CN107150225A - Assembling and detection integral type integrated intelligence manufacture outfit - Google Patents

Abstract

The present invention relates to automatic assembly equipment, more specifically, relates to a kind of mechanical equipment for realizing automatic assembly. The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention mainly includes: workbench, vibrating plate, feeding track, flipping and retrieving manipulator, grasping manipulator, dynamic clamp mechanism, blocking mechanism, chain conveying mechanism, three-claw manipulator , Cover plate vibrating plate, cover plate feeding track, area to be clamped, spring jacking mechanism, testing mechanism. The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention uses several manipulators to realize the rapid grasping and handling of materials, realizes the automatic assembly and automatic testing of cover plates and springs, has a high degree of automation integration, and realizes electrical appliances Unmanned rapid assembly and testing of products.

Description

Assembly and testing integrated intelligent manufacturing complete equipment

technical field

The present invention relates to automatic assembly equipment, more specifically, relates to a kind of mechanical equipment for realizing automatic assembly.

Background technique

A spring is a mechanical part that uses elasticity to work. Parts made of elastic materials are deformed under the action of external force, and return to their original shape after the external force is removed. Also known as "spring". Generally made of spring steel. The types of springs are complex and diverse. According to the shape, there are mainly coil springs, scroll springs, leaf springs, special-shaped springs, etc.

Although the spring industry is a small industry in the entire manufacturing industry, its role cannot be underestimated. The country's industrial manufacturing and automobile industries need to speed up the development, and the spring industry as one of the basic parts and components needs to have an advanced stage of development in order to adapt to the rapid development of the country's entire industry. In addition, the expansion of the scale and variety of spring products and the improvement of the quality level are also the needs of the replacement of mechanical equipment and the improvement of the performance of supporting hosts. Therefore, spring products play an important role in the development of the entire national industry.

The daily necessities industry and the hardware industry, including lighters, toys, locks, door hinges, fitness equipment, mattresses, sofas, etc., in terms of quantity, the demand for springs is the largest, tens of billions, the technical requirements are not high, and the price is very high. Low.

In electrical products, such as electrical switches and circuit breakers, a large number of springs are assembled. Since the springs are small in structure and easy to change in size, workers need to manually grasp the springs.

Contents of the invention

The purpose of the present invention is to provide an integrated intelligent manufacturing complete set of assembly and detection equipment, which is applied to the automatic assembly production of electrical products or mechanical products. The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention uses several manipulators to realize the rapid grasping and handling of materials, and uses the chain conveying mechanism to realize the long-distance conveying of springs, which has a high degree of automation integration and realizes electrical products. Unmanned rapid assembly operations.

A complete set of integrated intelligent manufacturing equipment for assembly and testing, including: a workbench, a vibrating plate for outputting springs, a feeding track for transporting the springs, and a flipper for clamping the springs and flipping them at a certain angle A retrieving manipulator, a grasping manipulator for grabbing the spring from the flipping and retrieving manipulator, a blocking mechanism for limiting the moving speed of the spring, a chain conveying mechanism for transporting the spring, A dynamic clamping mechanism mounted on the chain conveyor mechanism, a three-jaw manipulator for grabbing the cover plate, a cover plate vibrating plate for outputting the cover plate, and a discharge port connected to the cover plate vibrating plate The cover feeding track, the area to be clamped connected to the cover feeding track, the spring jacking mechanism for assembling the spring into the cover, and the spring and cover for testing Testing mechanism; the output port of the vibrating plate is connected to the feeding track, the output port of the feeding track is connected to the turning and retrieving manipulator, the blocking mechanism is located at the output port of the feeding track, and the grab The fetching manipulator is located at the upper part of the flipping and retrieving manipulator, the dynamic clamp mechanism is located at the lower part of the grabbing manipulator, and the chain conveying mechanism is located at the side of the grabbing manipulator; the outlet of the cover vibrating plate The feed port is connected to the cover plate feeding track, the discharge port of the cover plate feeding track is connected to the area to be clamped, the three-jaw manipulator is located on the upper part of the area to be clamped, and the spring jacking mechanism is located The lower part of the dynamic fixture mechanism, the testing mechanism is located at the lower part of the three-jaw manipulator;

The three-claw manipulator includes: No. 4 bracket, No. 4 horizontal slide table, No. 4 vertical slide table, horizontal connecting plate, flexible gripper; The sliding platform is fixed to the No. 4 bracket, the No. 4 vertical sliding platform is fixed to the No. 4 horizontal sliding platform, the horizontal connecting plate is fixed to the No. 4 vertical sliding platform, and the flexible The grippers are arranged at the lower part of the horizontal connecting plate at equal intervals; the number of the flexible grippers is three, including: No. 1 flexible gripper, No. 2 flexible gripper, and No. 3 flexible gripper;

The testing mechanism includes: the No. 6 bracket, the material receiving slide cylinder, the material receiving gripper, the upper test platform, and the lower test platform. The cylinder body is fixedly connected to the No. 6 bracket, the material-receiving claw is fixedly connected to the slide table of the material-receiving slide cylinder, the upper test platform is fixedly connected to the No. 6 bracket, and the upper test The platform is located on the upper part of the material receiving claw, the lower test platform is fixedly connected to the No. 6 bracket, and the upper test platform is located on the lower part of the material receiving claw; the lower test platform includes: the lower table cylinder , the lower conductive probe, the lower insulating seat, the cylinder body of the sliding table cylinder is fixedly connected to the No. 6 support, the lower insulating seat is fixedly connected to the slide table of the sliding table cylinder, and the lower conductive probe The needle is fixedly connected to the lower insulating seat; the upper test bench includes: an upper sliding table cylinder, an upper conductive probe, and an upper insulating seat, and the cylinder body of the upper sliding table cylinder is fixedly connected to the No. 6 bracket. The upper insulating seat is fixedly connected to the slide table of the upper sliding table cylinder, the upper conductive probe is fixedly connected to the upper insulating seat; the lower conductive probe is matched with the spring.

Preferably, the spring jacking mechanism includes: No. 5 bracket, push-in cylinder, thimble slide plate, thimble, supporting roller, the No. 5 bracket is fixedly connected to the workbench, and the cylinder body of the push-in cylinder is fixed. Connected to the No. 5 support, the thimble slide plate is movably connected to the No. 5 support, and the end of the piston rod pushed into the cylinder is fixedly connected to the thimble slide plate; the top of the thimble slide plate is fixedly connected with the The thimble, the thimble is matched with the dynamic clamp mechanism; the support roller is movably connected to the No. 5 bracket, the support roller is located at the lower part of the dynamic clamp mechanism, the support roller and the dynamic clamp institutions match.

Preferably, the flexible gripper includes: No. 4 finger cylinder, left finger, right finger, left auxiliary finger, right auxiliary finger, spring seat, finger spring, flexible clamping plate, the cylinder of the No. 4 finger air cylinder The body is fixedly connected to the horizontal connecting plate, the left finger and right finger are connected to the No. 4 finger cylinder, and the left finger and right finger are opened and closed in parallel; the left auxiliary finger is fixed the left finger, the right auxiliary finger is fixedly connected to the right finger; the flexible clamping plate is movably connected to the right finger, and the spring seat is fixedly connected to the right finger; A finger spring is arranged between the plate and the spring seat; the left finger and the right auxiliary finger form a clamping combination, and the left auxiliary finger and the flexible clamping plate form a clamping combination.

Preferably, the dynamic clamp mechanism includes: a roller, a sliding plate, and a clamp, the roller is movably connected to the sliding plate, and the clamp is fixedly connected to the sliding plate;

Preferably, the chain conveying mechanism includes: a gantry bracket, a chain transmission mechanism, a drive motor, a sliding track, a vertical limit cylinder, a vertical limit plate, and a limit guide post, and the gantry bracket is fixedly connected to the Workbench, the chain transmission mechanism is movably connected to the gantry support, the drive motor is fixed to the gantry support, and the output shaft of the drive motor is fixed to the chain transmission mechanism through a coupling; The gantry bracket is provided with the sliding track matching the dynamic clamp mechanism, the rollers are movably connected to the sliding track, and the dynamic clamp mechanism is fixedly connected to the chain transmission mechanism through a connecting chain plate; The cylinder body of the vertical limiting cylinder is fixedly connected to the gantry bracket, the vertical limiting plate is fixedly connected to the slider of the vertical limiting cylinder, and the vertical limiting plate is provided with The limit guide post, the clamp is provided with a limit guide hole matching the limit guide post, and the limit guide post is located on the upper part of the material table support seat.

Preferably, a blocking piece is provided on the clamp, a sensor is arranged on the gantry bracket, and the blocking piece matches the sensor.

Preferably, the turning and reclaiming manipulator includes: No. 1 bracket, No. 1 horizontal sliding cylinder, No. 1 horizontal slide plate, turning cylinder, No. 1 claw cylinder, upper finger, lower finger, elastic pressing block, cover plate, the The No. 1 bracket is fixedly connected to the workbench, the cylinder block of the No. 1 horizontal slide cylinder is fixedly connected to the No. 1 bracket, the No. 1 horizontal slide plate is movably connected to the No. 1 bracket, and the No. 1 horizontal slide plate is movably connected to the No. 1 bracket. The end of the piston rod of the sliding cylinder is fixedly connected to the No. 1 horizontal slide plate; the cylinder block of the overturning cylinder is fixedly connected to the No. 1 horizontal slide plate, and the cylinder block of the No. 1 hand claw cylinder is fixedly connected to the turned over On the output flange of the air cylinder; the upper finger and the lower finger are fixedly connected to the No. 1 claw cylinder, the upper finger is fixedly connected with the upper finger, the lower finger is fixedly connected with the lower finger, and the lower finger is fixedly connected with the lower finger. The finger is provided with a material inlet matching the spring direction, the upper finger is movably connected to the elastic pressing block, and the cover plate is fixedly connected to the upper finger, between the elastic pressing block and the cover plate A downward pressure spring is arranged between, and the elastic pressing block is matched with the material inlet.

Preferably, the blocking mechanism includes: a No. 2 bracket, an upper and lower cylinder, an end connecting plate, an upper and lower sliding plate, and an elastic probe. The No. 2 bracket is fixed to the worktable, and the cylinder body of the upper and lower cylinders is On the No. 2 bracket, the upper and lower sliding plates are movably connected to the No. 2 bracket, and the ends of the piston rods of the upper and lower cylinders are fixedly connected to the upper and lower sliding plates through the end connecting plates; Connected to the upper and lower sliding plates, the elastic probe matches the feeding track.

Preferably, the grasping manipulator includes: No. 3 bracket, No. 2 horizontal sliding table, No. 2 vertical sliding table, Y-axis sliding table, discharging finger cylinder, and discharging finger. The No. 3 bracket is fixedly connected to the The No. 2 horizontal slide table is fixedly connected to the No. 3 bracket, the No. 2 vertical slide table is fixedly connected to the slider of the No. 2 horizontal slide table, and the Y-axis slide table is fixed Connected to the slide block of the No. 2 vertical slide table, the discharge finger cylinder is fixedly connected to the slide block of the Y-axis slide table.

Preferably, when the piston rod of the No. 1 horizontal sliding cylinder is in an extended state, the feed inlet matches the feeding track, and the No. 1 claw cylinder is in an unfolded state, the spring can enter into the In the material inlet; when the No. 1 claw cylinder is in the closed state, the spring is clamped by the No. 1 claw cylinder.

Preferably, the clamp is provided with two material holes for accommodating the spring: No. 1 material hole and No. 2 material hole.

Preferably, when the piston rod of the upper and lower cylinders is in the extended state, the elastic column of the elastic probe enters into the feeding track and contacts the surface of the spring; when the piston rod of the upper and lower cylinders is in the In the retracted state, the elastic column breaks away from the feeding track and out of contact with the spring.

Preferably, the lower part of the dynamic clamp mechanism is provided with the table support seat for supporting the dynamic clamp mechanism.

Compared with the traditional technology, the assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention has the following positive effects and beneficial effects:

The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention mainly includes: workbench, vibrating plate, feeding track, flipping and retrieving manipulator, grabbing manipulator, dynamic clamp mechanism, blocking mechanism, chain conveying mechanism, three-claw manipulator , Cover plate vibrating plate, cover plate feeding track, waiting area, spring jacking mechanism, testing mechanism. The springs are first poured into the vibrating plate, and the vibrating plate arranges the springs in an orderly manner and then inputs them into the feeding track; direction; the blocking mechanism is used to control the rhythm of the spring entering the flipping and reclaiming manipulator; after the turning and reclaiming manipulator grabs the spring from the outlet of the feeding track, The spring is detached from the feeding track and rotates the spring at a certain angle; the dynamic clamp mechanism moves along the slide track driven by the chain conveying mechanism, and the dynamic clamp mechanism stays on the After the material table support seat is placed on, the limit guide column enters the limit guide hole to further improve the positioning accuracy of the clamp; The spring is placed in the No. 1 material hole and the No. 2 material hole; then, the chain conveying mechanism transfers the spring to other different stations to realize assembly line operation. The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention realizes the automatic assembly of the spring into the No. 1 material hole and the No. 2 material hole, and avoids clamping deformation of the spring. The spring is transported to the cover plate assembly station by the dynamic clamp mechanism; after the cover plate is output from the cover plate vibrating plate, it passes through the cover plate feeding track to the area to be clamped, and the No. 1 flexible gripper Clamp the cover plate from the area to be clamped and place it on the dynamic clamp mechanism that has been positioned at the cover plate assembly station. Since the spring has been positioned on the dynamic clamp mechanism, the spring The push-in mechanism pushes the spring into the assembly hole of the cover plate from bottom to top, and assembles the spring and cover plate; then, the No. 2 flexible gripper will assemble the spring and cover The plate is grabbed to the testing station, the cylinder of the material receiving slide is stretched out, and the material receiving claw clamps the spring and cover plate from the No. 2 flexible claw; then, the receiving The cylinder of the material slide table is retracted, and the upper test bench and the lower test bench complete the test of the spring and the cover plate. The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention realizes the rapid grasping and handling of the spring by using the turning and retrieving manipulator and the grasping manipulator, and realizes the spring transportation by using the chain conveying mechanism. Long-distance transportation, using the three-jaw manipulator to realize the handling, assembly and testing of the cover plate. The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention realizes unmanned rapid assembly and test operation of electrical products, high efficiency, and reliable product quality.

Next, describe the working process and working principle of the three-claw manipulator:

The No. 4 horizontal sliding platform is used to drive the flexible gripper to realize horizontal movement, and the No. 4 vertical sliding platform is used to drive the flexible gripper to realize vertical movement; the horizontal connecting plate is fixedly connected to the For the No. 4 vertical slide, the flexible grippers are equidistantly arranged on the lower part of the horizontal connecting plate. The flexible gripper can grasp the material, and under the drive of the No. 4 horizontal slide table and the No. 4 vertical slide table, it can realize rapid movement within a plane range. In order to improve the efficiency of material clamping, the flexible gripper can clamp the two cover plates. Since there is a slight error in the geometric dimensions of the cover plates, the flexible gripper can compensate this slight error through the flexibility of the finger spring, so that the flexible gripper can clamp two of the cover plates at the same time.

Next, describe the working process and working principle of the flexible gripper:

The left auxiliary finger is fixed to the left finger, the right auxiliary finger is fixed to the right finger; the flexible clamping plate is movably connected to the right finger, and the spring seat is fixed to the The right finger is provided with a finger spring between the flexible clamping plate and the spring seat; the left finger and the right auxiliary finger form a clamping combination, and the left auxiliary finger and the flexible clamping plate form a Group clamping combination. First, the fourth finger cylinder is in the open state, when the cover plate is located between the left finger and the right auxiliary finger, at the same time, the other cover plate is located between the left auxiliary finger and the flexible clamp between the plates; then, the No. 4 finger cylinder is closed, and the No. 4 finger cylinder drives the left and right auxiliary fingers to close to clamp the cover plate. At the same time, the left and right auxiliary fingers are closed. The flexible clamping plate is closed to clamp the cover plate, and the clamping force of the flexible clamping plate on the cover plate is equal to the elastic force of the finger spring. Therefore, it is realized that the clamping of the two cover plates is completed by using one No. 4 finger cylinder, which greatly improves the working efficiency of the flexible gripper.

Next, describe the working process and working principle of the chain conveyor mechanism:

The chain transmission mechanism is movably connected to the gantry support, and the drive motor drives the chain transmission mechanism to rotate relative to the gantry support.

The rollers are movably connected to the sliding track, and the dynamic clamping mechanism is fixedly connected to the chain transmission mechanism through a connecting chain plate, and the chain transmission mechanism drives the dynamic clamping mechanism to move along the direction of the sliding track. The guiding function of the sliding track improves the motion precision of the dynamic clamp mechanism. The limit guide post which can improve the positioning accuracy is also arranged on the chain conveying mechanism.

When the dynamic clamping mechanism reaches the target station, that is, the blocking piece matches the sensor, the chain transmission mechanism stops moving. The rough positioning of the dynamic clamp mechanism can be realized through the electromagnetic action of the shutter and the sensor. Next, further improve the positioning accuracy of the dynamic clamp mechanism.

Since the clamp is located on the upper part of the material platform support seat, the limit guide post enters into the limit guide hole driven by the vertical limit cylinder, because the limit guide post and limit The positioning guide hole is in a state of precise positioning, thereby improving the positioning accuracy of the clamp, and at the same time, the clamp is fixed on the support seat of the table, so that the clamp does not have any movable space. The clamp can accurately dock with the grasping manipulator, thereby realizing precise and efficient transmission of assembly line operations.

Next, describe the working process and working principle of the flipping and reclaiming manipulator:

The No. 1 horizontal slide plate is movably connected to the No. 1 bracket, the end of the piston rod of the No. 1 horizontal sliding cylinder is fixedly connected to the No. 1 horizontal slide plate, and the cylinder body of the turning cylinder is fixedly connected to the No. 1 horizontal slide plate. No. 1 horizontal slide plate, and the No. 1 sliding cylinder is used to drive the turning cylinder to break away from or contact the feeding track.

The cylinder block of the No. 1 claw cylinder is fixedly connected to the output flange of the flipping cylinder, the upper finger and the lower finger are fixedly connected to the No. 1 claw cylinder, and the upper finger is fixedly connected to the upper finger cylinder. Finger, the lower finger is fixedly connected with the lower finger. The No. 1 hand claw cylinder is closed, which can drive the upper finger and lower finger to close, thereby realizing the clamping of the spring; the No. 1 hand claw cylinder is released, and can drive the upper finger and lower finger to disengage. , so as to realize the release of the spring.

Since the material of the spring is relatively soft, in order to prevent the upper finger and the lower finger from closing, when the spring is clamped, the spring is squeezed and deformed. An elastic mechanism is provided on the upper finger, so as to protect the spring and prevent the spring from being squeezed and deformed.

The upper finger is movably connected to the elastic pressing block, the cover plate is fixedly connected to the upper finger, and a downward pressure spring is arranged between the elastic pressing block and the cover plate, and the elastic pressing block and the feeding material Mouth matches. The No. 1 claw cylinder is released, and the spring enters the material inlet; then, the No. 1 claw cylinder is closed, and the elastic pressing block contacts the surface of the spring, and due to the elasticity The press-down spring is arranged on the back of the press block, and the press-down spring is compressed and deformed, so that the elastic press block is flexibly pressed against the surface of the spring to prevent the spring from being pressed and deformed.

Next, describe the working process and working principle of the blocking mechanism:

At the beginning, the piston rod of the No. 1 horizontal sliding cylinder was in an extended state, the feed port matched the feeding track, the No. 1 claw cylinder was in an unfolded state, and the piston rods of the upper and lower cylinders were in an extended state. In the retracted state, the elastic column breaks away from the feeding track and out of contact with the spring, and the spring can enter the material inlet; then, the No. 1 claw cylinder drives the upper finger, The lower finger is closed to realize the flexible clamping of the spring; then, the piston rod of the upper and lower cylinders is in a stretched state, so that the elastic column of the elastic probe enters the feeding track and touches the spring The surface ensures that only the spring caught by the No. 1 claw cylinder can move, and the spring pressed by the elastic probe cannot move.

Since the elastic column of the elastic probe is driven by a highly flexible spring, after the elastic column contacts the spring, it can effectively avoid extrusion deformation of the spring.

Description of drawings

Fig. 1 is a structural schematic diagram of an integrated intelligent manufacturing complete set of assembly and detection integrated equipment of the present invention;

Fig. 2 is a schematic structural view of a three-claw manipulator of an integrated intelligent manufacturing complete set of assembly and detection equipment of the present invention;

Fig. 3 is a structural schematic diagram of the flexible gripper of the integrated intelligent manufacturing complete set of assembly and detection integrated equipment of the present invention;

Fig. 4 is a partial structural schematic diagram of the assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention;

Figures 5 and 6 are structural schematic diagrams of the chain conveying mechanism of the integrated intelligent manufacturing complete set of assembly and detection integrated equipment of the present invention;

Figures 7, 8, and 9 are partial structural schematic diagrams of the assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention;

Figures 10 and 11 are structural schematic diagrams of the turning and reclaiming manipulator of the integrated intelligent manufacturing complete set of assembly and detection integrated equipment of the present invention;

Fig. 12 is a schematic structural view of the spring jacking mechanism of the assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention;

Fig. 13 is a schematic structural view of the testing mechanism of the assembly and testing integrated intelligent manufacturing complete set of equipment of the present invention.

1 Workbench, 2 Vibrating plate, 3 Feeding track, 4 Flipping and retrieving manipulator, 5 Grabbing manipulator, 6 Fixture, 7 Blocking mechanism, 8 No. 1 bracket, 9 No. 1 horizontal sliding cylinder, 10 No. 1 horizontal slide plate, 11 Overturning Cylinder, 12 No. 1 claw cylinder, 13 upper finger, 14 lower finger, 15 elastic pressure block, 16 cover plate, 17 spring, 18 upper and lower cylinder, 19 end connecting plate, 20 upper and lower sliding plate, 21 elastic probe, 22 upper Finger, 23 lower finger, 24 elastic column, 25 down pressure spring, 26 material inlet, 27 No. 2 horizontal slide table, 28 No. 2 vertical slide table, 29 Y-axis slide table, 30 discharge finger cylinder, 31 discharge finger , 32 No. 1 material hole, 33 No. 2 material hole, 34 No. 2 bracket, 35 No. 3 bracket, 36 Chain conveyor mechanism, 37 Material platform support seat, 38 Gantry bracket, 39 Chain transmission mechanism, 40 Drive motor, 41 Connection Chain plate, 42 sliding track, 43 roller, 44 sliding plate, 45 dynamic clamp mechanism, 46 stopper, 47 sensor, 48 vertical limit cylinder, 49 vertical limit plate, 50 limit guide column, 51 limit guide Hole, 52 three-claw manipulator, 53 cover plate vibrating plate, 54 cover plate feeding track, 55 waiting area, 56 cover plate, 57 No. 4 bracket, 58 No. 4 horizontal slide table, 59 No. 4 vertical slide table, 60 level Connecting plate, 61 No. 1 flexible gripper, 62 No. 4 finger cylinder, 63 Left finger, 64 Right finger, 65 Left auxiliary finger, 66 Right auxiliary finger, 67 Spring seat, 68 Finger spring, 69 Flexible clamping plate, No. 70 flexible gripper No. 2, No. 71 soft gripper No. 3, 72 spring jacking mechanism, No. 73 bracket No. 5, 74 push-in cylinder, 75 thimble slide, 76 thimble, 77 supporting roller, 78 testing mechanism, 79 No. 6 bracket , 80 feeding sliding table cylinder, 81 feeding hand claw, 82 sliding table cylinder, 83 lower conductive probe, 84 lower insulating seat, 85 upper sliding table cylinder, 86 upper conductive probe, 87 upper insulating seat.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings, but does not constitute any limitation to the present invention. Similar component numbers in the accompanying drawings represent similar components. As mentioned above, the present invention provides a complete set of assembly and detection integrated intelligent manufacturing equipment. In the automatic assembly and production of electrical products, the springs are grabbed and placed on the fixture in an orderly manner, and the vibration plate is used to realize the adjustment of the springs. Orderly output to the feeding track, use the flipping and retrieving manipulator to grab the spring from the feeding track, use the grabbing manipulator to grab the spring from the flipping and retrieving manipulator and place it on the dynamic fixture, use the chain conveyor mechanism Transport the spring to the cover plate assembly station; use the cover plate vibrating plate to realize the orderly output of the cover plate to the cover plate feeding track, use the three-jaw manipulator to grab the cover plate from the area to be clamped to the dynamic fixture, and place the spring Assemble to the cover, and then the three-jaw manipulator clamps the assembled spring and cover to the next station. The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention realizes the orderly output of the spring, and after the spring is adjusted to a predetermined angle, it is placed on the fixture, and the double manipulator is used to ensure the smooth and controllable movement of the spring , to avoid pinching the spring, the spring is transported to the cover plate assembly station by a chain conveying mechanism; use the three-jaw manipulator to grab the cover plate from the area to be clamped to the dynamic fixture on the cover plate assembly station, and push it in by the spring The mechanism realizes the assembly of the cover plate and the spring; then, the three-jaw manipulator clamps the cover plate and the spring to the test station, and the test mechanism completes the product test. The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention uses several manipulators to realize the rapid grasping and handling of materials, and realizes the automatic assembly and automatic testing of cover plates and springs. Unmanned rapid assembly of products.

Figure 1 is a schematic structural view of the assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention, Figure 2 is a structural schematic view of the three-claw manipulator of the present invention's assembly and detection integrated integrated intelligent manufacturing complete set of equipment, Figure 3 is the assembly of the present invention and the structural schematic diagram of the flexible gripper of the integrated intelligent manufacturing complete set of equipment for detection and integration. 7, 8, and 9 are partial structural diagrams of the present invention's assembly and detection integrated integrated intelligent manufacturing complete set of equipment, and Figs. 10 and 11 are the assembly and detection of the present invention. The structural schematic diagram of the flipping and retrieving manipulator of the detection integrated integrated intelligent manufacturing complete set of equipment, Fig. 12 is the structural schematic diagram of the spring jacking mechanism of the present invention's assembly and detection integrated integrated intelligent manufacturing complete set of equipment, Fig. 13 is the assembly and detection of the present invention Schematic diagram of the structure of the testing mechanism for testing integrated integrated intelligent manufacturing equipment.

A complete set of assembly and testing integrated intelligent manufacturing equipment, including: a workbench 1, a vibrating plate 2 for outputting the spring 17, a feeding track 3 for transporting the spring 17, and a And turn over the reclaiming manipulator 4 at a certain angle, the grasping manipulator 5 for grabbing the spring 17 from the reversing reclaiming manipulator 4, the blocking mechanism 7 for limiting the moving speed of the spring 17, The chain conveying mechanism 36 for conveying the spring 17, the dynamic gripper mechanism 45 mounted on the chain conveying mechanism 36, the three-jaw manipulator 52 for grabbing the cover 56, and the output of the cover 56 56 of the cover plate vibrating plate 53, the cover plate feeding track 54 connected to the discharge port of the cover plate vibrating plate 53, the to-be-clamped area 55 connected to the cover plate feeding track 54, for the spring 17 The spring jacking mechanism 72 assembled in the cover plate 56 is used to test the spring 17 and the cover plate 56; the output port of the vibrating plate 2 is connected to the feeding track 3, so The output port of the feeding track 3 is connected to the flipping and retrieving manipulator 4, the blocking mechanism 7 is located at the output port of the feeding track 3, and the grasping manipulator 5 is located on the top of the turning and retrieving manipulator 4, The dynamic clamping mechanism 45 is located at the bottom of the grabbing manipulator 5, and the chain conveying mechanism 36 is located at the side of the grabbing manipulator 5; the outlet of the cover vibrating plate 53 is connected to the cover Plate feeding track 54, the discharge port of the cover plate feeding track 54 is connected to the area to be clamped 55, the three-jaw manipulator 52 is located on the upper part of the area to be clamped 55, and the spring pushing mechanism 72 is located at the The bottom of the dynamic clamp mechanism 45, the test mechanism 78 is located at the bottom of the three-jaw manipulator 52;

The three-claw manipulator includes: No. 4 bracket 57, No. 4 horizontal slide table 58, No. 4 vertical slide table 59, horizontal connecting plate 60, flexible gripper; , the No. 4 horizontal slide table 58 is fixedly connected to the No. 4 bracket 57, the No. 4 vertical slide table 59 is fixedly connected to the No. 4 horizontal slide table 58, and the horizontal connecting plate 60 is fixedly connected to the No. 4 horizontal slide table 58. The No. 4 vertical slide 59, the flexible grippers are equidistantly arranged on the bottom of the horizontal connecting plate 60; the number of the flexible grippers is three, including: No. 1 flexible gripper 61, No. 2 flexible gripper Flexible gripper 70, No. 3 flexible gripper 71;

The testing mechanism 78 includes: the No. 6 support 79, the material receiving slide cylinder 80, the material receiving claw 81, the upper test platform, and the lower test platform. The No. 6 support 79 is fixedly connected to the workbench 1, and the The cylinder body of the material receiving slide cylinder 80 is fixedly connected to the No. 6 bracket 79, the material receiving claw 81 is fixedly connected to the slide table of the material receiving slide cylinder 80, and the upper test bench is fixedly connected to the The No. 6 bracket 79, the upper test platform is located on the top of the material receiving claw 81, the lower test platform is fixedly connected to the No. 6 bracket 79, and the upper test platform is located on the material receiving claw 81. 81; the lower test bench includes: sliding table cylinder 82, lower conductive probe 83, lower insulating seat 84, the cylinder block of the sliding table cylinder 82 is fixedly connected to the No. 6 support 79, and the lower insulating Seat 84 is fixedly connected on the slide table of described slide table cylinder 82, and described lower conductive probe 83 is fixedly connected with described lower insulating seat 84; Described upper test bench includes: upper slide table cylinder 85, upper conductive probe 86. Upper insulating seat 87, the cylinder body of the upper sliding table cylinder 85 is fixedly connected to the No. 6 support 79, and the upper insulating seat 87 is fixedly connected to the slide table of the upper sliding table cylinder 85. The upper conductive probe 86 is fixedly connected to the upper insulating base 87 ; the lower conductive probe 83 is matched with the spring 17 .

More specifically, the spring jacking mechanism 72 includes: No. 5 bracket 73, push-in cylinder 74, thimble slide plate 75, thimble 76, supporting roller 77, and No. 5 bracket 73 is fixedly connected to the workbench 1, The cylinder block of the described push-in cylinder 74 is fixedly connected to the No. 5 support 73, the thimble slide plate 75 is movably connected to the No. 5 support 73, and the end of the piston rod of the push-in cylinder 74 is fixedly connected to the No. 5 support 73. The thimble slide 75; the top of the thimble slide 75 is fixedly connected with the thimble 76, and the thimble 76 is matched with the dynamic clamp mechanism 45; the support roller 77 is movably connected to the No. 5 bracket 73, so The supporting roller 77 is located at the lower part of the dynamic clamp mechanism 45 , and the supporting roller 77 matches with the dynamic clamp mechanism 45 .

More specifically, the flexible gripper includes: fourth finger cylinder 62, left finger 63, right finger 64, left auxiliary finger 65, right auxiliary finger 66, spring seat 67, finger spring 68, flexible clamping plate 69 , the cylinder body of the fourth finger cylinder 62 is fixedly connected to the horizontal connecting plate 60, the left finger 63 and the right finger 64 are connected to the fourth finger cylinder 62, and the left finger 63 and the right finger 64 form The state of parallel opening and closing; the left auxiliary finger 65 is fixedly connected to the left finger 63, and the right auxiliary finger 66 is fixedly connected to the right finger 64; the flexible clamping plate 69 is movably connected to the Right finger 64, described spring seat 67 is connected to described right finger 64, is provided with finger spring 68 between described flexible clamping plate 69 and spring seat 67; Described left finger 63 and right side auxiliary finger 66 constitute A set of clamping combinations, the left auxiliary finger 65 and the flexible clamping plate 69 form a set of clamping combinations.

More specifically, the dynamic clamp mechanism 45 includes: a roller 43, a sliding plate 44, and a clamp 6, the roller 43 is movably connected to the sliding plate 44, and the clamp 6 is fixedly connected to the sliding plate 44;

More specifically, the chain conveying mechanism 36 includes: a gantry bracket 38, a chain transmission mechanism 39, a drive motor 40, a sliding track 42, a vertical limit cylinder 48, a vertical limit plate 49, and a limit guide post 50, The gantry support 38 is fixedly connected to the workbench 1, the chain transmission mechanism 39 is movably connected to the gantry support 38, the drive motor 40 is fixed to the gantry support, and the output shaft of the drive motor 40 Fixedly connected to the chain transmission mechanism 39 through a coupling; the sliding track 42 matching the dynamic clamp mechanism 45 is provided on the gantry bracket 38, and the roller 43 is movably connected to the sliding track 42, the dynamic clamp mechanism 45 is fixedly connected to the chain transmission mechanism 39 through the connecting chain plate 41; the cylinder block of the vertical limit cylinder 48 is fixedly connected to the gantry bracket 38, and the vertical limit plate 49 is fixedly connected to the slider of the vertical limit cylinder 48, the vertical limit plate 49 is provided with the limit guide post 50, the clamp 6 is provided with the limit guide post 50 is matched with a limit guide hole 51, and the limit guide post 50 is located on the upper part of the table support seat 37.

More specifically, the clamp 6 is provided with a blocking piece 46 , the gantry bracket 38 is provided with a sensor 47 , and the blocking piece 46 is matched with the sensor 47 .

More specifically, the turning and reclaiming manipulator 4 includes: No. 1 bracket 8, No. 1 horizontal sliding cylinder 9, No. 1 horizontal slide plate 10, turning cylinder 11, No. 1 claw cylinder 12, upper finger 13, lower finger 14, Elastic briquetting block 15, cover plate 16, described No. 1 support 8 is fixedly connected to described workbench 1, and the cylinder body of described No. 1 horizontal slide cylinder 9 is fixedly connected to described No. 1 support 8, and described No. 1 level The slide plate 10 is movably connected to the No. 1 support 8, and the end of the piston rod of the No. 1 horizontal sliding cylinder 9 is fixedly connected to the No. 1 horizontal slide plate 10; No. 1 horizontal slide plate 10, the cylinder body of the No. 1 hand claw cylinder 12 is fixedly connected on the output flange of the described turning cylinder 11; , the upper finger 13 is fixedly connected with an upper finger 22, the lower finger 14 is fixedly connected with a lower finger 23, and the lower finger 23 is provided with a material inlet 26 matching with the spring 17, the The elastic pressing block 15 is movably connected to the upper finger 22, the cover plate 16 is fixedly connected to the upper finger 22, and a downward pressure spring 25 is arranged between the elastic pressing block 15 and the cover plate 16. The briquetting block 15 matches the feed port 26 .

More specifically, the blocking mechanism 7 includes: a No. 2 bracket 34, an upper and lower cylinder 18, an end connecting plate 19, an upper and lower sliding plate 20, and an elastic probe 21. The No. 2 bracket 34 is fixedly connected to the workbench 1, The cylinder body of the upper and lower cylinders 18 is fixedly connected to the No. 2 support 34, the upper and lower sliding plates 20 are movably connected to the No. 2 support 34, and the ends of the piston rods of the upper and lower cylinders 18 pass through the end connecting plate 19 is fixedly connected to the upper and lower sliding plates 20; the elastic probes 21 are fixed to the upper and lower sliding plates 20, and the elastic probes 21 are matched with the feeding rails 3.

More specifically, the grasping manipulator 5 includes: No. 3 bracket 35, No. 2 horizontal slide table 27, No. 2 vertical slide table 28, Y-axis slide table 29, discharge finger cylinder 30, and discharge finger 31. The No. 3 bracket 35 is fixedly connected to the workbench 1, the No. 2 horizontal sliding platform 27 is fixedly connected to the No. 3 bracket 35, and the No. 2 vertical sliding platform 28 is fixedly connected to the No. 2 horizontal sliding platform. On the slide block of table 27, the Y-axis slide table 29 is fixedly connected to the slide block of the No. 2 vertical slide table 28, and the discharge finger cylinder 30 is fixedly connected to the slide block of the Y-axis slide table 29. on the block.

More specifically, when the piston rod of the No. 1 horizontal slide cylinder 9 is in an extended state, the feed port 26 matches the feeding track 3, and the No. 1 claw cylinder 12 is in an unfolded state, the The spring 17 can enter into the material inlet 26; when the No. 1 claw cylinder 12 is in the closed state, the spring 17 is in the state of being clamped by the No. 1 claw cylinder 12.

More specifically, the clamp 6 is provided with two material holes for accommodating the spring 17 : the first material hole 32 and the second material hole 33 .

More specifically, when the piston rod of the upper and lower cylinders 18 is in the extended state, the elastic column 24 of the elastic probe 21 enters the feeding track 3 and contacts the surface of the spring 17; When the piston rod of the upper and lower cylinders 18 is in the retracted state, the elastic column 24 is separated from the feeding track 3 and out of contact with the spring 17 .

More specifically, the lower part of the dynamic clamp mechanism 45 is provided with the material platform support seat 37 for supporting the dynamic clamp mechanism 45 .

The working principle and working process of the integrated intelligent manufacturing complete set of assembly and detection integrated equipment of the present invention are further described below in conjunction with Figures 1 to 13:

The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention mainly includes: workbench 1, vibrating plate 2, feeding track 3, turning and retrieving manipulator 4, grabbing manipulator 5, dynamic clamp mechanism 45, blocking mechanism 7, chain Type conveying mechanism 36, three-jaw manipulator 52, cover plate vibrating plate 53, cover plate feeding track 54, area 55 to be clamped, spring jacking mechanism 72, testing mechanism 78. The springs 17 are first poured into the vibrating plate 2, and the vibrating plate 2 puts the springs 7 into the feeding track 3 in an orderly queue; the feeding track 3 pushes the springs 17 to The direction of the flipping and reclaiming manipulator 4 is conveyed; the blocking mechanism 7 is used to control the rhythm of the spring 17 entering the turning and retrieving manipulator 4; After grabbing the spring 17 at the outlet, the spring 17 is separated from the feeding track 3, and the spring 17 is rotated at a certain angle; 36 to move along the slide track 42, and after the dynamic clamp mechanism 45 stays on the material platform support seat 37, the limit guide post 50 enters into the limit guide hole 51 to further improve The positioning accuracy of the clamp 6; the grasping manipulator 5 grabs the spring 17 from the turning and retrieving manipulator 4, and places the spring 17 in the No. 1 material hole 32, the No. 2 material In the hole 33; then, the chain conveying mechanism 36 transfers the spring 17 to other different stations to realize assembly line operation. The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention realizes the automatic assembly of the spring 17 into the No. 1 material hole 32 and the No. 2 material hole 33, avoiding the clamping of the spring 17 deformation, the spring 17 is transported to the cover plate assembly station by the dynamic clamp mechanism 45; after the cover plate 56 is output from the cover plate vibrating plate 53, it passes through the cover plate feeding track 54 to the to-be-clamped zone 55, the No. 1 flexible gripper 61 clamps the cover plate 56 from the zone 55 to be clamped and places it on the dynamic clamp mechanism 45 already located at the cover plate assembly station. The spring 17 has been positioned on the dynamic clamp mechanism 45, and the spring pushing mechanism 72 pushes the spring 17 into the assembly hole of the cover plate 56 from bottom to top, and the spring 17 and the cover plate 56 The assembly is realized; then, the No. 2 flexible gripper 70 grabs the assembled spring 17 and the cover plate 56 to the test station, the material receiving slide cylinder 80 stretches out, and the material receiving gripper 81 clamps the spring 17 and the cover plate 56 from the No. 2 flexible gripper 70; then, the cylinder 80 of the receiving slide table is retracted, and the upper test bench and the lower test bench complete the inspection of the Testing of spring 17 and cover plate 56. The assembly and detection integrated intelligent manufacturing complete set of the present invention utilizes the turning and retrieving manipulator 4 and the grasping manipulator 5 to realize the rapid grasping and handling of the spring 17, and utilizes the chain conveying mechanism to realize all The long-distance transportation of the spring 17 is realized by using the three-jaw manipulator to carry, assemble and test the cover plate. The assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention realizes unmanned rapid assembly and test operation of electrical products, high efficiency, and reliable product quality.

Next, describe the working process and working principle of the three-jaw manipulator 52:

The No. 4 horizontal slide table 58 is used to drive the flexible claw to realize horizontal movement, and the No. 4 vertical slide table 59 is used to drive the flexible claw to realize vertical movement; the horizontal connecting plate 60 is fixedly connected On the No. 4 vertical slide 59 , the flexible grippers are equally spaced on the lower part of the horizontal connecting plate 60 . The flexible gripper can grasp the material, and under the drive of the No. 4 horizontal slide table 58 and the No. 4 vertical slide table 59, it can realize rapid movement within a plane range. In order to improve the efficiency of material clamping, the flexible claws can clamp the two cover plates 56 . Since there is a slight error in the geometric dimensions of the cover plate 56, the flexible gripper can flexibly compensate for this slight error through the finger spring 68, so that the flexible gripper can hold two covers at the same time. plate 56.

Next, describe the working process and working principle of the flexible gripper:

The left auxiliary finger 65 is fixedly connected to the left finger 63, and the right auxiliary finger 66 is fixedly connected to the right finger 64; the flexible clamping plate 69 is movably connected to the right finger 64, and the The spring seat 67 is fixedly connected to the right finger 64, and a finger spring 68 is arranged between the flexible clamping plate 69 and the spring seat 67; the left finger 63 and the right side auxiliary finger 66 form a group of clamping combinations, The left auxiliary finger 65 and the flexible clamping plate 69 form a set of clamping combinations. First, the No. 4 finger cylinder 62 is in an open state. When the cover plate 56 is located between the left finger 63 and the right auxiliary finger 66, at the same time, the other cover plate 56 is located between the left auxiliary finger 66. between the fingers 65 and the flexible clamping plate 69; then, the fourth finger cylinder 62 is closed, and the fourth finger cylinder 62 drives the left finger 63 and the right auxiliary finger 66 to close to clamp the cover plate 56, at the same time, the left auxiliary finger 65 and the flexible clamping plate 69 are closed to clamp the cover plate 56, and the clamping force of the flexible clamping plate 69 on the cover plate 56 is equal to that of the finger spring 68 elastic force. In this way, one fourth finger cylinder 62 is used to clamp the two cover plates 56, which greatly improves the working efficiency of the flexible gripper.

Next, describe the working process and working principle of the chain conveyor mechanism 36:

The chain transmission mechanism 39 is movably connected to the gantry support 38 , and the driving motor 40 drives the chain transmission mechanism 39 to rotate relative to the gantry support 38 .

The roller 43 is movably connected to the sliding track 42, the dynamic clamp mechanism 45 is fixedly connected to the chain transmission mechanism 39 through the connecting chain plate 41, and the chain transmission mechanism 39 drives the dynamic clamp mechanism 45 along the The sliding track 42 moves in the direction where the sliding track 42 is guided, and the movement accuracy of the dynamic clamp mechanism 45 is improved. The limit guide post 50 which can improve the positioning accuracy is also arranged on the chain conveying mechanism 36 .

When the dynamic clamp mechanism 45 reaches the target station, that is, the blocking plate 46 matches the sensor 47, the chain transmission mechanism 39 stops moving. The rough positioning of the dynamic clamp mechanism 45 can be realized through the electromagnetic action of the blocking plate 46 and the sensor 47 . Next, the positioning accuracy of the dynamic clamp mechanism 45 is further improved.

Since the clamp 6 is located on the upper part of the material platform support seat 37, the limit guide post 50 enters into the limit guide hole 51 driven by the vertical limit cylinder 48, due to the limit The position guide post 50 and the limit guide hole 51 are in an accurate positioning state, thereby improving the positioning accuracy of the clamp 6, and simultaneously making the clamp 6 fixed on the material table support seat 37, so that the clamp 6 will not There is room for anything to move. The gripper 6 can accurately dock with the grasping manipulator 5, so as to realize the precise and efficient transmission of the assembly line operation.

Next, describe the working process and working principle of the flipping and reclaiming manipulator 4:

The No. 1 horizontal slide plate 10 is movably connected to the No. 1 bracket 8, the end of the piston rod of the No. 1 horizontal sliding cylinder 9 is fixedly connected to the No. 1 horizontal slide plate 10, and the cylinder body of the overturning cylinder 11 is fixed. Connected to the No. 1 horizontal slide plate 10 , the No. 1 sliding cylinder 9 is used to drive the turning cylinder 11 to break away from or contact the feeding track 3 .

The cylinder body of the No. 1 claw cylinder 12 is fixed on the output flange of the turning cylinder 11, the upper finger 13 and the lower finger 14 are fixed on the No. 1 claw cylinder 12, and the upper finger 13 is fixedly connected with an upper finger 22 , and the lower finger 14 is fixedly connected with a lower finger 23 . The No. 1 claw cylinder 12 is closed, which can drive the upper finger 22 and the lower finger 23 to close, thereby realizing the clamping of the spring 17; the No. 1 claw cylinder 12 is released, and can drive the upper The finger 22 and the lower finger 23 are disengaged, thereby realizing the release of the spring 17 .

Since the material of the spring 17 is relatively soft, in order to prevent the upper finger 22 and the lower finger 23 from closing, when the spring 17 is clamped, the spring 17 is squeezed and deformed. An elastic mechanism is provided on the upper finger 22 to protect the spring 17 and prevent the spring 17 from being squeezed and deformed.

The elastic pressing block 15 is movably connected to the upper finger 22, the cover plate 16 is fixedly connected to the upper finger 22, and a downward pressure spring 25 is arranged between the elastic pressing block 15 and the cover plate 16. The elastic briquetting block 15 is matched with the material inlet 26. The No. 1 claw cylinder 12 is released, and the spring 17 enters the feed port 26; then, the No. 1 claw cylinder 12 is closed, and the elastic pressing block 15 contacts the spring 17. On the surface, since the press-down spring 25 is arranged on the back of the elastic press block 15, the press-down spring 25 is compressed and deformed, so that the elastic press block 15 is flexibly squeezed on the surface of the spring 17 to prevent The spring 17 is extruded and deformed.

Next, describe the working process and working principle of the blocking mechanism 7:

At the beginning, the piston rod of the No. 1 horizontal sliding cylinder 9 was in an extended state, the feed port 26 matched the feeding track 3, the No. 1 gripper cylinder 12 was in an unfolded state, and the up and down The piston rod of the air cylinder 18 is in a retracted state, and the elastic column 24 breaks away from the feeding track 3 and breaks away from the contact with the spring 17, and the spring 17 can enter into the feed inlet 26; then, the The No. 1 gripper cylinder 12 drives the upper finger 22 and the lower finger 23 to close to realize the flexible clamping of the spring 17; then, the piston rod of the upper and lower cylinders 18 is in an extended state, so that the elastic probe The elastic column 24 of 21 enters in the described feeding rail 3 and contacts the surface of the described spring 17, guarantees that only the described spring 17 that is grasped by the No. 1 claw cylinder 12 can move, and is captured by the described spring 17. The spring 17 pressed by the elastic probe 21 cannot move.

Since the elastic column 24 of the elastic probe 21 is driven by a highly flexible spring, after the elastic column 24 contacts the spring 17 , it can effectively avoid extrusion deformation of the spring 17 .

Finally, it should be pointed out that the above embodiments are only representative examples of the assembly and detection integrated intelligent manufacturing complete set of equipment of the present invention. Apparently, the assembly and inspection integrated intelligent manufacturing complete set of equipment of the present invention is not limited to the above-mentioned embodiments, and many variations are possible. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the assembly and detection integrated intelligent manufacturing complete set of the present invention shall be considered as belonging to the assembly and detection integrated intelligent manufacturing complete set of the present invention scope of protection.

Claims (10)

1. one kind assembling and detection integral type integrated intelligence manufacture outfit, it is characterised in that including：Workbench, it is used for The vibrating disk of delivery spring, the feeding track for conveying the spring, for clamping the spring and flipping an angle Overturn reclaimer robot, for grabbing the catching robot of the spring from the upset reclaimer robot, for limiting The blocking mechanism of the translational speed of the spring, the chain delivery machanism for conveying the spring, to be equipped on the chain type defeated Send the dynamic clamp mechanism in mechanism, the three claw robot for capturing cover plate, the cover plate vibrating disk for exporting the cover plate, It is connected to the cover plate feeding track of the discharging opening of the cover plate vibrating disk, is connected to treating nip, using for the cover plate feeding track Mechanism is headed into the spring that the spring is assembled in the cover plate, for the test tested the spring and cover plate Mechanism；The delivery outlet of the vibrating disk is connected to the feeding track, and the delivery outlet of the feeding track is connected to the upset Reclaimer robot, the blocking mechanism is located at the equipped at outlet port of the feeding track, and the catching robot is located at the upset The top of reclaimer robot, the dynamic clamp mechanism is located at the bottom of the catching robot, the chain delivery machanism position In the side of the catching robot；The discharging opening of the cover plate vibrating disk is connected to the cover plate feeding track, the cover plate The discharging opening of feeding track treats nip described in being connected to, and the three claw robot is located at the top for treating nip, the spring The bottom that mechanism is located at the dynamic clamp mechanism is headed into, the mechanism for testing is located at the bottom of the three claw robot；

The three claw robot includes：No. four supports, No. four horizontal sliding tables, No. four vertical slide unit, horizontal connecting plate, flexible hands Pawl；No. four supports are fixed on the workbench, and No. four horizontal sliding tables are fixed on No. four supports, and described No. four are erected Straight slide unit is fixed on No. four horizontal sliding tables, and the horizontal connecting plate is fixed on described No. four vertical slide units, the flexible hand Pawl is equally spacedly arranged in the bottom of the horizontal connecting plate；The quantity of the flexible paw is three, including：A number flexible hand Pawl, No. two flexible paws, No. three flexible paws；

The mechanism for testing includes：No. six supports, splicing slider cylinder, splicing paw, upper testboard, lower testboards, described six Number support is fixed on the workbench, and the cylinder block of the splicing slider cylinder is fixed on No. six supports, the splicing hand Pawl is fixed on the slide unit of the splicing slider cylinder, and the upper testboard is fixed on No. six supports, the upper testboard Positioned at the top of the splicing paw, the lower testboard is fixed on No. six supports, and the upper testboard is located at described connect Expect the bottom of paw；The lower testboard includes：Lower slide unit cylinder, lower conducting probe, lower insulating base, the lower slide unit cylinder Cylinder block is fixed on No. six supports, and the lower insulating base is fixed on the slide unit of the lower slide unit cylinder, the lower conduction Probe is fixed on the lower insulating base；The upper testboard includes：Upper slide unit cylinder, upper conducting probe, upper insulating base, it is described on The cylinder block of slider cylinder is fixed on No. six supports, and the upper insulating base is fixed on the slide unit of the upper slide unit cylinder, The upper conducting probe is fixed on the upper insulating base；The lower conducting probe and the spring match.

2. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute Stating spring and heading into mechanism includes：No. five supports, push-in cylinder, thimble slide plate, thimble, towing force rollers, No. five supports are connected In the workbench, the cylinder block of the push-in cylinder is fixed on No. five supports, and the thimble slide plate is movably connected on institute No. five supports are stated, the end of the piston rod of the push-in cylinder is fixed on the thimble slide plate；The top of the thimble slide plate is consolidated The thimble is connected with, the thimble and the dynamic clamp mechanism match；The towing force roller is movably connected on described No. five Support, the towing force roller is located at the bottom of the dynamic clamp mechanism, and the towing force roller and dynamic clamp mechanism match.

3. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute Stating flexible paw includes：No. four finger cylinders, left hand refers to, the right hand refers to, left side assisted finger, right side assisted finger, spring base, hand Thrum spring, flexible clamping plate, the cylinder block of No. four finger cylinders are fixed on the horizontal connecting plate, and the left hand refers to and right Finger is connected to No. four finger cylinders, and the left hand refers to the state for referring into parallel folding with the right hand；The left side nondominant hand Finger is fixed on the left hand and referred to, and the right side assisted finger is fixed on the right hand and referred to；The flexible clamping plate is movably connected on The right hand refers to, and the spring base is fixed on the right hand and referred to, and finger is provided between the flexible clamping plate and spring base Spring；The left hand refers to constitutes one group of clamping combination, left side assisted finger and flexible clamping the plate structure with right side assisted finger Into one group of clamping combination.

4. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute Stating dynamic clamp mechanism includes：Roller, sliding panel, fixture, the roller are movably connected on the sliding panel, and the fixture is connected In on the sliding panel.

5. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute Stating chain delivery machanism includes：Gantry support, chain-drive mechanism, motor, sliding rail, vertical limiting cylinder, vertical limit Position plate, spacing guide pillar, the gantry support are fixed on the workbench, and the chain-drive mechanism is movably connected on gantry branch Frame, the motor is fixed on the gantry support, and the output shaft of the motor is fixed on the chain by shaft coupling Transmission mechanism；The sliding rail matched with the dynamic clamp mechanism, the roller are provided with the gantry support Subactivity is connected to the sliding rail, and the dynamic clamp mechanism is fixed on the chain-drive mechanism by connecting carrier bar；Institute The cylinder block for stating vertical limiting cylinder is fixed on the gantry support, and the vertical limiting plate is fixed on the vertical limiting cylinder Sliding block on, be provided with the spacing guide pillar, the fixture and be provided with and the spacing guide pillar phase on the vertical limiting plate The spacing pilot hole of matching, the spacing guide pillar is located at the top of material platform support seat.

6. assembling according to claim 4 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute State and catch is provided with fixture, sensor is configured with the gantry support, the catch and the sensor match.

7. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute Stating upset reclaimer robot includes：Number support, horizontal sliding cylinder, horizontal slide plate, tumble cylinder, trumpeter's pawl Cylinder, upper finger, lower finger, elastic press, cover plate, a support are fixed on the workbench, and a level is slided The cylinder block of cylinder of taking offence is fixed on a support, and a horizontal slide plate is movably connected on a support, described The end of the piston rod of a number horizontal sliding cylinder is fixed on a horizontal slide plate；The cylinder block of the tumble cylinder is connected In a horizontal slide plate, the cylinder block of a paw cylinder is fixed on the output flange of the tumble cylinder；Institute State finger, lower finger and be fixed on a paw cylinder, the upper finger and be fixed with finger, be connected on the lower finger Have and the elasticity pressure is flexibly connected on the feeding mouth being provided with lower finger, the lower finger with the spring to matching, the upper finger Block, the cover plate is fixed on the upper finger, and lower pressing spring, the elastic press are provided between the elastic press and cover plate Match with feeding mouth.

8. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute Stating blocking mechanism includes：No. two supports, upper and lower air cylinders, end connecting plate, upper lower skateboard, elastic probes, No. two supports are consolidated It is connected in the workbench, the cylinder block of the upper and lower air cylinders is fixed on No. two supports, and the upper lower skateboard is movably connected on No. two supports, the end of the piston rod of the upper and lower air cylinders is fixed on the upper lower skateboard by the end connecting plate； The elastic probe is fixed on the upper lower skateboard, and the elastic probe and the feeding track match.

9. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute Stating catching robot includes：No. three supports, No. two horizontal sliding tables, No. two vertical slide units, Y-axis slide unit, blowing finger cylinder, blowings Finger, No. three supports are fixed on the workbench, and No. two horizontal sliding tables are fixed on No. three supports, described No. two Vertical slide unit is fixed on the sliding block of No. two horizontal sliding tables, and the Y-axis slide unit is fixed on the cunning of described No. two vertical slide units On block, the blowing finger cylinder is fixed on the sliding block of the Y-axis slide unit.

10. assembling according to claim 8 and detection integral type integrated intelligence manufacture outfit, it is characterised in that When the piston rod of the upper and lower air cylinders is in stretching state, the elastic of the elastic probe is entered in the feeding track And touch the surface of the spring；When the piston rod of the upper and lower air cylinders is in retracted mode, the elastic departs from institute State feeding track and disengaging and the contact of the spring.