CN109676037A - A kind of equipment and its assemble method of full-automatic assembling motor vehicle safety belt constriction device - Google Patents
A kind of equipment and its assemble method of full-automatic assembling motor vehicle safety belt constriction device Download PDFInfo
- Publication number
- CN109676037A CN109676037A CN201910091320.5A CN201910091320A CN109676037A CN 109676037 A CN109676037 A CN 109676037A CN 201910091320 A CN201910091320 A CN 201910091320A CN 109676037 A CN109676037 A CN 109676037A
- Authority
- CN
- China
- Prior art keywords
- station
- frame
- riveting
- axis
- component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 11
- 238000001514 detection method Methods 0.000 claims abstract description 28
- 238000009434 installation Methods 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 46
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 230000008961 swelling Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 29
- 230000000694 effects Effects 0.000 description 6
- 239000004411 aluminium Substances 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012797 qualification Methods 0.000 description 2
- 210000003781 tooth socket Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/14—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by turning devices, e.g. turn-tables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D53/00—Making other particular articles
- B21D53/88—Making other particular articles other parts for vehicles, e.g. cowlings, mudguards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/56—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using mechanical means or mechanical connections, e.g. form-fits
- B29C65/60—Riveting or staking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
- B29C65/7802—Positioning the parts to be joined, e.g. aligning, indexing or centring
- B29C65/7805—Positioning the parts to be joined, e.g. aligning, indexing or centring the parts to be joined comprising positioning features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
- B29C65/7841—Holding or clamping means for handling purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
- B29C65/80—Rotatable transfer means for loading or unloading purposes, i.e. turret transfer means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/70—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material
- B29C66/74—Joining plastics material to non-plastics material
- B29C66/742—Joining plastics material to non-plastics material to metals or their alloys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/80—General aspects of machine operations or constructions and parts thereof
- B29C66/84—Specific machine types or machines suitable for specific applications
- B29C66/863—Robotised, e.g. mounted on a robot arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/90—Measuring or controlling the joining process
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/34—Belt retractors, e.g. reels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention provides a kind of full-automatic assembling equipment of the car insurance with constriction device, by existing linear type pipelining mode, it is integrated into the double turntables of multistation divider, one traffic cycle is carried by a Cam splitter, it is equipped with several working plates above, working plate is rotated with rotating disk, on the corresponding position of each working plate, equipped with different assembling or detection station, the working plate has product orientation and quick change tooling, other tool fixtures and executing agency are installed in fixed disk, reduce the device space to occupy, locking plate installs the feeding vibrating disk integrated installation of station inside equipment, the feeding vibrating disk of mechanical cover board erector position is installed independently of equipment, feeding vibrating disk only is installed on 2 stations wherein, ensure that a worker can take all vibrating disk feeding situations into account, multistation divider simultaneously, Cycle operation cycle time is short, improves production efficiency.
Description
Technical field
The present invention provides a kind of assembling equipment of the car insurance with constriction device, and in particular to a kind of car insurance band contraction
The full-automatic assembling equipment of device is used for assembling motor vehicle safety belt constriction device.
Background technique
The constriction device of automobile-used safety belt, by riveting wind spring plate, cored axis around spring, fills locking plate, tool board group part of installing,
Dress is completed with quick component, mandrel riveting, tool cover board of installing, mechanical these techniques of cover board riveting, it is also necessary to corresponding multiple tracks machine
Tool structural unit and motion control unit are cooperated jointly to complete.
In existing safety belt assembly producing line, assembly line causes equipment from first station station straight configuration to the end
Occupied space is big, and station information interaction is not in time.
In existing safety belt assembly producing line, most of is all using manual assembly mode, and assembling process is cumbersome, assembly effect
Rate is low.
In existing safety belt assembly producing line, part also carries out the semi-automatic assembly of safety belt, institute using automation equipment
It calls semi-automatic assembly to refer to, components are expected in specified tool fixture up and down by artificial, assemble by single machine, after the assembly is completed again
By manually taking out, it is transferred on next assembly station.Although Assembly part uses robot jig automatic assembling, loading and unloading
It is still to be completed by manual operation.Raising in production efficiency is unobvious, while the artificial of each station still not can be reduced,
Both without improving production efficiency, also without saving production cost.
In existing safety belt assembly producing line, in motion structure used by Semi-automatic device, majority is the gas built
Dynamic multiaxis mould group or 4 axis robots.Pneumatic multiaxis mould group does not have flexibility due to the certainty of stroke, causes to can not meet dress
With the higher matching requirements of required precision, fail so as to cause part assembly or unstable.4 axis robots, Ke Yishi
For the assembly demand of simple action, requirement is unable to satisfy for the assembly of compound action, to reduce the stability of assembly, is protected
The quality of product is not demonstrate,proved.
In existing safety belt assembly producing line, for the product that each station assembles, detects whether qualification, still depend on people
Work observes detection mode, and manual detection efficiency is low, and error rate is high.
In existing safety belt assembly producing line, in assembling process, or bad (NG) product found in test, according to
It is so that good (OK) product and NG product are manually distinguished into placement, during being somebody's turn to do, people is easy to obscure placement, leads to OK product
The middle probability for NG product occur becomes larger, and influences product and sells in the market, inspection of doing over again occurs, and wastes a large amount of human times.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of full-automatic group installing of the car insurance with constriction device
It is standby, make systematic innovative design in structure and function integration, it is minimum to meet overall design overall dimensions occupied space,
Requirement easy to operate, easy to maintain is contracted using 4 axis and 6 axis robotic asssembly operations by operation flowing water more than original 8 people
Reduce to the full-automatic assembling equipment of only 2 people operation.It is greatly decreased manually, greatly improves production efficiency, ensure that product matter
Measure Eligibility requirements.
The technical scheme is that a kind of full-automatic assembling equipment of car insurance with constriction device, including compact
Fuselage；The compact fuselage includes the double turntables of multistation divider, and the double turntables of the multistation divider are respectively lower section
The rotating disk of fixed disk and top carried by Cam splitter；The rotating disk is evenly distributed in the circumferential direction multiple toolings
Plate, the working plate top are provided with mandrel positioning mold, with quick component positioning mold, frame and wind spring component integrated positioning mould
Tool and mechanical plate component positioning mold, the working plate bottom are provided with multiple fixing axles, and the fixing axle is inserted into rotating disk
In the fixation hole that upper correspondence opens up, rotated so that working plate is radially fixed in rotating disk and with rotating disk；
On the corresponding position of each working plate, equipped with different assemblings perhaps the detection station assembling or detection work
Assemble sequence arrangement of the position according to car insurance with constriction device, is respectively as follows: the first station, second station, 3rd station, and the 4th
Station, the 5th station, the 6th station, the 7th station, eighth station, the 9th station, the tenth station, the 11st station；
First station is feeding station, is used for by mandrel, with the combination of quick component, frame and wind spring component and machinery
Board group part is located on working plate in corresponding mold；
The second station is detection station, and frame and the combination installation of wind spring component for detecting the installation of the first station are
No qualification；
The 3rd station is wind spring component and frame riveting station, and the wind spring component and frame riveting station are corresponding
The first riveting device that wind spring component and frame can be fastened completely to assembly is provided in fixed disk, for wind spring component and
Frame carries out riveting and fixes；
4th station is mandrel assembly station, is equipped with 6 axis machines in the corresponding fixed disk of the mandrel assembly station
Device people, the 6 axis robot end are provided with First look camera and the three-jaw clamping cylinder for clamping mandrel, the mandrel
Fixed second vision camera is provided on the corresponding equipment board of assembly station；For mandrel to be installed into frame, core
One end of axis is inserted in the centre bore hex slot of wind spring component；
5th station is that station is installed around spring and locking plate, described to install the corresponding fixation of station around spring and locking plate
Locking plate vibrating disk and the one 4 axis robot are provided on disk, the one 4 axis robot end is provided with third vision phase
Machine and locking plate grasping jig, and described install around spring and locking plate is provided with the servo that can be moved to above mandrel at station
Torsion machine structure；Mandrel is rotated using servo torsion machine structure, pre-tightens the wind spring in wind spring component, then locking plate vibrates
Disk inputs locking plate, and locking plate is caught in by the one 4 axis robot motion；
6th station is mechanical plate component assembly station, in the corresponding fixed disk of the mechanical plate component assembly station
It is provided with the 2nd 4 axis robot, the 2nd 4 axis robot end is provided with the 4th vision camera and mechanical plate component feeding is controlled
Tool is provided with the 5th vision camera on the corresponding equipment board of the mechanical plate component assembly station；For by mechanical plate component
It is installed on frame；
7th station is to be arranged in the corresponding fixed disk of the quick component assembly station of band with quick component assembly station
The frame clamp system for having the 3rd 4 axis robot and capable of compressing frame, the 3rd 4 axis robot end be provided with the
Six vision cameras and with quick component feeding jig, for that will be installed to mechanical plate component with quick component, and the axis of mandrel is through
In hole with quick component；
The eighth station is mandrel riveting station, and being provided in the corresponding fixed disk of the mandrel riveting station can will
Mandrel riveting is allowed to and second riveting device fixed with quick component；
9th station is mechanical cover board erector position, is arranged in the corresponding fixed disk in machinery cover board erector position
There is the 4th 4 axis robot, the 4th 4 axis robot end is provided with the 8th vision camera and mechanical cover board feeding jig, institute
It states and is provided with the 7th vision camera on the corresponding equipment board in mechanical cover board erector position；For mechanical cover board to be installed to machinery
On board group part；
Tenth station is mechanical cover board riveting station, is arranged in the corresponding fixed disk of the machinery cover board riveting station
There is the third riveting device that mechanical cover board riveting can be fixed on frame；
11st station is discharging station, is provided with the 5th 4 axis machine in the corresponding fixed disk of the discharging station
People, and equipped with OK product pipeline.
Further, the first cylinder three that can all around move is installed in the corresponding fixed disk of the detection station
Axis mechanism, the end of three axis mechanism of the first cylinder can move to the frame of detection station with three axis mechanism of the first cylinder
Top, and the end of three axis mechanism of the first cylinder is provided with laser range finder, for detecting the frame and volume of the installation of the first station
Whether spring component combination installation is qualified.
Further, first riveting device includes the wedge block jacking mechanism that can jack up working plate, the wedge
Shape block jacking mechanism includes horizontal thrust cylinder and can be located at working plate along the top plate of guiding axis up and down motion, the top plate
Lower section, the horizontal thrust cylinder end are provided with the first wedge block, are provided with below the top plate and are bonded with the first wedge block
The second wedge block, horizontal thrust cylinder moving drive the first wedge block apply upward power to the second wedge block, to drive
Top plate, which moves upwards, jacks up working plate；
First riveting device includes the frame clamping cylinder that can be moved up and down, and the frame clamping cylinder is fixed on
Above frame；
First riveting device includes the first Z axis riveting cylinder that can be moved up and down, the first Z axis riveting cylinder
It is fixed on the first X-axis cylinder, the first Z axis riveting cylinder end is provided with the first riveting head, the first riveting head energy
Enough in the first X-axis cylinder and the first Z axis riveting cylinder moving to frame, riveting is carried out to the salient point of the prominent frame of wind spring plate.
Further, the frame clamp system includes clamp lever, and the clamp lever first end is provided with and can press from both sides
The collet of tight frame, the movable end that second end rotary type is connected to the first clamping cylinder enable second end with the first folder
Tight cylinder moves up and down；Clamp lever center rotary type is connected on bracket, and the bracket is fixed on can be along rotation
On the second X-axis cylinder that disk is radially moved forward and backward；Collet is transported in the cooperation of the second X-axis cylinder and the first clamping cylinder
Simultaneously clamping frames are moved at frame under dynamic.
Further, second riveting device includes the first tooling that can jack up working plate below working plate
Plate jacking mechanism；Second riveting device includes the second Z axis riveting cylinder that can be moved up and down above the mandrel, and described the
Two Z axis riveting cylinder ends are provided with the second riveting head；Second riveting device, which is also fixed on third X-axis cylinder, can clamp core
First mandrel radial clamping jig of axis.When work, the first working plate jacking mechanism is jacked up so that working plate bottom surface is detached from rotation
Disk, and the first working plate jacking mechanism withstands working plate, then the first mandrel radial clamping jig is stretched with third X-axis cylinder moving
Mandrel is clamped out；The circle cup (annulus) of mandrel is clamped by mechanism, and riveting head falls, and carries out riveting, and the 1st grade is blocked with quick, the 2nd grade after
It is continuous to push, mandrel is pushed down, makes aluminium expansion to make mandrel fix with quick component.
Further, including on the outside of independently of equipment board of the car insurance with the full-automatic assembling equipment of constriction device
Mechanical cap panel vibration disk, the mechanical cap panel vibration disk exit are provided with mechanical cover board localization tool.For to mechanical cover board
Station feeding is installed, and installs that the high vibration frequency of mechanical cap panel vibration disk is avoided to generate shadow to equipment independently of equipment
It rings, extends the service life of device.
Further, the third riveting device includes the second tooling that can jack up working plate below working plate
Plate jacking mechanism；Third riveting device includes the third Z axis riveting cylinder that can be moved up and down above mechanical cover board, institute
It states third Z axis riveting cylinder end and is provided with third riveting head；Third riveting device, which is also fixed on the 4th X-axis cylinder, to be pressed from both sides
Second mandrel radial clamping jig of tight mandrel.When work, the second working plate jacking mechanism is jacked up so that working plate bottom surface is detached from
Rotating disk, and the second working plate jacking mechanism withstands working plate, then the second mandrel radial clamping jig is transported with the 4th X-axis cylinder
Dynamic stretch out clamps mandrel；The circle cup (annulus) of mandrel is clamped by mechanism, and riveting head falls, and carries out riveting, mechanical cover board riveting is consolidated
It is scheduled on frame.
A kind of assemble method of full-automatic assembling equipment the present invention also provides car insurance with constriction device, specifically such as
Under:
First station: by being manually located in vacancy work in rotating disk by mandrel, with quick component and mechanical plate component correspondence
Mandrel positioning mold in loading board, in quick component positioning mold and mechanical plate component positioning mold, and by wind spring component and
Frame, which tentatively assembles, to be located in frame and wind spring component integrated positioning mold；Button is manually started, disc spins are rotated, it will be upper
Working plate after material rotates to second station, rotating disk again can by working plate rotate to the first station, manually after
Continuous feeding；
Second station: for detecting artificial preliminary mounted wind spring component and flame mode, predominantly pass through the first gas
Laser range finder on three axis mechanism of cylinder detects two point heights of plane outer rim on frame separately, for judging
Whether frame smooth, qualified through detection, i.e. two point heights in error range, can judge that frame is up-to-standard, behind after
It is continuous that assembly operation is carried out to frame；If detection is unqualified, for NG, rear road all process steps were without that should have components
Working plate only rotated with rotating disk, until final rotation is back to the first station by manually re-replacing preliminary assembly
Good wind spring component and frame；
3rd station: wind spring component (plastic components) is riveted tightly and is fixed on frame (metal parts)；Due to wind spring component
With frame also only positioning assembly, there is no fastening assembly completely, need to 2 salient points of chassis base prominent on wind spring plate into
Row riveting carries stamping jig using lower air cylinder and completes riveting.It is larger to be primarily due to riveting power, needs to control using bottom stress
Tool jacks up the working plate (wind spring component and frame) in rotating disk, is detached from turntable；And consider the effect of riveting power, this
Place is jacked up the working plate in rotating disk using wedge block jacking mechanism, rather than cylinder or oil cylinder directly act on jack-up；Then frame
The effect of frame clamping cylinder, moves downward, from top die-cast frame, wind spring component and frame is fixed, and by pressure, will
Wind spring component and frame flatten, and the salient point of prominent chassis base on wind spring plate is made to deform swelling wind spring plate and frame in a certain range
Frame；The first riveting head is in the first X-axis cylinder and the first Z axis riveting cylinder moving to frame later, and extend on salient point, rolls up
The direction of motion of the placement angle and pressure head of spring component and frame on working plate it is relatively ingenious, 2 salient points can be made abundant
It shows on the vertical plane that pressure head stretches out direction；First riveting head pushes, and salient point is flattened, wind spring component is made to be completely fixed in frame
On frame；Pressure head is special grid rectangular preiection object, provides preferably lower pressure and riveting intensity；After completing convex point pressing, equipment
It successively retracts, the wind spring component and frame after flattening completion salient point fall back to the original position on working plate；Rotating disk continues to revolve
Turn, drives working plate to next station；
4th station: due to bottom to be assembled on mandrel shaft end portion be hexagon, and to be assembled to wind spring component in have
Corresponding hex slot needs for gear to be completely assembled in tooth socket, can just reach assembly；The first view in 6 axis robots first
Feel that camera first shoots the state of hex slot in wind spring component, then is clamped at the top of mandrel by the three-jaw clamping cylinder in 6 axis robots
Shaft end is moved into the second vision camera, and the second vision camera shooting direction is shot from lower to upper, by mandrel bottom shaft end six
Angular state is shot；The relative angle of mandrel Yu wind spring component is calculated, and data feedback is repaired to 6 axis robots
Just, then mandrel is placed into frame, and is inserted into the turret head of mandrel in the hex slot of wind spring component, complete mandrel dress
Match；Rotating disk continues to rotate, and drives working plate to next station；
5th station: first pass through servo around spring device to mandrel around spring, after the completion of spring, then pass through the one 4 axis robot
It carries locking plate grasping jig crawl locking plate and passes through the third vision being mounted in the one 4 axis robot before filling locking plate
Location hole on camera detecting core shaft calculates the location hole currently relative to the deviation of predeterminated position, feeds back to the one 4 axis machine
People corrects the loading position of current locking plate, is then packed into locking plate, completes locking plate assembly；Rotating disk continues to rotate, band
Loading board of starting building is to next station；
6th station: being grabbed the mechanical plate component being manually placed on tool mold by the 2nd 4 axis robot, due to
The assembly is the assembly of hole location type, and first after robot crawl, the 5th vision camera shoots the positioning pin below mechanical board group part
Position, the opposite of positioning pin and location hole is then calculated by the position of location hole on the 4th vision camera shooting frame again
Angle, and data feedback is modified to the 2nd 4 axis robot, then mechanical plate component is installed on frame；Rotating disk
Continue to rotate, drives working plate to next station；
7th station: being clamped frame by frame clamp system, position, and then shoots core by the 6th vision camera
The position of aixs cylinder shaft and position with quick component holes are manually placed at moulds of industrial equipment by the crawl of the 3rd 4 axis robot later
On with quick component, will be installed on mechanical plate component with quick component after correction position, and the axis of mandrel is through with quick component
In hole；Rotating disk continues to rotate, and drives working plate to next station；
Eighth station: mandrel riveting is allowed to fix with quick component using the second riveting device；Turntable continues to rotate, band
Loading board of starting building is to next station；
9th station: first passing through the 4th 4 axis robot and grab the above-listed good mechanical cover board of mechanical cap panel vibration disk, mobile
To right above the 7th vision camera, the 7th vision camera takes the position of mechanical cover board following two positioning pin column, then again by
8th vision camera claps the position of two pin holes above mechanical plate component, by mechanical cap after the 4th 4 axis robot correction position
Plate is installed on mechanical plate component；Turntable continues to rotate, and drives working plate to next station；
Tenth station: mechanical cover board riveting is fixed on frame using third riveting device；Turntable continues to rotate, and drives
Working plate is to next station；
11st station: after the completion of riveting, for example OK product is then transported to OK product pipeline by the 5th 4 axis robot
On.
The beneficial effects of the present invention are:
Existing linear type pipelining mode is integrated into the double turntables of multistation divider, by one by the present invention
Cam splitter carries a traffic cycle, is equipped with several working plates above, working plate is rotated with rotating disk, in each tooling
On the corresponding position of plate, equipped with different assembling or detection station, which has product orientation and quick change tooling (tooling
The effect of plate is to position several components, has different positioning and quick change tooling), other toolings are installed in fixed disk and are controlled
Tool and executing agency reduce the device space and occupy, and locking plate installs the feeding vibrating disk integrated installation of station inside equipment, machine
Tool cover board installs the feeding vibrating disk of station independently of equipment installation (since the vibrating disk vibration frequency is high).Only in 2 wherein
Feeding vibrating disk is installed, it is ensured that a worker can take all vibrating disk feeding situations into account on a station.Multistation point simultaneously
Cutter, cycle operation cycle time is short, improves production efficiency.
Vibrating disk feeding of the present invention refers to that (vibrating disk also known as vibrating disc " can arrange in an orderly manner various products with vibrating disk
Out, each position of product is assembled and is added automatically as a complete product, or cooperation by cooperation automatic assembly equipment
Work machinery completes the processing to workpiece ") replace original semi-automatic assembly line artificial loading, it is ensured that the consistency of feeding, continuity.
It can reduce by a feeding operator in each station herein, successional feeding improves production efficiency, replaces the vibration of artificial loading
Moving plate substantially saves cost of labor.
Detailed description of the invention
Fig. 1 is the overall structure diagram of full-automatic assembling equipment of the car insurance with constriction device；
Fig. 2 is the overall structure diagram of full-automatic assembling equipment of the car insurance with constriction device；
Fig. 3 is the structural schematic diagram of wind spring component；
Fig. 4 is the structural schematic diagram of frame；
Fig. 5 is the structural schematic diagram of mandrel；
Fig. 6 is the structural schematic diagram of locking plate；
Fig. 7 is the structural schematic diagram of mechanical plate component；
Fig. 8 is the structural schematic diagram with quick component；
Fig. 9 is the structural schematic diagram of mechanical cover board；
Figure 10 is the structural schematic diagram for the safety belt constriction device being fully assembled；
Figure 11 is the first station artificial loading station structure schematic diagram；
Figure 12 is the detection schematic diagram of second station detection station；
Figure 13 is the structural schematic diagram after wind spring component and frame assembling；
Figure 14 is 3rd station wind spring component and frame rivet pressing structure schematic diagram；
Figure 15 is 3rd station wind spring component and frame rivet pressing structure schematic diagram；
Figure 16 is state before 3rd station wind spring component and frame riveting；
Figure 17 is 3rd station wind spring component and frame riveting state；
Figure 18 is mandrel grasping jig structural schematic diagram；
Figure 19 is the 4th station mandrel station structural schematic diagram；
Figure 20 is the structural schematic diagram that the 5th station installs station around spring and locking plate；
Figure 21 is locking plate grasping jig structural schematic diagram；
Figure 22 is around spring jig structure schematic diagram；
Figure 23 is the structural schematic diagram of the 6th station machinery board group part station；
Figure 24 is the structural schematic diagram of mechanical plate component feeding jig；
Figure 25 is the structural schematic diagram of the quick component assembly station of the 7th station band；
Figure 26 is the structural schematic diagram with quick component feeding jig and the 6th vision camera；
Figure 27 is the structural schematic diagram with quick component feeding jig；
Figure 28 is the structural schematic diagram of frame clamp system；
Figure 29 is the structural schematic diagram of eighth station mandrel riveting station；
Figure 30 is the structural schematic diagram that the 9th station machinery cover board installs station；
Figure 31 is the structural schematic diagram of the tenth station machinery cover board riveting station.
In figure: 1 is the first station, and 2 be second station, and 3 be 3rd station, and 4 be the 4th station, and 5 be the 5th station, and 6 are
6th station, 7 be the 7th station, and 8 be eighth station, and 9 be the 9th station, and 10 be the tenth station, and 11 be the 11st station, and 12 are
Working plate, 13 be wind spring component, and 14 be frame, and 15 be mandrel, and 16 be locking plate, and 17 be mechanical plate component, and 18 is with quick components,
19 be mechanical cover board, and 20 be the safety belt constriction device being fully assembled, and 21 be the frame being manually pre-installed and wind spring component group
It closes, 22 be mandrel positioning mold, and 23 is are frame and wind spring component integrated positioning mold with quick component positioning mold, 24, and 25 are
Mechanical plate component positioning mold, 26 be three axis mechanism of the first cylinder, and 27 be laser range finder, and 28 be wind spring plate, and 29 be salient point, 30
It is the first riveting head for frame clamping cylinder, 31,32 be the first Z axis riveting cylinder, and 33 be the first X-axis cylinder, and 34 push away for level
Strength cylinder, 35 be wedge block jacking mechanism, and 36 be guiding axis, and 37 grab clamping cylinder for three, and 38 be First look camera, and 39 be 6
Axis robot, 40 be the second vision camera, and 41 be locking plate vibrating disk, and 42 be the one 4 axis robot, and 43 be third vision phase
Machine, 44 be servo torsion machine structure, and 45 be locking plate grasping jig, and 46 be the 2nd 4 axis robot, and 47 control for mechanical plate component feeding
Tool, 48 be the 4th vision camera, and 49 be the 3rd 4 axis robot, and 50 is, with quick component feeding jig, 51 are frame clamp system,
52 be the 6th vision camera, 53 be the first working plate jacking mechanism, 54 be the second riveting head, 55 be the second Z axis riveting cylinder, 56
It is the first mandrel radial clamping jig for third X-axis cylinder, 57,58 be mechanical cap panel vibration disk, and 59 be the 4th 4 axis robot,
60 be the 7th vision camera, and 61 be mechanical cover board feeding jig, and 62 jack up for mechanical cover board localization tool, 63 for the second working plate
Mechanism, 64 be third riveting head, and 65 be third Z axis riveting cylinder, and 66 be the 4th X-axis cylinder, and 67 be the second mandrel radial clamping
Jig, 511 be the first clamping cylinder, and 512 be the second X-axis cylinder, and 513 be clamp lever.
Specific embodiment
Following further describes the present invention with reference to the drawings.
As Figure 1-10 shows, full-automatic assembling equipment of a kind of car insurance with constriction device, including compact fuselage.Institute
Stating compact fuselage includes the double turntables of multistation divider, the double turntables of the multistation divider be respectively lower section fixed disk and
The rotating disk of top carried by Cam splitter.The rotating disk is evenly distributed in the circumferential direction multiple working plates 12, institute
It states and is provided with mandrel positioning mold 22 above working plate 12, with quick component positioning mold 23, frame and wind spring component integrated positioning
Mold 24 and mechanical plate component positioning mold 25,12 bottom of working plate are provided with multiple fixing axles, and the fixing axle is inserted
Enter in the fixation hole for corresponding to and opening up in rotating disk, is rotated so that working plate 12 is radially fixed in rotating disk and with rotating disk.
On the corresponding position of each working plate 12, equipped with the different assemblings perhaps detection station assembling or detection
Assemble sequence arrangement of the station according to car insurance with constriction device, is respectively as follows: the first station 1, second station 2,3rd station
3, the 4th station 4, the 5th station 5, the 6th station 6, the 7th station 7, eighth station 8, the 9th station 9, the tenth station 10, the tenth
One station 11.
As shown in figure 11, first station 1 is feeding station, is used for by mandrel, with quick component, frame and wind spring component
Combination and mechanical plate component are located on working plate 12 in corresponding mold.
As shown in figure 12, the second station 2 is detection station, for detecting the frame and wind spring of the installation of the first station 1
Whether component combination installation is qualified.
Three axis mechanism 26 of the first cylinder that can all around move is installed in the corresponding fixed disk of the detection station,
The end of first cylinder, three axis mechanism 26 can move to the top of the frame of detection station with three axis mechanism of the first cylinder,
And the end of three axis mechanism 26 of the first cylinder is provided with laser range finder 27, for detecting the frame and volume of the installation of the first station 1
Whether spring component combination installation is qualified.
As shown in figs. 13-17, the 3rd station 3 is wind spring component and frame riveting station, the wind spring component and frame
The first riveting device that wind spring component and frame can be fastened completely to assembly is provided in the corresponding fixed disk of frame riveting station,
It is fixed for carrying out riveting to wind spring component and frame.
First riveting device includes the wedge block jacking mechanism 35 that can jack up working plate 12, the wedge block top
The top plate that mechanism 35 includes horizontal thrust cylinder 34 and can move up and down along guiding axis 36 is played, the top plate is located at working plate
12 lower sections, 34 end of horizontal thrust cylinder are provided with the first wedge block, are provided with and the first wedge block below the top plate
Second wedge block of fitting, horizontal thrust cylinder moving drive the first wedge block to apply upward power to the second wedge block, thus
It drives top plate to move upwards to jack up working plate 12.
First riveting device includes the frame clamping cylinder 30 that can be moved up and down, and the frame clamping cylinder 30 is solid
Above frame.
First riveting device includes the first Z axis riveting cylinder 32 that can be moved up and down, the first Z axis riveting gas
Cylinder 32 is fixed on the first X-axis cylinder 33, and 32 end of the first Z axis riveting cylinder is provided with the first riveting head 31, and described
One riveting head 31 can move in frame 14 with the first X-axis cylinder 33 and the first Z axis riveting cylinder 32, prominent to wind spring plate 29
The salient point 29 of frame 14 carries out riveting.
As shown in Figure 18,19, the 4th station 4 is mandrel assembly station, the corresponding fixation of the mandrel assembly station
6 axis robots 39 are installed, 6 axis robot, 39 end is provided with First look camera 38 and for clamping mandrel on disk
Three-jaw clamping cylinder 37 is provided with fixed second vision camera 40 on the corresponding equipment board of the mandrel assembly station.
For mandrel to be installed into frame 14, one end of mandrel 15 is inserted in the centre bore hex slot of wind spring component 13.
As illustrated in figs 20-22, the 5th station 5 is to install station around spring and locking plate, described to pacify around spring and locking plate
Locking plate vibrating disk 41 and the one 4 axis robot 42, the one 4 axis robot are provided in the corresponding fixed disk of dress station
42 ends are provided with third vision camera 43 and locking plate grasping jig 45, and the setting at spring and locking plate installation station
There is the servo torsion machine structure 44 that can be moved to above mandrel.Mandrel is rotated using servo torsion machine structure 44, makes wind spring
Wind spring in component pre-tightens, and then locking plate vibrating disk 41 inputs locking plate, and the one 4 axis robot 42 is acted locking plate card
Enter.
As shown in figs. 23-24, the 6th station 6 is mechanical plate component assembly station, the mechanical plate component assembler
It is provided with the 2nd 4 axis robot 46 in the corresponding fixed disk in position, 46 end of the 2nd 4 axis robot is provided with the 4th vision phase
Machine 48 and mechanical plate component feeding jig 47 are provided with the 5th view on the corresponding equipment board of the mechanical plate component assembly station
Feel camera.For mechanical plate component 17 to be installed to frame 14.
As shown in Figure 25-28, the 7th station 7 is with quick component assembly station, the quick component assembly station pair of band
The frame clamp system 51 that is provided with the 3rd 4 axis robot 49 in the fixed disk answered and frame 14 can be compressed, described
34 axis robot, 49 end is provided with the 6th vision camera 52 and with quick component feeding jig 50, for that will pacify with quick component 18
It is attached on mechanical plate component 17, and the axis of mandrel 15 is through in the hole with quick component 18.
The frame clamp system 51 includes clamp lever 513, and 513 first end of clamp lever is provided with and can clamp
The collet of frame, the movable end that second end rotary type is connected to the first clamping cylinder 511 enable second end with first
Clamping cylinder 511 moves up and down.The 513 center rotary type of clamp lever is connected on bracket, and the bracket is fixed on energy
Enough along the second X-axis cylinder 512 that rotating disk is radially moved forward and backward.Enable collet in the second X-axis cylinder 512 and the first folder
Simultaneously clamping frames are moved at frame under the cooperative movement of tight cylinder 511.
As shown in figure 29, the eighth station 8 is mandrel riveting station, in the corresponding fixed disk of the mandrel riveting station
Mandrel riveting can be allowed to and second riveting device fixed with quick component 18 by being provided with.Second riveting device includes position
The the first working plate jacking mechanism 53 that working plate 12 can be jacked up below working plate 12.Second riveting device includes being located at core
The the second Z axis riveting cylinder 55 that can be moved up and down above axis, 55 end of the second Z axis riveting cylinder are provided with the second riveting
Pressure head 54.Second riveting device is also fixed on third X-axis cylinder 56 the first mandrel radial clamping jig that can clamp mandrel
57.When work, the first working plate jacking mechanism is jacked up so that working plate bottom surface is detached from rotating disk, and the first working plate jacking mechanism
Working plate is withstood, then the first mandrel radial clamping jig is stretched out with third X-axis cylinder moving clamps mandrel.Mandrel is clamped by mechanism
Circle cup annulus, riveting head falls, and carries out riveting, the 1st grade is blocked with quick, and the 2nd grade is continued to push, and is pushed down mandrel, is kept aluminium swollen
It is swollen to making mandrel fix with quick component.
As shown in figure 30, the 9th station 9 is mechanical cover board erector position, and machinery cover board erector position is corresponding
The 4th 4 axis robot 59 is provided in fixed disk, 59 end of the 4th 4 axis robot is provided with the 8th vision camera and machinery
Cover board feeding jig 61 is provided with the 7th vision camera 60 on the corresponding equipment board in machinery cover board erector position.For
Mechanical cover board 19 is installed on mechanical plate component 17.
As shown in figure 31, the tenth station 10 is mechanical cover board riveting station, and the machinery cover board riveting station is corresponding
Fixed disk on be provided with the third riveting device that mechanical cover board riveting can be fixed on frame.
The third riveting device includes the second working plate top that can jack up working plate 12 below working plate 12
Play mechanism 63.Third riveting device includes the third Z axis riveting cylinder 65 that can be moved up and down above mechanical cover board, institute
It states 65 end of third Z axis riveting cylinder and is provided with third riveting head 64.Third riveting device is also fixed on the 4th X-axis cylinder 66
The second mandrel radial clamping jig 67 of mandrel can be clamped.When work, the second working plate jacking mechanism is jacked up so that working plate
Bottom surface is detached from rotating disk, and the second working plate jacking mechanism withstands working plate, and then the second mandrel radial clamping jig is with the 4th X
Axis cylinder moving, which stretches out, clamps mandrel.The circle cup annulus of mandrel is clamped by mechanism, and riveting head falls, and riveting is carried out, by mechanical cover board
Riveting is fixed on frame.
Including independently of the mechanical cover board on the outside of equipment board of the car insurance with the full-automatic assembling equipment of constriction device
Vibrating disk 58,58 exit of mechanical cap panel vibration disk are provided with mechanical cover board localization tool 62.For to mechanical cover board peace
Station feeding is filled, and installs that the high vibration frequency of mechanical cap panel vibration disk is avoided to have an impact equipment independently of equipment,
Extend the service life of device.
11st station 11 is discharging station, is provided with the 5th 4 axis machine in the corresponding fixed disk of the discharging station
Device people, and equipped with OK product pipeline.
A kind of assemble method of full-automatic assembling equipment of the car insurance with constriction device is it is characterized by: specific as follows:
First station: by being manually located in vacancy work in rotating disk by mandrel, with quick component and mechanical plate component correspondence
Mandrel positioning mold in loading board, in quick component positioning mold and mechanical plate component positioning mold, and by wind spring component and
Frame, which tentatively assembles, to be located in frame and wind spring component integrated positioning mold.Button is manually started, disc spins are rotated, it will be upper
Working plate after material rotates to second station, rotating disk again can by working plate rotate to the first station, manually after
Continuous feeding.
Second station: for detecting artificial preliminary mounted wind spring component and flame mode, predominantly pass through the first gas
Laser range finder on three axis mechanism of cylinder detects two point heights of plane outer rim on frame separately, for judging
Whether frame smooth, qualified through detection, i.e. two point heights in error range, can judge that frame is up-to-standard, behind after
It is continuous that assembly operation is carried out to frame.If detection is unqualified, for NG, rear road all process steps were without that should have components
Working plate only rotated with rotating disk, until final rotation is back to the first station by manually re-replacing preliminary assembly
Good wind spring component and frame.
3rd station: wind spring component plastic components is riveted tightly and is fixed on frame metal component.Due to wind spring component and frame
Frame also only positioning assembly needs 2 salient points to chassis base prominent on wind spring plate to carry out riveting there is no fastening assembly completely
Pressure carries stamping jig using lower air cylinder and completes riveting.It is larger to be primarily due to riveting power, needs using bottom stress jig,
By in rotating disk working plate wind spring component and frame jack up, with turntable be detached from.And consider the effect of riveting power, it uses herein
Wedge block jacking mechanism jacks up the working plate in rotating disk, rather than cylinder or oil cylinder directly act on jack-up.Then frame clamps
Cylinder action moves downward, and from top die-cast frame, wind spring component and frame are fixed, and by pressure, by nest spring
Part and frame flatten, and the salient point of prominent chassis base on wind spring plate is made to deform swelling wind spring plate and frame in a certain range.It
The first riveting head is in the first X-axis cylinder and the first Z axis riveting cylinder moving to frame afterwards, and extend on salient point, nest spring
The direction of motion of the placement angle and pressure head of part and frame on working plate it is relatively ingenious, 2 salient points can be made sufficiently to show
On the vertical plane that pressure head stretches out direction.First riveting head pushes, and salient point is flattened, wind spring component is made to be completely fixed in frame
On.Pressure head is special grid rectangular preiection object, provides preferably lower pressure and riveting intensity.Complete convex point pressing after, equipment according to
Secondary to retract, wind spring component and frame after flattening completion salient point fall back to the original position on working plate.Rotating disk continues to rotate,
Drive working plate to next station.
4th station: due to bottom to be assembled on mandrel shaft end portion be hexagon, and to be assembled to wind spring component in have
Corresponding hex slot needs for gear to be completely assembled in tooth socket, can just reach assembly.The first view in 6 axis robots first
Feel that camera first shoots the state of hex slot in wind spring component, then is clamped at the top of mandrel by the three-jaw clamping cylinder in 6 axis robots
Shaft end is moved into the second vision camera, and the second vision camera shooting direction is shot from lower to upper, by mandrel bottom shaft end six
Angular state is shot.The relative angle of mandrel Yu wind spring component is calculated, and data feedback is repaired to 6 axis robots
Just, then mandrel is placed into frame, and is inserted into the turret head of mandrel in the hex slot of wind spring component, complete mandrel dress
Match.Rotating disk continues to rotate, and drives working plate to next station.
5th station: first pass through servo around spring device to mandrel around spring, after the completion of spring, then pass through the one 4 axis robot
It carries locking plate grasping jig crawl locking plate and passes through the third vision being mounted in the one 4 axis robot before filling locking plate
Location hole on camera detecting core shaft calculates the location hole currently relative to the deviation of predeterminated position, feeds back to the one 4 axis machine
People corrects the loading position of current locking plate, is then packed into locking plate, completes locking plate assembly.Rotating disk continues to rotate, band
Loading board of starting building is to next station.
6th station: being grabbed the mechanical plate component being manually placed on tool mold by the 2nd 4 axis robot, due to
The assembly is the assembly of hole location type, and first after robot crawl, the 5th vision camera shoots the positioning pin below mechanical board group part
Position, the opposite of positioning pin and location hole is then calculated by the position of location hole on the 4th vision camera shooting frame again
Angle, and data feedback is modified to the 2nd 4 axis robot, then mechanical plate component is installed on frame.Rotating disk
Continue to rotate, drives working plate to next station.
7th station: being clamped frame by frame clamp system, position, and then shoots core by the 6th vision camera
The position of aixs cylinder shaft and position with quick component holes are manually placed at moulds of industrial equipment by the crawl of the 3rd 4 axis robot later
On with quick component, will be installed on mechanical plate component with quick component after correction position, and the axis of mandrel is through with quick component
In hole.Rotating disk continues to rotate, and drives working plate to next station.
Eighth station: mandrel riveting is allowed to fix with quick component using the second riveting device.Turntable continues to rotate, band
Loading board of starting building is to next station.
9th station: first passing through the 4th 4 axis robot and grab the above-listed good mechanical cover board of mechanical cap panel vibration disk, mobile
To right above the 7th vision camera, the 7th vision camera takes the position of mechanical cover board following two positioning pin column, then again by
8th vision camera claps the position of two pin holes above mechanical plate component, by mechanical cap after the 4th 4 axis robot correction position
Plate is installed on mechanical plate component.Turntable continues to rotate, and drives working plate to next station.
Tenth station: mechanical cover board riveting is fixed on frame using third riveting device.Turntable continues to rotate, and drives
Working plate is to next station.
11st station: after the completion of riveting, for example OK product is then transported to OK product pipeline by the 5th 4 axis robot
On.
Existing linear type pipelining mode is integrated into the double turntables of multistation divider, by one by the present invention
Cam splitter carries a traffic cycle, is equipped with several working plates above, working plate is rotated with rotating disk, in each tooling
On the corresponding position of plate, equipped with different assembling or detection station, which has product orientation and quick change tooling (tooling
The effect of plate is to position several components, has different positioning and quick change tooling), other toolings are installed in fixed disk and are controlled
Tool and executing agency reduce the device space and occupy, and locking plate installs the feeding vibrating disk integrated installation of station inside equipment, machine
Tool cover board installs the feeding vibrating disk of station independently of equipment installation (since the vibrating disk vibration frequency is high).Only in 2 wherein
Feeding vibrating disk is installed, it is ensured that a worker can take all vibrating disk feeding situations into account on a station.Multistation point simultaneously
Cutter, cycle operation cycle time is short, improves production efficiency.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of full-automatic assembling equipment of car insurance with constriction device, it is characterised in that: including compact fuselage；It is described tight
The type fuselage of gathering includes the double turntables of multistation divider, and the double turntables of the multistation divider are respectively fixed disk and the top of lower section
By Cam splitter carry rotating disk；The rotating disk is evenly distributed in the circumferential direction to be had multiple working plates (12), described
It is provided with mandrel positioning mold (22) above working plate (12), is combined with quick component positioning mold (23), frame and wind spring component
Positioning mold (24) and mechanical plate component positioning mold (25), working plate (12) bottom are provided with multiple fixing axles, institute
It states in fixing axle insertion rotating disk in the corresponding fixation hole opened up, so that working plate (12) is radially fixed in rotating disk and with rotation
Turntable rotation；
On the corresponding position of each working plate (12), equipped with different assemblings perhaps the detection station assembling or detection work
Assemble sequence arrangement of the position according to car insurance with constriction device, is respectively as follows: the first station (1), second station (2), third work
Position (3), the 4th station (4), the 5th station (5), the 6th station (6), the 7th station (7), eighth station (8), the 9th station
(9), the tenth station (10), the 11st station (11)；
First station (1) is feeding station, is used for by mandrel, with the combination of quick component, frame and wind spring component and machinery
Board group part is located on working plate (12) in corresponding mold；
The second station (2) is detection station, for detecting the frame and the combination installation of wind spring component of the first station (1) installation
It is whether qualified；
The 3rd station (3) is wind spring component and frame riveting station, and the wind spring component and frame riveting station are corresponding
The first riveting device that wind spring component and frame can be fastened completely to assembly is provided in fixed disk, for wind spring component and
Frame carries out riveting and fixes；
4th station (4) is mandrel assembly station, is equipped with 6 axis machines in the corresponding fixed disk of the mandrel assembly station
People (39), 6 axis robot (39) end is provided with First look camera (38) and the three-jaw for clamping mandrel clamps gas
Cylinder (37) is provided with fixed second vision camera (40) on the corresponding equipment board of the mandrel assembly station；For inciting somebody to action
Mandrel is installed into frame (14), and one end of mandrel (15) is inserted in the centre bore hex slot of wind spring component (13)；
5th station (5) is that station is installed around spring and locking plate, described to install the corresponding fixation of station around spring and locking plate
Locking plate vibrating disk (41) and the one 4 axis robot (42), the setting of the one 4 axis robot (42) end are provided on disk
There are third vision camera (43) and locking plate grasping jig (45), and described be provided at spring and locking plate installation station can
The servo torsion machine structure (44) being moved to above mandrel；Mandrel is rotated using servo torsion machine structure (44), makes nest spring
Wind spring in part pre-tightens, and then locking plate vibrating disk (41) inputs locking plate, and the one 4 axis robot (42) is acted locking plate card
Enter；
6th station (6) is mechanical plate component assembly station, in the corresponding fixed disk of the mechanical plate component assembly station
It is provided with the 2nd 4 axis robot (46), the 2nd 4 axis robot (46) end is provided with the 4th vision camera (48) and machinery
Board group part feeding jig (47) is provided with the 5th vision camera on the corresponding equipment board of the mechanical plate component assembly station；
For mechanical plate component (17) to be installed to frame (14)；
7th station (7) is to be arranged in the corresponding fixed disk of the quick component assembly station of band with quick component assembly station
The frame clamp system (51) that has the 3rd 4 axis robot (49) and frame (14) can be compressed, the 3rd 4 axis robot
(49) end is provided with the 6th vision camera (52) and with quick component feeding jig (50), for that will be installed to quick component (18)
On mechanical plate component (17), and the axis of mandrel (15) is through in the hole with quick component (18)；
The eighth station (8) is mandrel riveting station, and being provided in the corresponding fixed disk of the mandrel riveting station can will
Mandrel riveting is allowed to and second riveting device fixed with quick component (18)；
9th station (9) is mechanical cover board erector position, is arranged in the corresponding fixed disk in machinery cover board erector position
There is the 4th 4 axis robot (59), the 4th 4 axis robot (59) end is provided with the 8th vision camera and mechanical cover board feeding
Jig (61) is provided with the 7th vision camera (60) on the corresponding equipment board in machinery cover board erector position；For by machine
Tool cover board (19) is installed on mechanical plate component (17)；
Tenth station (10) is mechanical cover board riveting station, is arranged in the corresponding fixed disk of the machinery cover board riveting station
There is the third riveting device that mechanical cover board riveting can be fixed on frame；
11st station (11) is discharging station, is provided with the 5th 4 axis machine in the corresponding fixed disk of the discharging station
People, and equipped with OK product pipeline.
2. a kind of full-automatic assembling equipment of the car insurance according to claim 1 with constriction device, it is characterised in that: institute
State three axis mechanism of the first cylinder (26) that is equipped with and can all around move in the corresponding fixed disk of detection station, described first
The end of three axis mechanism of cylinder (26) can move to the top of the frame of detection station, and first with three axis mechanism of the first cylinder
The end of three axis mechanism of cylinder (26) is provided with laser range finder (27), for detecting the frame and volume of the first station (1) installation
Whether spring component combination installation is qualified.
3. a kind of full-automatic assembling equipment of the car insurance according to claim 1 with constriction device, it is characterised in that: institute
Stating the first riveting device includes the wedge block jacking mechanism (35) that can jack up working plate (12), the wedge block jacking mechanism
(35) top plate that includes horizontal thrust cylinder (34) and can move up and down along guiding axis (36), the top plate are located at working plate
(12) lower section, horizontal thrust cylinder (34) end are provided with the first wedge block, and the top plate lower section is provided with and first wedge
Second wedge block of shape block fitting, horizontal thrust cylinder moving drive the first wedge block to apply upward power to the second wedge block,
Working plate (12) are jacked up to drive top plate to move upwards；
First riveting device includes the frame clamping cylinder (30) that can be moved up and down, and the frame clamping cylinder (30) is solid
Above frame；
First riveting device includes the first Z axis riveting cylinder (32) that can be moved up and down, the first Z axis riveting cylinder
(32) it is fixed on the first X-axis cylinder (33), the first Z axis riveting cylinder (32) end is provided with the first riveting head (31),
The first riveting head (31) can be moved to the first X-axis cylinder (33) and the first Z axis riveting cylinder (32) in frame (14),
Riveting is carried out to the salient point (29) of wind spring plate (29) prominent frame (14).
4. a kind of full-automatic assembling equipment of the car insurance according to claim 1 with constriction device, it is characterised in that: institute
Stating frame clamp system (51) includes clamp lever (513), and clamp lever (513) first end is provided with being capable of clamping frames
Collet, the movable end that second end rotary type is connected to the first clamping cylinder (511) enable second end with first folder
Tight cylinder (511) moves up and down；Clamp lever (513) center rotary type is connected on bracket, and the bracket is fixed on
On the second X-axis cylinder (512) that can be radially moved forward and backward along rotating disk；Enable collet in the second X-axis cylinder (512) and
Simultaneously clamping frames are moved at frame under the cooperative movement of first clamping cylinder (511).
5. a kind of full-automatic assembling equipment of the car insurance according to claim 1 with constriction device, it is characterised in that: institute
Stating the second riveting device includes the first working plate jacking mechanism that can jack up working plate (12) below working plate (12)
(53)；Second riveting device includes the second Z axis riveting cylinder (55) that can be moved up and down above the mandrel, and described second
Z axis riveting cylinder (55) end is provided with the second riveting head (54)；Second riveting device is also fixed on third X-axis cylinder (56)
The first mandrel radial clamping jig (57) of mandrel can be clamped.
6. a kind of full-automatic assembling equipment of the car insurance according to claim 1 with constriction device, it is characterised in that: packet
It includes independently of the mechanical cap panel vibration disk (58) on the outside of equipment board of the car insurance with the full-automatic assembling equipment of constriction device,
Mechanical cap panel vibration disk (58) exit is provided with mechanical cover board localization tool (62).
7. a kind of full-automatic assembling equipment of the car insurance according to claim 1 with constriction device, it is characterised in that: institute
Stating third riveting device includes the second working plate jacking mechanism that can jack up working plate (12) below working plate (12)
(63)；Third riveting device includes the third Z axis riveting cylinder (65) that can be moved up and down above mechanical cover board, described
Third Z axis riveting cylinder (65) end is provided with third riveting head (64)；Third riveting device is also fixed on the 4th X-axis cylinder
(66) the second mandrel radial clamping jig (67) of mandrel can be clamped on.
8. a kind of assemble method of full-automatic assembling equipment of car insurance with constriction device, it is characterised in that: specific as follows:
First station: by being manually located in vacancy working plate in rotating disk by mandrel, with quick component and mechanical plate component correspondence
On mandrel positioning mold, in quick component positioning mold and mechanical plate component positioning mold, and by wind spring component and frame
It tentatively assembles and is located in frame and wind spring component integrated positioning mold；Button is manually started, disc spins are rotated, feeding is complete
Working plate after finishing rotates to second station, rotating disk again can by working plate rotate to the first station, manually continue on
Material；
Second station: by the laser range finder on three axis mechanism of the first cylinder, to two of plane outer rim on frame separately
Point height is detected, and for judging whether frame is smooth, qualified through detection, i.e. two point heights are in error range
Judge that frame is up-to-standard, behind continue to frame carry out assembly operation；If detection is unqualified, for NG, the rear all works in road
Sequence is without the working plate that should have components is only rotated with rotating disk, until final rotation is back to the first work
Position is by manually re-replacing the wind spring component and frame that tentatively assemble；
3rd station: the working plate in rotating disk is jacked up using wedge block jacking mechanism first；Then frame clamping cylinder is made
With moving downward, from top die-cast frame, wind spring component and frame be fixed, and by pressure, by wind spring component and frame
Frame flattens, and makes the salient point of prominent chassis base on wind spring plate in deformation swelling wind spring plate and frame；The first riveting head is with later
It in one X-axis cylinder and the first Z axis riveting cylinder moving to frame, and extend on salient point, the first riveting head pushes, by salient point pressure
It is flat, it is completely fixed in wind spring component on frame；After completing convex point pressing, equipment is successively retracted, and makes to complete the volume after salient point flattens
Spring component and frame fall back to the original position on working plate；Rotating disk continues to rotate, and drives working plate to next station；
4th station: the First look camera in 6 axis robots first first shoots the state of hex slot in wind spring component, then by 6
Three-jaw clamping cylinder in axis robot clamps shaft end at the top of mandrel, is moved into the second vision camera, by mandrel bottom axis
End hexagon state is shot；The relative angle of mandrel Yu wind spring component is calculated, and data feedback is carried out to 6 axis robots
Mandrel, is then placed into frame by amendment, and is inserted into the turret head of mandrel in the hex slot of wind spring component, completes mandrel dress
Match；Rotating disk continues to rotate, and drives working plate to next station；
5th station: first pass through servo around spring device to mandrel around spring, after the completion of spring, then by the one 4 axis robot carry
Locking plate grasping jig crawl locking plate passes through the third vision camera being mounted in the one 4 axis robot before filling locking plate
Location hole on detecting core shaft calculates the location hole currently relative to the deviation of predeterminated position, feeds back to the one 4 axis robot and repair
Locking plate, is then packed by the loading position of proper preceding locking plate, completes locking plate assembly；Rotating disk continues to rotate, and band is started building
Loading board is to next station；
6th station: being grabbed mechanical plate component by the 2nd 4 axis robot, and the 5th vision camera is shot below mechanical board group part
Positioning pin position, then by the position of location hole on the 4th vision camera shooting frame, calculate positioning pin and location hole
Relative angle, and data feedback is modified to the 2nd 4 axis robot, then mechanical plate component is installed on frame；Rotation
Turntable continues to rotate, and drives working plate to next station；
7th station: being clamped frame by frame clamp system, position, and is then dashed forward by the 6th vision camera shooting mandrel
The position of shaft and position with quick component holes are grabbed by the 3rd 4 axis robot with quick component later, by band after correction position
Quick component is installed on mechanical plate component, and the axis of mandrel is through in the hole with quick component；Rotating disk continues to rotate, and drives tooling
Plate is to next station；
Eighth station: mandrel riveting is allowed to fix with quick component using the second riveting device；Turntable continues to rotate, and band is started building
Loading board is to next station；
9th station: first passing through the 4th 4 axis robot and grab the above-listed good mechanical cover board of mechanical cap panel vibration disk, is moved to the
Right above seven vision cameras, the 7th vision camera takes the position of mechanical cover board following two positioning pin column, then again by the 8th
Vision camera claps the position of two pin holes above mechanical plate component, pacifies mechanical cover board after the 4th 4 axis robot correction position
It is attached on mechanical plate component；Turntable continues to rotate, and drives working plate to next station；
Tenth station: mechanical cover board riveting is fixed on frame using third riveting device；Turntable continues to rotate, and drives tooling
Plate is to next station；
11st station: after the completion of riveting, for example OK product is then transported on OK product pipeline by the 5th 4 axis robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910091320.5A CN109676037B (en) | 2019-01-30 | 2019-01-30 | Equipment for fully automatically assembling automobile safety belt contraction device and assembling method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910091320.5A CN109676037B (en) | 2019-01-30 | 2019-01-30 | Equipment for fully automatically assembling automobile safety belt contraction device and assembling method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109676037A true CN109676037A (en) | 2019-04-26 |
| CN109676037B CN109676037B (en) | 2023-11-21 |
Family
ID=66195111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910091320.5A Active CN109676037B (en) | 2019-01-30 | 2019-01-30 | Equipment for fully automatically assembling automobile safety belt contraction device and assembling method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109676037B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142600A (en) * | 2019-04-29 | 2019-08-20 | 浙江亚太机电股份有限公司 | A kind of semi-automatic assembly equipment of anti-neglected loading of drum brake |
| CN110778859A (en) * | 2019-10-23 | 2020-02-11 | 芜湖金安世腾汽车安全***有限公司 | Misplacement detection device for safety belt frame |
| CN110814733A (en) * | 2019-10-23 | 2020-02-21 | 芜湖金安世腾汽车安全***有限公司 | Automation equipment is used in polytypic safety belt production |
| CN111421101A (en) * | 2020-03-26 | 2020-07-17 | 山东普集圣源锻造有限公司 | Bearing block forging equipment and forging process |
| CN112496738A (en) * | 2020-11-13 | 2021-03-16 | 南京崴肯自动化设备科技有限公司 | Automatic assembly riveting equipment for pre-tightening safety belt mandrel and meshing wheel |
| CN113211067A (en) * | 2020-01-21 | 2021-08-06 | 嘉兴海拉灯具有限公司 | Assembly component, car lamp module, assembly workstation of car lamp module and working method of assembly workstation |
| CN113650200A (en) * | 2021-07-01 | 2021-11-16 | 西北工业大学 | A splice frock for split type combined material mandrel makes |
| CN114055122A (en) * | 2021-12-21 | 2022-02-18 | 苏州邦冠自动化设备有限公司 | Automatic assembling equipment for inner frame and outer frame for assembling keyboard |
| CN116079405A (en) * | 2023-04-12 | 2023-05-09 | 苏州英维特精密机械有限公司 | Four-way electric adjusting pipe column assembly line |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1290909A (en) * | 1969-12-08 | 1972-09-27 | ||
| US4727640A (en) * | 1983-09-27 | 1988-03-01 | American Safety Equipment Corp. | Easily assembled seat belt retractor and method |
| US20020124649A1 (en) * | 2001-02-23 | 2002-09-12 | Kim Taek Kwang | Control system of factory automation facility for seatbelt retractor assembly and method thereof |
| CN102470820A (en) * | 2009-07-15 | 2012-05-23 | 奥托立夫开发公司 | Seat belt retractor and method for assembling spindle of seat belt retractor |
| CN104353995A (en) * | 2014-10-27 | 2015-02-18 | 苏州菱欧自动化设备有限公司 | Safety belt buckle assembly line |
| CN204195225U (en) * | 2014-10-27 | 2015-03-11 | 苏州菱欧自动化设备有限公司 | A kind of belt buckle assembly line |
| CN105798566A (en) * | 2015-09-24 | 2016-07-27 | 上海科工机电设备成套有限公司 | Automatic assembly mechanism for sensitive elements of automobile safety belts |
| CN106002155A (en) * | 2016-07-08 | 2016-10-12 | 上海科工机电设备成套有限公司 | Automatic assembling mechanism for automobile safety belt locking ratchet wheel |
| CN108512013A (en) * | 2018-03-19 | 2018-09-07 | 武汉德泰纳新能源技术有限公司 | A kind of new-energy automobile connector torsional spring jack automated assembling equipment |
-
2019
- 2019-01-30 CN CN201910091320.5A patent/CN109676037B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1290909A (en) * | 1969-12-08 | 1972-09-27 | ||
| US4727640A (en) * | 1983-09-27 | 1988-03-01 | American Safety Equipment Corp. | Easily assembled seat belt retractor and method |
| US20020124649A1 (en) * | 2001-02-23 | 2002-09-12 | Kim Taek Kwang | Control system of factory automation facility for seatbelt retractor assembly and method thereof |
| CN102470820A (en) * | 2009-07-15 | 2012-05-23 | 奥托立夫开发公司 | Seat belt retractor and method for assembling spindle of seat belt retractor |
| CN104353995A (en) * | 2014-10-27 | 2015-02-18 | 苏州菱欧自动化设备有限公司 | Safety belt buckle assembly line |
| CN204195225U (en) * | 2014-10-27 | 2015-03-11 | 苏州菱欧自动化设备有限公司 | A kind of belt buckle assembly line |
| CN105798566A (en) * | 2015-09-24 | 2016-07-27 | 上海科工机电设备成套有限公司 | Automatic assembly mechanism for sensitive elements of automobile safety belts |
| CN106002155A (en) * | 2016-07-08 | 2016-10-12 | 上海科工机电设备成套有限公司 | Automatic assembling mechanism for automobile safety belt locking ratchet wheel |
| CN108512013A (en) * | 2018-03-19 | 2018-09-07 | 武汉德泰纳新能源技术有限公司 | A kind of new-energy automobile connector torsional spring jack automated assembling equipment |
Non-Patent Citations (1)
| Title |
|---|
| 纪钰亮: "一种汽车安全带限位扣自动铆压机设计", 装备制造技术, no. 012, pages 32 - 34 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142600A (en) * | 2019-04-29 | 2019-08-20 | 浙江亚太机电股份有限公司 | A kind of semi-automatic assembly equipment of anti-neglected loading of drum brake |
| CN110142600B (en) * | 2019-04-29 | 2024-06-11 | 浙江亚太机电股份有限公司 | Drum brake neglected loading preventing semi-automatic assembly equipment |
| CN110778859A (en) * | 2019-10-23 | 2020-02-11 | 芜湖金安世腾汽车安全***有限公司 | Misplacement detection device for safety belt frame |
| CN110814733A (en) * | 2019-10-23 | 2020-02-21 | 芜湖金安世腾汽车安全***有限公司 | Automation equipment is used in polytypic safety belt production |
| CN113211067A (en) * | 2020-01-21 | 2021-08-06 | 嘉兴海拉灯具有限公司 | Assembly component, car lamp module, assembly workstation of car lamp module and working method of assembly workstation |
| CN111421101A (en) * | 2020-03-26 | 2020-07-17 | 山东普集圣源锻造有限公司 | Bearing block forging equipment and forging process |
| CN111421101B (en) * | 2020-03-26 | 2021-05-18 | 山东普集圣源锻造有限公司 | Bearing block forging equipment and forging process |
| CN112496738B (en) * | 2020-11-13 | 2022-05-17 | 南京崴肯自动化设备科技有限公司 | Automatic assembly riveting equipment for pre-tightening safety belt mandrel and meshing wheel |
| CN112496738A (en) * | 2020-11-13 | 2021-03-16 | 南京崴肯自动化设备科技有限公司 | Automatic assembly riveting equipment for pre-tightening safety belt mandrel and meshing wheel |
| CN113650200A (en) * | 2021-07-01 | 2021-11-16 | 西北工业大学 | A splice frock for split type combined material mandrel makes |
| CN114055122A (en) * | 2021-12-21 | 2022-02-18 | 苏州邦冠自动化设备有限公司 | Automatic assembling equipment for inner frame and outer frame for assembling keyboard |
| CN114055122B (en) * | 2021-12-21 | 2024-05-28 | 苏州邦冠自动化设备有限公司 | Automatic inner and outer frame assembling equipment for keyboard assembly |
| CN116079405A (en) * | 2023-04-12 | 2023-05-09 | 苏州英维特精密机械有限公司 | Four-way electric adjusting pipe column assembly line |
| CN116079405B (en) * | 2023-04-12 | 2023-06-23 | 苏州英维特精密机械有限公司 | Four-way electric adjusting pipe column assembly line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109676037B (en) | 2023-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109676037A (en) | A kind of equipment and its assemble method of full-automatic assembling motor vehicle safety belt constriction device | |
| CN108890127B (en) | Welding equipment for automobile safety airbag generator | |
| CN101945727B (en) | Production apparatus | |
| CN110640407A (en) | Automatic welding and assembling production line for automobile aluminum alloy box body | |
| CN110640378A (en) | Arc welding fixture for aluminum alloy box body for vehicle | |
| CN105252180A (en) | Reconfigurable automatic flexible welding production platform and operation method thereof | |
| CN104647044A (en) | Technology for processing automobile brake caliper bracket | |
| CN111618583B (en) | Driving motor production line | |
| CN109414748A (en) | Hemming processing apparatus and hemming processing method | |
| CN104942402B (en) | A kind of automatic soldering device of the box housing with round rectangle girth joint | |
| CN107363535A (en) | The ring flange of electric fuel punp and the assembling device of oil storage tub assembly and assembly method | |
| CN110026770A (en) | Commutator assembling machine and commutator assembling method thereof | |
| CN114290053B (en) | Automatic assembly system and assembly method for multi-way valve | |
| CN110614204A (en) | Battery box two-component structural adhesive gluing and curing device | |
| CN110802376B (en) | Multi-station airplane wing box assembling method | |
| CN107363532A (en) | A kind of electrical box automatic assembling apparatus | |
| CN209419440U (en) | A kind of casing painting gluing magnetic shoe assembling device | |
| CN110253253A (en) | A kind of full-automatic cylinder cap-blocking press-loading machine | |
| CN209886510U (en) | Equipment of full-automatic equipment car insurance area constriction device | |
| CN209466676U (en) | Full-automatic battery socket spare and accessory parts kludge | |
| CN109048337A (en) | A kind of vehicle door hinge mounting system | |
| CN111408946A (en) | Automatic assembly device for double-lock assembly of automobile door lock | |
| CN110614200A (en) | Battery box cooling bottom plate rubber coating equipment all-in-one | |
| CN110253484A (en) | One kind pressing assembly tool and its working method aloud | |
| CN206305596U (en) | Camera Automation of Welding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |