CN117961394B - Automatic core tube mounting equipment and mounting method - Google Patents

Abstract

The invention discloses automatic core tube mounting equipment and a mounting method. The mounting method comprises the steps of shell mounting and position degree adjustment, position degree calibration, material taking and position degree detection, and mounting operation, wherein the mounting operation comprises welding ring mounting, soldering flux spraying, core tube mounting, core tube crimping assembly and post-assembly detection. The invention meets the process realization requirements of welding ring carrying, soldering flux spraying, core tube carrying, core tube crimping and detection, and realizes automatic high-speed mounting production of the core tube. The alignment calibration and the relative deviation compensation of discharging can be realized, the assembly precision is ensured, the mounting qualification rate is obviously improved, the mounting detection core tube discharge requirement is met, and the rejection rate of the mounting groove position is reduced.

Description

Core tube automatic mounting equipment and mounting method

Technical Field

The invention relates to core tube automatic mounting equipment and a mounting method, belonging to the technical field of core tube mounting.

Background technique

In the industrial production process, there is the assembly of core tubes. The core tubes are tubular components, that is, the assembly and fixing of the tubular components needs to be performed on the installation slots of the shell. The assembly is generally divided into two steps: mounting pre-fixation and final welding. Mounting pre-fixation is to perform relative mounting pre-fixation of the core tube and the welding ring on the installation slot, and welding is to achieve final welding and fixing of the core tube. The accuracy of mounting pre-fixation directly affects the product quality of the final welding at the back end. Therefore, the mounting pre-fixation operation is crucial, and it is necessary to ensure the accuracy of the position of the welding ring and the core tube.

In traditional SMT pre-fixing design, a belt structure is generally used, that is, there are structures such as mortise and tenon, and pre-fixing is achieved by means of interference fit to ensure the stability of the mounting after assembly. The advantage of such a design is that after the SMT is completed, it is not easy for parts to scatter during the transportation of the product. The disadvantage is that it requires a pressure assembly method, which can easily cause damage to the structural parts. At the same time, there is a certain degree of deformation, which affects the accuracy of the pre-assembly.

In response to this situation, pre-assembly in the form of flux bonding has emerged, that is, the point flux method is used to achieve the bonding between the core tube, the welding ring, and the installation slot, so as to ensure the reliability of the pre-assembly. The point flux method has some problems that need to be overcome. First, the point flux has high requirements for the relative position of each workpiece. When the relative position deviation occurs, the core tube and the welding ring will cause the current installation slot to be scrapped after the flux solidifies. The reserved slots of the shell are generally limited. When the qualified rate does not meet the requirements, the entire shell will be scrapped; secondly, the pre-assembly process setting is generally to point the flux before loading and assembling. The welding ring and the core tube also have their own product quality problems and relative position differences during the loading process, so the unqualified rate will be very high. The outer diameter of the core tube is 2mm~3mm. Traditional assembly is generally performed manually with the help of a magnifying glass and microscope, and the assembly efficiency is very low.

In addition, the shell generally includes a plate-shaped shell, a shell with an inner cavity, a U-shaped shell frame and other structures. Some shells have multi-faceted installation slots, so there will be many positional differences in the installation slots. There are also assembly differences, including differences in core tube specifications, differences in the number of welding rings, and relative angle requirements. When designing the mounting equipment, it will accurately position the installation slots while considering the relative pre-assembly accuracy requirements, thereby improving the assembly quality. Therefore, it is difficult for traditional mounting equipment to meet the compatibility requirements of differentiated shells.

This case is dedicated to meeting the compatibility of mounting equipment, relative assembly accuracy, and process improvements to increase the pass rate, thus proposing this solution.

Summary of the invention

The purpose of the present invention is to solve the above-mentioned deficiencies in the prior art, and to innovatively propose a core tube automatic mounting device and a mounting method in view of the problem that traditional mounting equipment is difficult to meet the mounting accuracy.

In order to achieve the above object, the technical solution adopted by the present invention is:

Core tube automatic placement equipment, including:

A loading device, the loading device comprising a shell carrier for carrying the shell, a shell carrier adjustment mechanism for driving the shell carrier so that the installation slot of the shell is vertically facing the top, and an installation slot vision mechanism located on the top of the shell carrier adjustment mechanism for determining the horizontal position and vertical position of the installation slot;

A welding ring supply device, the welding ring supply device comprising a supply table and a welding ring visual mechanism located on the top of the supply table for determining the position of the welding ring;

A core tube feeding device, the core tube feeding device comprising at least one core tube feeding tray for feeding the core tubes;

A position detection and calibration device, the position detection and calibration device comprising a position visual mechanism with a framing direction vertically facing the top for detecting the position of the core tube and the welding ring, and a horizontal visual mechanism with a framing direction horizontal for position verification and axial dimension detection of the core tube;

A mounting turnover integrated device, the mounting turnover integrated device comprising an integrated operation carrier and a displacement slide with turnover displacement arranged on the integrated operation carrier, the loading device, the welding ring feeding device, the core tube feeding device, and the position detection and calibration device are respectively located within the turnover displacement range of the displacement slide;

The displacement slide is provided with a slide positioning visual mechanism for detecting the core tube position and cooperating with the installation slot visual mechanism to perform displacement slide positioning verification, a core tube pressing mechanism with lifting displacement, a flux spraying mechanism with lifting displacement, at least one core tube picking and placing mechanism with lifting displacement, and at least one welding ring picking and placing mechanism with lifting displacement.

Preferably, it comprises at least one rotation adjustment device located within the range of the epicyclic displacement stroke of the displacement slide;

The rotation adjustment device includes a rotation adjustment seat for carrying a core tube for rotation adjustment, and an angle detection visual mechanism facing the rotation adjustment seat. A horizontal misalignment adjustment displacement is provided between the rotation adjustment seat and the angle detection visual mechanism.

Preferably, the core tube feeding device comprises two core tube feeding trays, and the core tubes fed to the two core tube feeding trays are different in phase; the welding ring feeding device comprises two feeding tables, and the welding rings on the two feeding tables are different in phase;

The displacement slide is provided with at least two core tube picking and placing mechanisms and at least two welding ring picking and placing mechanisms;

The rotary adjustment device comprises two of them.

Preferably, the displacement slide is provided with a first carrier plate and a second carrier plate with lifting and adjusting displacement, the core tube picking and placing mechanism and the welding ring picking and placing mechanism are arranged on the first carrier plate, and the slide positioning visual mechanism, the core tube pressing mechanism, and the flux spraying mechanism are arranged on the second carrier plate.

Preferably, it includes a flux spraying calibration mechanism for calibrating the flux spraying mechanism and an ultrasonic cleaning mechanism for ultrasonic cleaning of the core tube picking and placing mechanism and the welding ring picking and placing mechanism, which are located within the turnover displacement stroke range of the displacement slide.

Preferably, it includes a heating device arranged opposite to the loading device, and the heating device includes a lifting platform with a lifting and avoiding stroke, a horizontal platform arranged on the lifting platform and having a horizontal linear displacement toward the shell carrier, and a heating source arranged on the horizontal platform.

Preferably, the shell carrier adjustment mechanism comprises a first rotation axis position with a horizontal axis direction, and a second rotation axis position arranged on the first rotation axis position with an axis direction perpendicular to the axis direction of the first rotation axis position;

The second rotating shaft position is provided with a matching shaft seat, and the shell carrier is provided with a matching flange for detachably matching with the matching shaft seat.

The present invention also provides a mounting method of a core tube automatic mounting device, comprising the following steps:

S1 Shell mounting and position adjustment: lock the shell on the shell carrier, and adjust the shell carrier adjustment mechanism so that the installation slot of the shell is vertically facing the top;

S2 position calibration, the installation slot visual mechanism detects the horizontal position and vertical position of the current installation slot, and drives the displacement slide according to the detected horizontal position. The position of the current installation slot is rechecked through the slide positioning visual mechanism to perform the displacement slide alignment correction, and then according to the detected vertical position, the displacement slide and the horizontal visual mechanism are switched to align and calibrate the lifting stroke of the flux spraying mechanism, the core tube pick-up and placement mechanism, and the welding ring pick-up and placement mechanism;

S3 material picking, the core tube picking and placing mechanism and the welding ring picking and placing mechanism are respectively picked up by switching the position of the displacement slide;

S4 position detection: the horizontal visual mechanism detects the axial dimension of the core tube, and the position visual mechanism detects the position deviation between the core tube and the pick-up end of the core tube pick-up and place mechanism, and the position deviation between the welding ring and the pick-up end of the welding ring pick-up and place mechanism;

S5 is the mounting operation. According to the position deviation detected in step S4, the mounting position of the displacement slide is compensated. The solder ring pick-and-place mechanism loads the solder ring into the installation slot. The flux spraying mechanism sprays flux on the solder ring. The core tube pick-and-place mechanism passes the core tube through the solder ring and places it in the installation slot. The core tube pressing mechanism is switched to crimp the core tube. The slide positioning visual mechanism performs position detection on the crimped core tube. If there is a position deviation, NG unloading is performed.

Preferably, the core tube automatic placement equipment comprises at least one rotation adjustment device located within the turnover displacement stroke range of the displacement slide;

The rotation adjustment device comprises a rotation adjustment seat for carrying a core tube for rotation adjustment, and an angle detection visual mechanism facing the rotation adjustment seat, and a horizontal misalignment adjustment displacement is provided between the rotation adjustment seat and the angle detection visual mechanism;

The step S4 includes a core tube rotation adjustment step, wherein the core tube picking and placing mechanism picks up the core tube, and after the position detection by the position visual mechanism, the displacement slide is adjusted and compensated according to the position deviation, and then the core tube is placed on the rotation adjustment seat, the angle detection visual mechanism is displaced to the rotation adjustment seat to detect the rotation compensation angle of the core tube, and the rotation adjustment seat adjusts the rotation of the core tube according to the rotation compensation angle. After adjustment, the core tube picking and placing mechanism picks up the core tube on the rotation adjustment seat.

Preferably, the core tube automatic placement equipment comprises a heating device arranged opposite to the material carrier, the heating device comprises a lifting platform with a lifting and avoiding stroke, a horizontal platform arranged on the lifting platform and having a horizontal linear displacement toward the shell carrier, and a heating source arranged on the horizontal platform;

It includes S6 thermal curing, the lifting platform rises, the horizontal platform moves toward the shell carrier, the heating source heats the shell to solidify the flux material, and the horizontal platform and the lifting platform are reset after solidification.

The beneficial effects of the present invention are mainly reflected in:

1. Meet the process requirements of solder ring mounting, flux spraying, core tube mounting, core tube crimping and testing, and realize the automatic mounting production of core tubes.

2. It can realize alignment calibration and relative deviation compensation of material discharge to ensure assembly accuracy. The qualified rate of mounting is significantly improved. At the same time, it meets the requirements of mounting detection core tube discharge and reduces the scrap rate of installation slots.

3. The equipment has very good compatibility, meeting the requirements of flexible mounting of various shells and travel alignment according to the installation slots. The equipment utilization rate is high and there is no need for complicated changeover control and adjustment.

4. It has the function of adjusting the core tube circumference to meet the needs of directional placement.

5. The operation is smooth and efficient, meeting the production requirements of the mounting process and achieving high-speed and flexible mounting.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

FIG. 1 is a schematic structural diagram of the core tube automatic mounting equipment of the present invention.

FIG. 2 is a schematic diagram of the top view of the core tube automatic mounting device of the present invention.

FIG. 3 is a schematic side view of the structure of the core tube automatic mounting device of the present invention.

FIG. 4 is a schematic diagram of the mounting of a shell in the core tube automatic mounting equipment of the present invention.

FIG. 5 is a schematic diagram of a finished product of a shell in the core tube automatic mounting equipment of the present invention.

FIG. 6 is a schematic diagram of the structure of the mounting turnover integrated device of the present invention.

FIG. 7 is a schematic structural diagram of the mounting turnover integrated device of the present invention from another perspective.

FIG8 is a schematic diagram of the structure of the displacement slide in the present invention.

FIG. 9 is a schematic structural diagram of the displacement slide in another viewing angle of the present invention.

FIG. 10 is a schematic diagram of the structure of the position detection and calibration device in the present invention.

FIG. 11 is a schematic diagram of the structure of the position detection and calibration device of the present invention from another perspective.

FIG. 12 is a schematic diagram of the structure of the rotation adjustment device in the present invention.

FIG. 13 is a schematic diagram of another viewing angle structure of the rotation adjustment device in the present invention.

FIG. 14 is a schematic diagram of the structure of the ultrasonic cleaning mechanism of the present invention.

FIG. 15 is a schematic structural diagram of an embodiment of a heating device in the present invention.

FIG. 16 is a schematic structural diagram of another embodiment of the heating device in the present invention.

FIG. 17 is a schematic diagram of the structure of the shell carrier adjustment mechanism of the present invention.

FIG. 18 is a schematic structural diagram of an embodiment of a shell carrier in the present invention.

FIG. 19 is a schematic structural diagram of another embodiment of the shell carrier in the present invention.

FIG. 20 is a schematic structural diagram of another embodiment of the shell carrier in the present invention.

FIG. 21 is a schematic structural diagram of another embodiment of the shell carrier in the present invention.

Detailed ways

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the inventions. It should also be noted that, for ease of description, only the parts related to the relevant inventions are shown in the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

The present invention provides a core tube automatic mounting device, as shown in FIGS. 1 to 21 , comprising:

The loading device 100, as shown in Figures 3 and 17 to 21, includes a shell carrier 110 for carrying the shell 1, a shell carrier adjustment mechanism 120 for driving the shell carrier 110 so that the installation slot 2 of the shell is vertically facing the top, and an installation slot vision mechanism 130 located at the top of the shell carrier adjustment mechanism 120 for determining the horizontal position and vertical position of the installation slot 2.

The welding ring supply device 200 , as shown in FIGS. 1 to 3 , includes a supply table 210 and a welding ring visual mechanism 220 located on the top of the supply table and used for determining the position of the welding ring 3 .

The core tube feeding device 300 , as shown in FIGS. 1 to 3 , includes at least one core tube feeding tray 310 for supplying core tubes.

The position detection and calibration device 400, as shown in Figures 10 and 11, includes a position detection and calibration device 410 with a framing direction vertically toward the top for detecting the position of the core tube 4 and the welding ring, and a horizontal visual mechanism 420 with a framing direction horizontal for position verification and detection of the axial dimension of the core tube.

As shown in Figures 6 to 9, the mounting turnover integrated device 500 includes an integrated operating carrier 510 and a displacement slide 520 with turnover displacement arranged on the integrated operating carrier, and the turnover displacement includes at least two mutually perpendicular horizontal linear adjustments, and the loading device, the welding ring supply device, the core tube supply device, and the position detection and calibration device are respectively located within the turnover displacement travel range of the displacement slide.

The displacement slide 520 is provided with a slide positioning visual mechanism 521 for detecting the core tube position and cooperating with the installation slot visual mechanism to perform displacement slide positioning verification, a core tube pressing mechanism 522 with lifting displacement, a flux spraying mechanism 523 with lifting displacement, at least one core tube picking and placing mechanism 524 with lifting displacement, and at least one welding ring picking and placing mechanism 525 with lifting displacement.

Specific implementation process and principle description:

This equipment is an automated equipment improved for the core tube mounting process, which meets the mounting operation requirements of welding ring 3 loading, flux spraying, and core tube 4 mounting. Its mounting advantage is that the non-interference fit between welding ring 3, core tube 4, and mounting slot 2 can improve the mounting qualification rate. The difficulty is that due to the use of flux spraying curing method instead of hard connection combinations such as mortise and tenon joints, the relative accuracy requirements between welding ring 3, core tube 4, and mounting slot 2 are very high. At the same time, the diversified shape of the shell also brings great difficulties to its precise assembly.

The first issue in this case is the design of the loading device. Generally, there are plate-shaped shells, shells with open ends, U-shaped frame shells, etc., on which there are installation slots 2. Traditional loading materials are fixedly loaded, that is, loaded through a fixed carrier to meet the requirement that the installation slots 2 are fixed upward. However, due to the large number of shell specifications and the fact that multiple shell surfaces have installation slots 2, it is difficult to change the type and adjust the installation slots 2, and there are differences in the horizontal position and vertical height of the installation slots 2 after the product is changed. At this time, it is very difficult to perform placement alignment.

Therefore, the design of the shell carrier adjustment mechanism 120 and the shell carrier 110 as shown in Figures 3, 17 to 21 is adopted to meet the adjustment requirements of the installation slots 2 of various shells vertically toward the top. To explain the adjustment of the position vertically toward the top, first of all, there are cases where the shell has multiple faces, and some shells even have installation slots 2 on five faces. Therefore, the shell carrier adjustment mechanism 120 can realize the design of the installation slot 2 facing the top by flipping, etc.

Specifically referring to the shell carrier adjustment mechanism shown in Figure 17, it includes a first rotation axis position 121 with a horizontal axial direction, a second rotation axis position 122 arranged on the first rotation axis position 121 with an axial direction perpendicular to the axial direction of the first rotation axis position, a matching shaft seat 123 is provided on the second rotation axis position, and a matching flange for detachably matching with the matching shaft seat is provided on the shell carrier 111.

This specific embodiment realizes the position adjustment of the shell carrier 111 carried thereon through the first rotation axis position 121 and the second rotation axis position 122, thereby meeting the multi-directional adjustment requirements.

Of course, this embodiment is only a specific example of the present invention. The shell carrier 111 can also be picked up and steered by a robotic arm, etc. Whether it is a dual-axis or robotic arm, the application of the adjustment direction is similar. However, while satisfying the universal picking and steering adjustment, it will inevitably bring about the problem of uncontrollable positioning of the installation slot 2. How to achieve positioning coordination to meet the mounting accuracy and process requirements while satisfying its universality is one of the main themes of the present invention.

Therefore, this case adopts the design of installing the slot vision mechanism 130 and the displacement slide 520 equipped with the slide positioning vision mechanism 521, so as to meet the positioning and matching requirements within the horizontal plane.

Specifically, normal position positioning is the X-axis, Y-axis and Z-axis positioning in the horizontal plane, and the installation slot visual mechanism 130 can obtain the precise coordinates of the installation slot in the horizontal plane. When the material is circulated, the displacement control of the original equipment is used to drive the slide positioning visual mechanism 521 on the current displacement slide 520 to the installation slot. At this time, the slide positioning visual mechanism 521 will detect the relative horizontal coordinates of the installation slot. The displacement calibration of the displacement slide can be achieved based on the coordinate reference of the installation slot visual mechanism 130 and the slide positioning visual mechanism 521, thereby meeting the precise alignment requirements of the displacement slide 520 and any installation slot 2.

In addition, the installation slot visual mechanism 130 can also detect the Z-axial displacement of the current installation slot, which will affect the precise control of the mounting stroke of the core tube pressing mechanism 522, the flux spraying mechanism 523, the core tube picking and placing mechanism 524, and the solder ring picking and placing mechanism 525. Therefore, the design of the position detection and calibration device 400 is adopted. During calibration, the installation slot visual mechanism 130 can communicate the corresponding Z-axial position to the mounting turnover integrated device 500. At this time, the core tube pressing mechanism 522, the flux spraying mechanism 523, the core tube picking and placing mechanism 524, and the solder ring picking and placing mechanism 525 will perform their own Z-axial adaptation adjustments. After the adaptation adjustment, the position verification of the ends of each mechanism can be achieved by displacing to the horizontal visual mechanism 420, and the Z-axial adaptation correction can be performed according to its position deviation.

Through the above-mentioned coordination, the three-axis precise coordination calibration and correction between the installation slot 2 and the displacement slide 520 is achieved, so that when the displacement slide 520 switches positions, the relative position accuracy requirements of each mechanism and the installation slot 2 are met.

However, during the mounting operation, there are also feeding and picking operations of the welding ring supply device 200 and the core tube supply device 300. The core tube supply tray 310 is generally a matrix-type carrier slot, and its relative position is fixed. The supply table 210 is a flexible supply tray, which generally adopts a vibrating flattening form. Therefore, the welding ring visual mechanism 220 can provide the position of the welding ring thereon.

The displacement slide 520 is corrected with reference to the mounting slot 2, but it cannot perform high-precision verification with the position of the materials on the weld ring supply device 200 and the core tube supply device 300. Therefore, the weld rings and core tubes picked up by it will have certain concentricity deviations.

In view of this situation, the design of the position vision mechanism 410 is adopted, which can detect the position deviation of the picked core tube and the welding ring relative to the picking end, so as to compensate for the deviation position, thus meeting the requirement of accurately placing it in the installation slot 2 after picking. In addition, the horizontal vision mechanism 420 can also detect the axial dimension of the core tube. Since the front end Z direction is corrected, when the axial dimension is too small, the core tube will not be placed in place and will fall. When the axial dimension is too large, overpressure will occur to damage the equipment or product. Therefore, this detection can eliminate the hidden dangers of equipment operation. When the axial dimension is NG, it can be directly discharged and picked up again.

The mounting turnover integrated device 500 is explained. The integrated operation carrier 510 can adopt the track carriage design as shown in Figures 5 and 6. The displacement slide 520 can realize X-axis and Y-axis displacement on the integrated operation carrier 510. Of course, a mechanical arm can also be used to perform displacement turnover in the horizontal plane. The turnover displacement drive of the displacement slide 520 belongs to the existing technology and will not be repeated here. It should be noted that the slide positioning visual mechanism 521, the core tube pressing mechanism 522, the flux spraying mechanism 523, the core tube picking and placing mechanism 524, and the welding ring picking and placing mechanism 525 on the displacement slide 520 have a positioning position on the displacement slide 520, that is, the displacement calibration of the displacement slide 520 can be realized by the slide positioning visual mechanism 521, and after the displacement calibration of the displacement slide 520, the accuracy of the relative fixed positions of the core tube pressing mechanism 522, the flux spraying mechanism 523, the core tube picking and placing mechanism 524, and the welding ring picking and placing mechanism 525 can be guaranteed.

During the specific operation, the installation slot 2 is adjusted first, and then the relative matching position of the displacement slide 520 is calibrated, and then the relative stroke of the core tube pressing mechanism 522, the flux spraying mechanism 523, the core tube picking and placing mechanism 524, and the welding ring picking and placing mechanism 525 are calibrated, and then the automated mounting operation is carried out.

During the automated placement process, the core tube pick-and-place mechanism 524 and the solder ring pick-and-place mechanism 525 first pick up the materials respectively, and the positional degree detection of the picked-up materials and the core tube detection are performed through the positional degree visual mechanism 410 and the horizontal direction visual mechanism 420. When the core tube is NG, the material is discharged and picked up again, and the deviation is supplemented according to the positional degree of the picked-up material, so as to meet the positional accuracy of loading the material into the installation slot 2. When loading the material, the solder ring is first loaded, and then the flux is sprayed, followed by the core tube loading, and then the core tube is pressed. When the pre-installation is completed, the concentricity of the core tube currently mounted is detected by the slide positioning visual mechanism 521. When defects such as offset occur, the core tube pick-and-place mechanism 524 picks it up and discharges it.

It should be noted that there are multiple installation slots 2 on the shell, and generally only a certain number of them need to be qualified. When a core tube deviation defect occurs, the installation slot 2 is empty and no supplementary assembly is required. When the shell is assembled, the installation slot 2 can be supplemented and mounted manually, which will not cause the installation slot 2 to be unable to be repaired, and the shell scrap rate is effectively controlled.

In a specific embodiment, as shown in FIG. 2 , FIG. 12 , and FIG. 13 , at least one rotation adjustment device 600 is included within the range of the rotation displacement stroke of the displacement slide.

The rotation adjustment device 600 includes a rotation adjustment seat 610 for carrying a core tube for rotation adjustment, and an angle detection visual mechanism 620 facing the rotation adjustment seat. There is a horizontal misalignment adjustment displacement between the rotation adjustment seat and the angle detection visual mechanism.

Specifically speaking, there are many differences in the specifications of core tubes. According to the number of cores, they can be divided into single-core and multi-core. According to the tube wall, there are circumferentially oriented and circumferentially non-oriented. Circumferentially non-oriented means that the outer circumference of the tube wall is a regular circular circumference, while circumferentially oriented means that the outer circumference of the tube wall is equipped with positioning protrusions or positioning grooves.

When the core tube is oriented circumferentially, the design of the rotation adjustment device 600 is adopted. During the orientation operation, after the core tube is picked up by the core tube picking-up mechanism 524, it is sent to the position visual mechanism 410 to perform position deviation detection of the currently picked core tube, and then the deviation compensation is performed to make the core tube accurately positioned and placed on the rotation adjustment seat 610. At this time, the angle detection visual mechanism is displaced to the rotation adjustment seat 610 to collect the circumferential angle image of the current core tube. The rotation adjustment seat 610 rotationally adjusts the core tube according to the collected information to meet the accurate circumferential orientation requirements. After the orientation is adjusted, the angle detection visual mechanism 620 avoids and resets. At this time, the core tube picking-up mechanism 524 picks up the core tube.

It should be noted that the rotation adjustment seat 610 generally includes a rotating table and a rotating drive source. The rotating table is equipped with a carrier pile for carrying a core tube, and the horizontal misalignment adjustment displacement of the angle detection visual mechanism is generally adjusted through the linear displacement of the rotating table. Of course, it can also be achieved by the linear displacement of the angle detection visual mechanism.

In a specific embodiment, the core tube feeding device includes two core tube feeding trays, and the core tubes supplied by the two core tube feeding trays are different; the welding ring feeding device includes two feeding tables, and the welding rings on the two feeding tables are different; at least two core tube picking and placing mechanisms and at least two welding ring picking and placing mechanisms are provided on the displacement slide; and two rotating adjustment devices are included.

Specifically, the shell generally has a difference between carrying a core tube of a single specification and carrying two specifications of core tubes, so a multi-station design is adopted, which has the following usage differences:

The first one is for a single core tube, without circumferential requirements, and can simultaneously pick up two core tubes and two welding rings, and perform mounting operations on two mounting slots 2 at one time.

The second type is for a single core tube, with no circumferential requirements and double weld ring operations. At this time, one or two core tubes and two weld rings are picked up. When the core tube is inspected, if NG is found, the other core tube is kept as a standby. When assembling, one weld ring is first sprayed with flux, and then the second weld ring and the core tube are picked up in turn.

When there is peripheral orientation in the first and second types, the mounting is performed after being oriented by a rotating adjustment device.

The third type is for the assembly of two differentiated core tubes, without circumferential requirements. It can realize the mounting of two installation slots 2, one-time material removal, differential position adjustment, and is suitable for double-position assembly.

The fourth type is for the assembly of two differentiated core tubes, with no circumferential requirements and double welding rings. At this time, the two mounting slots 2 are mounted in steps, and the steps are similar to the second type.

When there is peripheral orientation in the third and fourth types, the mounting is performed after being oriented by a rotating adjustment device.

In a specific embodiment, as shown in Figures 8 and 9, a first carrier plate 530 and a second carrier plate 540 with lifting and lowering adjustment displacement are provided on the displacement slide 520, a core tube picking and placing mechanism and a welding ring picking and placing mechanism are arranged on the first carrier plate, and a slide positioning visual mechanism, a core tube pressing mechanism, and a flux spraying mechanism are arranged on the second carrier plate.

Specifically, by adjusting the lifting position of the first carrier plate 530 and the second carrier plate 540, the position can be automatically pre-adjusted according to the position of the installation slot 2, that is, there is a large height difference in the Z direction of the installation slot 2, and the matching stroke can be adjusted by the first carrier plate 530 and the second carrier plate 540. When adjusting and calibrating at the rear end through the horizontal visual mechanism 420, it only calibrates the micro-stroke differences of the core tube pressing mechanism 522, the flux spraying mechanism 523, the core tube picking and placing mechanism 524, and the welding ring picking and placing mechanism 525. Such adjustment and calibration is more reliable and is suitable for the adaptation needs of various types of shells and the mounting slots 2 thereon.

It should be noted that the height of the mounting slot 2 generally varies greatly. In this case, the first carrier plate 530 and the second carrier plate 540 can be used to adjust the larger stroke to meet the needs. In order to make the Z-direction relative distance monitoring more accurate, a distance meter is added to the second carrier plate 540, which is combined with the Z-direction height measurement of the mounting slot visual mechanism to accurately obtain the Z-direction position of the mounting slot 2. This is convenient for calibrating the focal length adjustment stroke accuracy of the core tube pressing mechanism 522.

In a specific embodiment, as shown in FIG. 3 and FIG. 14 , a flux spraying calibration mechanism 700 for calibrating the flux spraying mechanism is included within the range of the rotary displacement stroke of the displacement slide, and an ultrasonic cleaning mechanism 800 for ultrasonically cleaning the core tube picking and placing mechanism and the welding ring picking and placing mechanism.

Specifically, when the flux spraying mechanism 523 performs the flux spraying operation, it is actually in the form of an annular spray, and the annular spraying needs to cover the welding ring and the mounting slot 2. The flux spraying mechanism 523 generally adopts a piezoelectric spot fluxing method. Through the flux spraying calibration mechanism 700, the spraying range and spraying amount of the flux spraying mechanism 523 can be detected, thereby calibrating the control of the piezoelectric spot flux to ensure the flux spraying range and flux spraying amount. In general, before each flux spraying operation, it is necessary to calibrate through the flux spraying calibration mechanism 700 to maximize the mounting reliability of a single mounting slot 2.

The core tube taking and placing mechanism and the welding ring taking and placing mechanism generally adopt the design of negative pressure adsorption end, that is, there is an air passage, and the air passage can be kept clean and unobstructed through the ultrasonic cleaning mechanism 800, which is easy to realize online maintenance.

In a specific embodiment, as shown in Figures 15 and 16, it includes a heating device 900 arranged opposite to the loading device, and the heating device includes a lifting platform 910 with a lifting and avoiding stroke, a horizontal platform 920 arranged on the lifting platform and having a horizontal linear displacement toward the shell carrier, and a heating source 930 arranged on the horizontal platform.

Specifically, after the spray flux is mounted, the flux material needs to be cured, and there are many problems with online heating curing. First, high temperature cannot exist during the spray flux mounting process, otherwise the flux nozzle is prone to clogging, and it will affect the leveling of the flux after spraying, and the mounting quality cannot be guaranteed. Natural curing requires a long time to wait, and removing the curing will cause the core tube to shift.

Generally, curing is accelerated by artificial means such as external heat sources, and shell loading is generally automated, which makes it difficult to provide space for manual operation. At the same time, manual operation can easily interfere with automated loading machinery, causing safety accidents.

In view of this situation, the design of the heating device 900 is adopted, which can meet the need of avoiding the automatic feeding machine through the lifting platform 910, and at the same time, it can achieve the contact between the heating source 930 and the shell through the horizontal platform 920 to meet its efficient curing needs. In this way, the mounting and curing operation is efficient and smooth.

In a specific embodiment, as shown in FIG. 15 , the heating source 930 is a protruding heating block, which can be inserted into a housing having a chamber to achieve relatively close thermal curing.

In a specific embodiment, as shown in FIG. 16 , the heating source 930 is a heating chamber with a cavity, which can cover the shell after displacement to meet its high-efficiency curing requirements.

There are still many optimizations in this solution, as shown in Figures 18 to 21, which are specific designs of shell carriers to meet the mounting requirements of various types of shells.

As shown in FIG. 18 , the shell carrier is a negative pressure adsorption carrier, which can adsorb and fix the shell with a horizontal bottom wall surface to meet the needs of rapid changeover.

As shown in FIG. 19 , the shell carrier is a locking carrier with a hollow groove, which can be used to position, lock and mount a shell having a raised structure on the bottom wall, and is mainly used for offline loading and unloading.

As shown in FIG. 20 , the shell carrier is a locking carrier of a floating clamp, which realizes automated coordinated material transfer through support, avoidance and clamping.

As shown in FIG. 21 , the shell carrier is a locking carrier for carrying a whole row of shells in batches, which can realize the clamping, locking and carrying of a number of concave-shaped shells in a row.

The shell carrier will not be elaborated here. As long as the shell carrier can be detachably loaded with the shell, it is within the protection scope of this case.

The mounting method of the present invention is described in detail with reference to the core tube automatic mounting equipment of FIG. 1 to FIG. 21 , which comprises the following steps:

The shell is mounted and the position is adjusted, the shell is locked on the shell carrier, and the shell carrier adjustment mechanism is used to adjust the installation slot of the shell vertically toward the top.

Specifically, in general, the installation slot 2 is a vertical hole slot on the shell wall, so the vertical accuracy of the installation slot 2 can be guaranteed by adjusting the level of the shell wall through the shell carrier adjustment mechanism.

Position calibration, the installation slot vision mechanism detects the horizontal and vertical position of the current installation slot, and the displacement slide is driven according to the detected horizontal position. The position of the current installation slot is rechecked through the slide positioning vision mechanism to perform displacement slide alignment correction, and then according to the detected vertical position, the lifting and lowering stroke of the flux spraying mechanism, the core tube picking and placing mechanism, and the welding ring picking and placing mechanism are corrected by switching the displacement slide and the horizontal vision mechanism.

Specifically, the X, Y, and Z coordinates of the installation slot are generally confirmed, and the displacement slide executes the coordinates of the slide positioning vision mechanism according to its coordinates. When the execution is in place, the slide positioning vision mechanism collects the relative position deviation with the installation slot at this time, thereby correcting the execution coordinate displacement of the system to ensure that the relative stroke control positioning of the displacement slide is calibrated. The relative position of the pick-up, placement, pressing and other mechanisms that need to be explained on the displacement slide is locked. Therefore, after the relative stroke of the displacement slide is calibrated, its X and Y plane alignment is guaranteed.

According to the Z-axis position, correction is achieved through lifting and lowering adjustment, so that the relative position of placement and pressing is accurate, ensuring that the rear-end pre-installation is reliable and stable.

Material picking: the core tube picking and placing mechanism and the welding ring picking and placing mechanism pick up materials respectively by switching the position of the displacement slide.

That is, the core tube and the welding ring are taken correspondingly after calibration.

Position detection: the horizontal visual mechanism detects the axial dimension of the core tube, and the position visual mechanism detects the position deviation between the core tube and the picking end of the core tube picking and placing mechanism, as well as the position deviation between the welding ring and the picking end of the welding ring picking and placing mechanism.

There are certain positional differences between the materials of welding ring supply and core tube supply. When they are relatively positioned, it is easy for the suction nozzle and the material to be out of center. At this time, the relative position deviation can be obtained through position detection.

During the mounting operation, the positioning deviation is compensated by the displacement slide. The solder ring pick-and-place mechanism loads the solder ring into the installation slot. The flux spraying mechanism sprays flux on the solder ring. The core tube pick-and-place mechanism passes the core tube through the solder ring and places it in the installation slot. The core tube pressing mechanism is switched to crimp the core tube. The slide positioning vision mechanism performs position detection on the crimped core tube. If there is a position deviation, NG unloading will be performed.

That is, the deviation compensation requirements for placing the welding ring and the core tube are met in this way. After pre-installation, the concentricity of the core tube is detected to make a qualified and NG judgment. The NG one is directly unloaded to prevent the offset core tube from being solidified and causing the installation slot 2 to be scrapped.

In a preferred embodiment, the method includes a core tube rotation adjustment step, wherein the core tube picking and placing mechanism picks up the core tube, and after the position detection is performed by the position vision mechanism, the displacement slide is adjusted and compensated according to the position deviation, and then the core tube is placed on the rotation adjustment seat, the angle detection vision mechanism is moved to the rotation adjustment seat to detect the rotation compensation angle of the core tube, and the rotation adjustment seat adjusts the rotation of the core tube according to the rotation compensation angle. After adjustment, the core tube picking and placing mechanism picks up the core tube on the rotation adjustment seat.

That is, the core tube has a circumferential orientation requirement. Through this step, accurate core tube loading and accurate picking after circumferential orientation can be achieved to meet the back-end directional mounting requirements.

In a preferred embodiment, it includes thermal curing, the lifting platform rises, the horizontal platform moves toward the shell carrier, the heating source heats the shell to solidify the flux material, and the horizontal platform and the lifting platform are reset after solidification.

This meets the needs of online heating and curing and avoiding loading and unloading displacement.

From the above description, it can be found that the core tube automatic mounting equipment and mounting method meet the process requirements of welding ring loading, flux spraying, core tube loading, core tube crimping, and testing, and realize the automatic mounting production of core tubes. It can realize alignment calibration and relative deviation compensation of material discharge to ensure assembly accuracy, and the mounting qualification rate is significantly improved. At the same time, it meets the requirements of core tube discharge in mounting detection and reduces the scrap rate of installation slots. The equipment has very good compatibility, meets the requirements of flexible mounting of various shells and travel alignment according to the installation slots, and has a high utilization rate, without complex changeover control and adjustment. It has the function of core tube circumferential adjustment to meet the needs of directional mounting. It runs smoothly and efficiently, meets the production requirements of mounting process, and realizes high-speed mounting and flexible mounting.

The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus/device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus/device.

So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims (10)

1. Automatic surface mounting equipment of core pipe, its characterized in that includes:

The material carrying device comprises a shell carrier for carrying the shell, a shell carrier adjusting mechanism for driving the shell carrier to enable the installation groove of the shell to vertically face the top, and an installation groove visual mechanism positioned at the top of the shell carrier adjusting mechanism and used for determining the horizontal position degree and the vertical position degree of the installation groove;

The welding ring feeding device comprises a feeding table and a welding ring visual mechanism which is positioned at the top of the feeding table and used for determining the position degree of the welding ring;

a core tube feeding device comprising at least one core tube feeding tray for feeding core tubes;

the position degree detection and calibration device comprises a position degree vision mechanism, a horizontal vision mechanism and a position degree detection and calibration device, wherein the position degree vision mechanism is used for detecting the position degree of the core tube and the welding ring, and the horizontal vision mechanism is used for detecting the position degree of the core tube and the axial size degree of the core tube, and the position degree detection and calibration device is used for detecting the position degree of the core tube and the welding ring, and the position degree detection and calibration device is used for detecting the axial size degree of the core tube, and the position degree detection and calibration device is used for detecting the position degree of the core tube and the welding ring, and the horizontal vision mechanism is used for detecting;

the mounting turnover comprehensive device comprises a comprehensive operation carrier and a displacement sliding seat which is arranged on the comprehensive operation carrier and is provided with turnover displacement, and the material loading device, the welding ring supply device, the core pipe supply device and the position degree detection and calibration device are respectively positioned in the turnover displacement travel range of the displacement sliding seat;

The displacement slide is provided with a slide positioning visual mechanism for detecting the position of the core tube and carrying out positioning verification of the displacement slide in cooperation with the installation groove visual mechanism, a core tube pressing and pasting mechanism with lifting displacement, a soldering flux spraying mechanism with lifting displacement, at least one core tube taking and placing mechanism with lifting displacement and at least one welding ring taking and placing mechanism with lifting displacement.

2. The automated core tube mounting apparatus of claim 1, wherein:

also comprises at least one rotation adjusting device positioned in the turnover displacement travel range of the displacement sliding seat,

The rotary adjusting device comprises a rotary adjusting seat for carrying the core tube to carry out rotary adjustment and an angle detection visual mechanism facing the rotary adjusting seat, wherein horizontal dislocation adjusting displacement is arranged between the rotary adjusting seat and the angle detection visual mechanism.

3. The automated core tube mounting apparatus of claim 2, wherein:

The core tube feeding device comprises two core tube feeding trays, and the feeding core tubes of the two core tube feeding trays are different; the welding ring supply device comprises two supply tables, and the welding rings on the two supply tables are different;

The displacement sliding seat is provided with at least two core tube picking and placing mechanisms and at least two welding ring picking and placing mechanisms;

comprising two said rotation adjustment means.

4. The automated core tube mounting apparatus of claim 1, wherein:

the device is characterized in that a first carrier plate and a second carrier plate with lifting adjustment displacement are arranged on the displacement sliding seat, the core tube picking and placing mechanism and the welding ring picking and placing mechanism are arranged on the first carrier plate, and the sliding seat positioning visual mechanism, the core tube pressing and pasting mechanism and the soldering flux spraying mechanism are arranged on the second carrier plate.

5. The automated core tube mounting apparatus of claim 1, wherein:

The ultrasonic cleaning mechanism is used for carrying out ultrasonic cleaning on the core tube picking and placing mechanism and the welding ring picking and placing mechanism.

6. The automated core tube mounting apparatus of claim 1, wherein:

The heating device comprises a lifting carrying platform with a lifting avoiding stroke, a horizontal carrying platform arranged on the lifting carrying platform and provided with a horizontal linear displacement towards the shell carrier, and a heating source arranged on the horizontal carrying platform.

7. The automated core tube mounting apparatus of claim 1, wherein:

The shell carrier adjusting mechanism comprises a first rotating shaft position with a horizontal axis direction and a second rotating shaft position with an axis direction which is arranged on the first rotating shaft position and is perpendicular to the axis direction of the first rotating shaft position;

The second rotating shaft position is provided with a matching shaft seat, and the shell carrier is provided with a matching flange which is detachably matched with the matching shaft seat.

8. The mounting method based on the automatic core tube mounting equipment of any one of claims 1 to 7, characterized by comprising the following steps:

s1, carrying and adjusting the position degree of a shell, locking the shell on a shell carrier, and adjusting the shell carrier through a shell carrier adjusting mechanism to enable the mounting groove of the shell to vertically face the top;

S2, calibrating the position degree, namely detecting the horizontal position degree and the vertical position degree of the current installation slot by the installation slot visual mechanism, performing alignment driving of a displacement slide seat according to the detected horizontal position degree, performing alignment correction of the displacement slide seat by performing position degree rechecking of the current installation slot by the slide seat positioning visual mechanism, and performing lifting stroke correction of the soldering flux spraying mechanism, the core tube picking and placing mechanism and the welding ring picking and placing mechanism by switching alignment of the displacement slide seat and the horizontal visual mechanism according to the detected vertical position degree;

S3, taking materials, namely respectively taking materials of the core tube taking and placing mechanism and the welding ring taking and placing mechanism through displacement sliding seat switching positions;

S4, detecting the position degree, namely detecting the axial size degree of the core tube by a horizontal visual mechanism, and detecting the position degree deviation of the pick-up ends of the core tube and the core tube pick-and-place mechanism and the position degree deviation of the pick-up ends of the welding rings and the welding ring pick-and-place mechanism by the position degree visual mechanism;

S5, mounting operation, namely carrying out mounting position degree compensation of a displacement sliding seat according to the position degree deviation detected in the step S4, loading the welding ring in a mounting groove by a welding ring taking and placing mechanism, spraying soldering flux on the welding ring by a soldering flux spraying mechanism, placing the core pipe in the mounting groove by a core pipe taking and placing mechanism through the welding ring, switching a core pipe pressing and placing mechanism to press the core pipe, carrying out position degree detection on the core pipe after press-connection by a sliding seat positioning visual mechanism, and carrying out NG unloading when the position degree deviation occurs.

9. The mounting method of the core tube automated mounting apparatus of claim 8, wherein:

the automatic core tube mounting equipment comprises at least one rotary adjusting device positioned in the turnover displacement travel range of the displacement sliding seat;

The rotation adjusting device comprises a rotation adjusting seat for carrying the core tube to carry out rotation adjustment and an angle detection visual mechanism facing the rotation adjusting seat, wherein horizontal dislocation adjusting displacement is arranged between the rotation adjusting seat and the angle detection visual mechanism;

Step S4 comprises a core tube rotation adjustment step, after the core tube picking and placing mechanism picks up the core tube and detects the position degree of the position degree visual mechanism, the core tube is placed on the rotation adjustment seat after adjustment and alignment compensation of the displacement sliding seat is carried out according to the position degree deviation, the angle detection visual mechanism is displaced to the rotation adjustment seat to carry out rotation compensation angle detection of the core tube, the rotation adjustment seat carries out rotation adjustment on the core tube according to the rotation compensation angle, and the core tube picking and placing mechanism picks up the core tube on the rotation adjustment seat after adjustment.

10. The mounting method of the core tube automated mounting apparatus of claim 8, wherein:

The automatic core tube mounting equipment comprises a heating device which is arranged opposite to the material carrying device, wherein the heating device comprises a lifting carrying platform with a lifting avoiding stroke, a horizontal carrying platform which is arranged on the lifting carrying platform and is provided with a horizontal linear displacement towards the shell carrying device, and a heating source which is arranged on the horizontal carrying platform;

And S6, thermally curing, lifting the carrier, carrying out the abutting displacement towards the shell carrier by the horizontal carrier, heating the shell by a heating source to cure the soldering flux, and resetting the horizontal carrier and the lifting carrier after curing.