole position adjustment cylinder B5 is used to adjust the position of the suction cup I2. The guide sleeve lifting cylinder B7 is used to drive the screw guide sleeve B4 to lift and lower.

[0039] Referring to Figures 5 and 6, the second automatic tightening station C includes a product fixing lifting cylinder C1, a large suction cup presence sensor C2, a second auxiliary slide rail C3, an airtight tightening docking structure 1 C4, an airtight tightening docking structure 2 C5, a product fixing plate C6, a small suction cup tightening station C7, a large suction cup tightening station C8, a tightening lifting cylinder C9, and a small suction cup presence sensor C10. The product fixing lifting cylinder C1 is fixed to the base, and the product fixing plate C6 is connected to the product fixing lifting cylinder C1 through a floating joint. Then, the large suction cup presence or absence induction sensor C2 and the small suction cup presence or absence induction sensor C10 are fixed to the base by installing sheet metal, the second auxiliary slide rail C3 is set on the side of the base, the airtight tightening docking structure C4 and the airtight tightening docking structure C5 are fixed in the second auxiliary slide rail C3 through the connecting plate, the small suction cup tightening station C7 and the large suction cup tightening station C8 are fixed to the base through a rod-shaped bracket, and the tightening lifting cylinder C9 is fixed on the base and connected with the airtight tightening docking structure C4 and the airtight tightening docking structure C5.

[0040] The product fixing lifting cylinder C1 is used to drive the lifting of the product fixing plate C6. The large suction cup presence induction sensor C2 and the small suction cup presence induction sensor C10 are used to sense whether the product is placed. The second auxiliary slide rail C3 is used to assist in the lifting of the airtight tightening docking structure 1 C4 and the airtight tightening docking structure 2 C5. The airtight tightening docking structure 1 C4 and the airtight tightening docking structure 2 C5 are used to adsorb the first joint screw 14. The product fixing plate C6 is used to fix the product. The small suction cup tightening station C7 and the large suction cup tightening station C8 are used to place the product. The tightening lifting cylinder C9 is used to drive the lifting of the airtight tightening docking structure 1 C4 and the airtight tightening docking structure 2 C5.

[0041] Referring to Figures 7 and 8, the third automatic tightening station D includes a first servo motor D1, a distance sensing sensor D2, a left support rod clamping cylinder D3, a front and rear slide cylinder D4, a rotating assembly stop cylinder D5, a lifting buffer assembly D6, a tightening docking structure D7, a right inlet and outlet cylinder D8, a joint limit block D9, a right support rod clamping cylinder D10, a support rod clamping member D11 and a first lifting cylinder D12. The first servo motor D1 is fixed to the base through a connecting plate, the distance sensing sensor D2 is fixed to the base through a sheet metal, the left support rod clamping cylinder D3 and the right support rod clamping cylinder D10 are respectively arranged on both sides of the vertical part of the base. The front and rear slide cylinders D4 and the rotating assembly stop cylinder D5 are all fixed on the base and arranged on the upper side of the left support rod clamping cylinder D3 and the right support rod clamping cylinder D10. The lifting buffer assembly D6 is composed of a guide rod and a spring. A slide rail is set on the base. The tightening docking structure D7 is installed on the slide rail through a connecting piece. The right inlet and outlet cylinder D8 and the joint limit block D9 are connected by a floating joint. The first lifting cylinder D12 is installed on the side of the base and connected to the support rod clamping piece D11.

[0042] The first servo motor D1 is used to adjust the angle of the first joint screw 14, the distance sensing sensor D2 detects the angle of the first joint screw 14, the left support rod clamping cylinder D2 and the right support rod clamping cylinder D10 are used to fix the support rod I5, the front and rear slide cylinders D4 are used to extend and retract the support rod clamping piece D11, the rotating assembly stop cylinder D5 is used to prevent the support rod clamping piece D11 from rotating freely, the lifting buffer assembly D6 can effectively stabilize the stability of the entire assembly during lifting and lowering, the tightening docking structure four D7 is commonly used for docking tightening gun G8, the joint limit block D9 is used to limit the first joint screw I4, the right support rod clamping cylinder D10 is used to clamp the support rod I5, and the first lifting cylinder D12 is used to drive the support rod clamping piece D11 to rise and fall.

[0043] Referring to Figures 9 and 10, the fourth automatic tightening station E includes a positioning clamping cylinder E1, a third auxiliary slide rail E2, a tightening docking structure five E3, a round nut magnetic head E4 and a second lifting cylinder E5. The positioning clamping cylinder E1 and the second lifting cylinder E5 are fixed on the base, the third auxiliary slide rail E2 is arranged on the side of the base, the tightening docking structure five E3 is arranged in the third auxiliary slide rail E2 through a connecting plate, and the round nut magnetic head E4 is fixed to the tightening docking structure five E3 through a connecting rod.

[0044] The positioning and clamping cylinder E1 is used to press the support rod fixing plate I11 to prevent the product components from shaking during tightening. The third auxiliary slide rail E2 is used to assist the lifting of the round nut magnetic head E4. The tightening docking structure five E3 is used for docking with the tightening gun G8. The round nut magnetic head E4 is used for docking and adsorbing the round nut I8. The second lifting cylinder E5 is used to drive the lifting and lowering of the tightening docking structure five E3 and the round nut magnetic head E4.

[0045] Referring to Figures 11 and 12, the fifth automatic tightening station F includes a positioning cylinder F1, a downward pressure cylinder F2, an airtight tightening docking structure F3, a second product presence or absence induction sensor F4, an inlet and outlet cylinder F5, and a third lifting cylinder F6. The positioning cylinder F1 and the inlet and outlet cylinder F5 are installed on the base, the downward pressure cylinder F2 and the third lifting cylinder F6 are connected to the slide rail on the base through a mounting plate, the airtight tightening docking structure F3 is installed in the third auxiliary slide rail E2 through a connecting plate, and the second product presence or absence induction sensor F4 is installed on the base through sheet metal.

[0046] The positioning cylinder F1 is used to drive the clamp to clamp the first joint screw I4, the downward pressure cylinder F2 is used to drive the pressure plate to press down the support rod fixing sleeve I11, the support rod fixing plate I10, the stop washer I9 for the round nut, and the round nut I8 assembly. The airtight tightening docking structure six F3 is used for docking for the docking tightening gun G8. The second product presence or absence induction sensor F4 is used to sense the presence or absence of the suction cup assembly. The in-and-out cylinder F5 is used to drive the downward pressure cylinder F2, the airtight tightening docking structure six F3, and the third lifting cylinder F6 to move in and out. The third lifting cylinder F6 is used to drive the airtight tightening docking structure six F3 to rise and fall.

[0047] Referring to Figure 13, the tightening structure and moving module G include a second servo motor G1, a first slide module G2, a fourth auxiliary slide rail G3, a third servo motor G4, a second slide module G5, a third lifting cylinder G6, a displacement sensor G7 and a tightening gun G8. The third servo motor G4 and the second slide module G5, the second slide module G5 are installed on the sliders of the first slide module G2 and the fourth auxiliary slide rail G3 through a connecting plate, the third lifting cylinder G6 and the displacement sensor G7 are installed on the slider of the second slide module G5, and the tightening gun G8 is connected to the third lifting cylinder G6 through a floating joint.

[0048] The second servo motor G1 is used to drive the slider on the first slide module G2 to move left and right. The first slide module G2 is used to carry the left and right movement of the second slide module G5 and the tightening gun G8. The fourth auxiliary slide rail G3 is used to assist the slide module G5 and the tightening gun G8 to remain stable during the lateral movement. The third servo motor G4 is used to drive the slider on the second slide module G5 to move up and down. The second slide module G5 is used to drive the lifting cylinder G6, the displacement sensor G7, and the tightening gun G8 to move up and down. The third lifting cylinder G6 is used to drive the lifting and lowering of the tightening gun G8. The displacement sensor G7 is used to detect whether the locking depth of the component is abnormal. The tightening gun G8 is used to tighten the suction cup assembly.

[0049] In actual work, the working process is as follows:

[0050] Step 1: Start;

[0051] 2 , press the start button on the device human-machine interface H to start the device.

[0052] Step 2: Take and place the suction cup I2 and the suction cup fixing plate I3;

[0053] 1 , 2 , 3 and 4 , the external robot places the suction cup I2 and the suction cup fixing plate I3 at the corresponding positions of the first automatic tightening station B, and senses whether the suction cup I2 and the suction cup fixing plate I3 are placed through the first product presence sensing sensor B1.

[0054] Step 3: Remove and replace the fastening screw I1 and tighten the suction cup I2 and the suction cup fixing plate I3;

[0055] Referring to Figures 1, 2, 3 and 4, the rubber suction cup positioning pin B6 positions the suction cup I2 so that it is not easy to shake, the positioning auxiliary cylinder B2 descends, driving the rubber suction cup positioning pin B6 to move, the guide sleeve lifting cylinder B7 drives the screw guide sleeve B4 to descend, and the external robot takes the fastening screw I1 and places it in the two screw guide sleeves B4 respectively. The second servo motor G1 drives the first slide module G2 to move to the corresponding position, the third lifting cylinder G6 descends, driving the tightening gun G8 to descend, and the third servo motor G4 drives the second slide module G5 to descend to the corresponding position, and cooperates with the tightening gun G8 to complete the locking action of the fastening screw I1. After tightening the two fastening screws I1 in turn, the guide sleeve lifting cylinder B7 and the positioning auxiliary cylinder B2 rise successively, and the locking hole adjustment cylinder B5 extends, and the locking action is repeated to complete the removal and placement of the fastening screw I1 and tighten it, thereby fixing the suction cup I2 and the suction cup fixing plate I3.

[0056] Step 4: Take out the first joint screw I4 and tighten it;

[0057] Referring to Figures 1, 2, 5 and 6, the external robot takes out the suction cup I2 and suction cup fixing plate I3 assembly from the automatic tightening first station B and places it at the automatic tightening second station C, opens the airtight tightening docking structure C4 to suck vacuum, and the external robot places the first joint screw I4 at the lower end docking of the airtight tightening docking structure C4. The product fixing plate C6 fixes the product, and the product fixing lifting cylinder C1 drives the product fixing plate C6 to descend. The tightening lifting cylinder C9 drives the airtight tightening docking structure C4 and the airtight tightening docking structure C5 to descend. The second servo motor G1 drives the first slide module G2 to move, realizing the left and right horizontal movement of the second slide module G5 and the tightening gun G8 to the working position. The third servo motor G4 drives the second slide module G5 to descend to the corresponding position. The second slide module G5 drives the lifting cylinder G6 to move, and the lifting cylinder G6 drives the tightening gun G8 to descend, cooperating with the tightening gun G8 to complete the tightening action.

[0058] Step 5: Tighten the support rod I5, suction cup I2, suction cup fixing plate I3 and first joint screw I4 assembly;

[0059] Referring to Figures 1, 2, 7 and 8, the external robot takes out the suction cup I2, suction cup fixing plate I3 and the first joint screw I4 assembly from the automatic tightening second station C and places it at the automatic tightening third station D. The first servo motor D1 is rotated and adjusted according to the feedback value of the distance sensing sensor D2 to ensure the placement angle of the suction cup I2, suction cup fixing plate I3 and the first joint screw I4 assembly. The right inlet and outlet cylinder D8 is extended, and the joint limit block D9 clamps the suction cup I2, suction cup fixing plate I3 and the first joint screw I4 assembly. The external robot clamps the support rod I5 to the specified position directly above the automatic tightening third station D. The left support rod clamping cylinder D3 and the right support rod clamping cylinder D9 clamp the support rod I5, the front and rear slide cylinders D4 extend, so that the support rod clamping part D11 clamps the support rod I5, the first lifting cylinder D12 drives the support rod clamping part D11 to descend, the rotating assembly stop cylinder D5 retracts, and the second servo motor G1 drives the first slide module G2 to move, so that the second slide module G5 and the tightening gun G8 can move left and right to the working position. The third servo motor G4 drives the second slide module G5 to descend to the corresponding position, and the second slide module G5 drives the lifting cylinder G6 to move, and the lifting cylinder G6 drives the tightening gun G8 to descend to complete the tightening.

[0060] Step 6: Tighten the round nut I8, the round nut lock washer I9, the support rod fixing plate I10 and the support rod fixing sleeve I11 assembly;

[0061] Referring to Figures 1, 2, 9 and 10, the external robot takes the locking washer I9 for the round nut, the support rod fixing plate I10 and the support rod fixing sleeve I11 and places them at the corresponding position of the fourth automatic tightening station E. The external robot takes the round nut I8 and places it on the round nut magnetic head E4 on the fourth automatic tightening station E. The positioning clamping cylinder E1 descends and presses the support rod fixing plate I11 to prevent the product assembly from shaking during tightening. The second lifting cylinder E5 drives the tightening of the docking structure five E3 and the round nut. The female magnetic head E4 descends, and the second servo motor G1 drives the first slide module G2 to move, realizing the left and right lateral movement of the second slide module G5 and the tightening gun G8 to the working position. The third servo motor G4 drives the second slide module G5 to descend to the corresponding position, and the second slide module G5 drives the lifting cylinder G6 to move. The lifting cylinder G6 drives the tightening gun G8 to descend, completing the tightening of the round nut I8, the round nut stop washer I9, the support rod fixing plate I10 and the support rod fixing sleeve I11 assembly.

[0062] Step 7: Remove and place the suction cup 12, suction cup fixing plate 13, first joint screw 14 and support rod 15 assembly;

[0063] Referring to Figures 1, 2, 11 and 12, the external robot places the suction cup I2, suction cup fixing plate I3, first joint screw I4 and support rod I5 assembly on the corresponding position on the automatic tightening fifth station F, and the external robot puts the spring I6 and flat washer I7 onto the support rod I5 on the automatic tightening fifth station F.

[0064] Step 8: Tighten the induction cup I13 and the second connector screw I14;

[0065] Referring to Figures 1, 5, 9, 10, 11, 12 and 13, the external robot goes to the fourth automatic tightening station E to take the support rod fixing sleeve I11, the support rod fixing plate I10, the stop washer I9 for the round nut, and the round nut I8 assembly, and puts it on the support rod I5 on the fifth automatic tightening station F. The external robot takes the rubber pad I12 and puts it on the support rod 15 on the fifth automatic tightening station F. The external robot takes the second joint screw I14, and the vacuum is opened on the airtight tightening docking structure F3. The external robot places the second joint screw I14 in the bottom end interface of the airtight tightening docking structure F3, and the in-and-out cylinder F5 drives the downward pressure cylinder F2, the airtight tightening docking structure F3, and the third lifting cylinder F6 assembly. Extend, the downward pressure cylinder F2 descends, driving the pressure plate to press down the support rod fixing sleeve I11, the support rod fixing plate I10, the stop washer I9 for the round nut, and the round nut I8 assembly. The external robot places the sensing cup I13 in the corresponding position. The third lifting cylinder F6 is used to drive the airtight tightening docking structure six F3 to descend, and the second servo motor G1 drives the first slide module G2 to move, so as to realize the left and right lateral movement of the second slide module G5 and the tightening gun G8 to the working position. The third servo motor G4 drives the second slide module G5 to descend to the corresponding position, and the second slide module G5 drives the lifting cylinder G6 to move. The lifting cylinder G6 drives the tightening gun G8 to descend, and cooperates with the tightening gun G8 to complete the tightening action, completing the tightening work of the second joint screw I14.

[0066] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0067] In the present invention, unless otherwise clearly stipulated and limited, the terms "install", "set", "connect", "fix", "screw", "place" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0068] The foregoing description shows and describes preferred embodiments of the present invention. As previously mentioned, it should be understood that the present invention is not limited to the form disclosed herein and should not be construed as excluding other embodiments. Instead, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the inventive concept described herein by the teachings above or by techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art without departing from the spirit and scope of the present invention are intended to be within the scope of the appended claims.

Claims

1. An automatic tightening device for a suction cup assembly, characterized in that: It includes a bench (A) for the tightening device of the suction cup assembly and at least one tightening station. The tightening station includes an automatic tightening first station (B), an automatic tightening second station (C), an automatic tightening third station (D), an automatic tightening fourth station (E), and an automatic tightening fifth station (F) that are sequentially installed above the bench (A) for the tightening device of the suction cup assembly. Above the bench (A) for the tightening device of the suction cup assembly, there are a tightening structure and a moving module (G) and a human-machine interface (H).

2. The automatic tightening device for the suction cup assembly according to claim 1, wherein: The automatic tightening first station (B) includes a first product presence sensor (B1), a positioning auxiliary cylinder (B2), a first auxiliary slide rail (B3), a screw guide sleeve (B4), a locking hole position adjustment cylinder (B5), a rubber suction cup positioning pin (B6), and a guide sleeve lifting cylinder (B7). The product presence sensor (B1) is fixed to the base through a mounting sheet metal. The positioning auxiliary cylinder (B2) is installed on the base. The positioning auxiliary cylinder (B2) is connected to the rubber suction cup positioning pin (B6). The first auxiliary slide rail (B3) is opened on the side of the base. The screw guide sleeve (B4) is fixed to the first auxiliary slide rail (B3) through a connecting block. The locking hole position adjustment cylinder (B5) is fixed to the base through a rod-shaped bracket. The rubber suction cup positioning pin (B6) is arranged below the screw guide sleeve (B4). The screw guide sleeve (B4) is connected to the guide sleeve lifting cylinder (B7). The guide sleeve lifting cylinder (B7) is fixed to the base.

3. The automatic tightening device for the suction cup assembly according to claim 2, wherein: The automatic tightening second station (C) includes a product fixing lifting cylinder (C1), a large suction cup presence sensor (C2), a second auxiliary slide rail (C3), an airtight tightening docking structure one (C4), an airtight tightening docking structure two (C5), a product fixing plate (C6), a small suction cup tightening station (C7), a large suction cup tightening station (C8), a tightening lifting cylinder (C9), and a small suction cup presence sensor (C10). The product fixing lifting cylinder (C1) is fixed to the base. The product fixing plate (C6) is connected to the product fixing lifting cylinder (C1) through a floating joint. The large suction cup presence sensor (C2) and the small suction cup presence sensor (C10) are fixed to the base through a mounting sheet metal. The second auxiliary slide rail (C3) is arranged on the side of the base. The airtight tightening docking structure one (C4) and the airtight tightening docking structure two (C5) are fixed in the second auxiliary slide rail (C3) through a connecting plate. The small suction cup tightening station (C7) and the large suction cup tightening station (C8) are fixed to the base through a rod-shaped bracket. The tightening lifting cylinder (C9) is fixed to the base and is connected to the airtight tightening docking structure one (C4) and the airtight tightening docking structure two (C5).

4. The automatic tightening device for the suction cup assembly according to claim 3, wherein: The automatic tightening third station (D) includes a first servo motor (D1), a distance induction sensor (D2), a left side rod clamping cylinder (D3), a front and rear sliding table cylinder (D4), a rotation assembly stop cylinder (D5), a lifting buffer assembly (D6), a tightening docking structure four (D7), a right side in-and-out cylinder (D8), a joint limit block (D9), a right side rod clamping cylinder (D10), a rod clamping member (D11), and a first lifting cylinder (D12). The first servo motor (D1) is fixed to the base through a connecting plate. The distance induction sensor (D2) is fixed to the base through sheet metal. The left side rod clamping cylinder (D3) and the right side rod clamping cylinder (D10) are respectively arranged on both sides of the vertical part of the base. The front and rear sliding table cylinder (D4) and the rotation assembly stop cylinder (D5) are both fixed on the base and arranged above the left side rod clamping cylinder (D3) and the right side rod clamping cylinder (D10). The lifting buffer assembly (D6) consists of a guide rod and a spring. A slide rail is arranged on the base. The tightening docking structure four (D7) is installed on the slide rail through a connecting member. The right side in-and-out cylinder (D8) and the joint limit block (D9) are connected through a floating joint. The first lifting cylinder (D12) is installed on the side of the base and connected to the rod clamping member (D11).

5. The automatic tightening device for the suction cup assembly according to claim 4, characterized in that: The automatic tightening fourth station (E) includes a positioning and clamping cylinder (E1), a third auxiliary slide rail (E2), a tightening docking structure five (E3), a round nut magnetic head (E4), and a second lifting cylinder (E5). The positioning and clamping cylinder (E1) and the second lifting cylinder (E5) are fixed on the base. The third auxiliary slide rail (E2) is arranged on the side of the base. The tightening docking structure five (E3) is arranged in the third auxiliary slide rail (E2) through a connecting plate. The round nut magnetic head (E4) is fixed to the tightening docking structure five (E3) through a connecting rod.

6. The automatic tightening device for the suction cup assembly according to claim 5, wherein: The automatic tightening fifth station (F) includes a positioning cylinder (F1), a pressing cylinder (F2), an airtight tightening docking structure six (F3), a second product presence / absence induction sensor (F4), an in-and-out cylinder (F5), and a third lifting cylinder (F6). The positioning cylinder (F1) and the in-and-out cylinder (F5) are installed on the base. The pressing cylinder (F2) and the third lifting cylinder (F6) are connected to the slide rail on the base through a mounting plate. The airtight tightening docking structure six (F3) is installed in the third auxiliary slide rail (E2) through a connecting plate. The second product presence / absence induction sensor (F4) is installed on the base through sheet metal.

7. The automatic tightening device for the suction cup assembly according to claim 6, characterized in that: The tightening structure and the moving module (G) include a second servo motor (G1), a first sliding table module (G2), a fourth auxiliary slide rail (G3), a third servo motor (G4), a second sliding table module (G5), a third lifting cylinder (G6), a displacement sensor (G7), and a tightening gun (G8). The third servo motor (G4) is connected to the second sliding table module (G5). The second sliding table module (G5) is mounted on the sliders of the first sliding table module (G2) and the fourth auxiliary slide rail (G3) through a connecting plate. The third lifting cylinder (G6) and the displacement sensor (G7) are mounted on the slider of the second sliding table module (G5). The tightening gun (G8) is connected to the third lifting cylinder (G6) through a floating joint.

Images