CN114515965A - Automatic assembling device for damper voice coil - Google Patents

Automatic assembling device for damper voice coil Download PDF

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Publication number
CN114515965A
CN114515965A CN202210244103.7A CN202210244103A CN114515965A CN 114515965 A CN114515965 A CN 114515965A CN 202210244103 A CN202210244103 A CN 202210244103A CN 114515965 A CN114515965 A CN 114515965A
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CN
China
Prior art keywords
damper
voice coil
cylinder
elastic wave
gauge
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Granted
Application number
CN202210244103.7A
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Chinese (zh)
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CN114515965B (en
Inventor
奚华
承健健
奚煜喆
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Wuhu Weifa Electronic Technology Co ltd
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Wuhu Weifa Electronic Technology Co ltd
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Priority to CN202210244103.7A priority Critical patent/CN114515965B/en
Publication of CN114515965A publication Critical patent/CN114515965A/en
Application granted granted Critical
Publication of CN114515965B publication Critical patent/CN114515965B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C13/00—Means for manipulating or holding work, e.g. for separate articles
    • B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/002—Article feeders for assembling machines orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/007—Picking-up and placing mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
    • B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention discloses an automatic assembly device of a damper voice coil, belonging to the technical field of automatic loudspeaker production equipment, comprising a damper feeding mechanism, wherein a first carrying manipulator grabs the damper from the damper feeding mechanism and places the damper into a damper assembly station, a first assembly manipulator is arranged at one side of the damper assembly station and the output end of a voice coil directional feeding mechanism, a voice coil is nested in a voice gauge, the first assembly manipulator grabs the voice gauge from the voice coil directional feeding mechanism and places the voice gauge into the damper assembly station, the voice coil directional feeding mechanism comprises a voice gauge tray, the voice coil is placed in the voice gauge tray, a plurality of guide posts are uniformly distributed on the upper end surface of a support bottom plate in the voice gauge tray, horizontal internal thread holes are formed in the guide posts along the direction vertical to the axis, ball screws are arranged in the internal thread holes of the guide posts, balls in the ball screws are arranged towards the direction far away from the axis of the guide posts, and the voice gauge is nested on the guide posts, the wave bead in the wave bead screw is arranged right opposite to the notch of the sound gauge. The device can assemble directional voice coil and damper.

Description

Automatic assembling device for damper voice coil
Technical Field
The invention belongs to the technical field of automatic loudspeaker production equipment, and particularly relates to an automatic damper voice coil assembling device.
Background
With the rapid development of economy and the continuous progress of science and technology, the demand of electronic products in the present society is on the increasing trend, and particularly, the electronic products, such as mobile phone speakers, acoustic horns and the like, which are necessary electronic accessories for people in daily life as electroacoustic devices, need to be used in high frequency in various fields and environments, because the requirements on the production efficiency, the production quality and the like of industrial production are higher and higher.
The loudspeaker assembling process usually needs a large amount of manual work, and the production mode adopting the manual work to participate in the assembling has very high requirements on the proficiency of operators, which often causes the phenomenon of unbalanced operation quality and speed, and finally causes the problems of low production efficiency and high cost. The elastic wave is an important component of a loudspeaker system, the elastic wave is made of cloth, fine holes are densely distributed on the surface of the elastic wave, the height of a plane where the outermost ring of the elastic wave is located is taken as a reference, one surface of the elastic wave is a concave surface, the other surface of the elastic wave is a convex surface, mountain-peak-shaped depressions and protrusions are formed between the elastic wave inner through hole and the outer ring of the elastic wave inner through hole, the mountain-peak-shaped depressions and the protrusions are coaxial with the elastic wave inner through hole, in the loudspeaker assembling process, the posture of the elastic wave to the convex surface is required to be adjusted, and a voice coil sound gauge is inserted into the elastic wave. In order to facilitate subsequent welding procedures, the postures of the voice coil voice gauges need to be adjusted to be consistent, namely, the postures of the extending ends to be welded of the voice coils along the circumferential direction of the end to be welded are ensured to be consistent.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an automatic assembling device for a damper voice coil.
The technical scheme adopted by the invention is as follows: an automatic damper voice coil assembling device comprises a voice coil directional feeding mechanism, a damper feeding mechanism and a first assembling mechanical arm, wherein the first assembling mechanical arm is arranged on one side of the damper feeding mechanism, the first assembling mechanical arm grabs damper from the damper feeding mechanism and places the damper in a damper assembling station, the first assembling mechanical arm is arranged on one side of an output end of the damper assembling station and the voice coil directional feeding mechanism, a voice coil is nested in a voice gauge, the voice gauge is provided with a vertical notch, the first assembling mechanical arm grabs the voice gauge from the voice coil directional feeding mechanism and places the damper in the damper assembling station, the voice gauge carrying the voice coil is placed in a through hole in the middle of the damper, the voice coil directional feeding mechanism comprises a voice gauge tray, the voice coil is placed in the voice gauge tray, the voice gauge tray comprises a support base plate and tray baffles arranged around the support base plate, a plurality of guide columns are uniformly distributed on the upper end face of the support base plate, the horizontal internal thread hole is formed in the guide post along the direction perpendicular to the axis, the bead screw is installed in the internal thread hole of the guide post, the direction of the bead in the bead screw, which is far away from the axis of the guide post, is arranged, the sound gauge is embedded in the guide post, and the bead in the bead screw is arranged right opposite to a gap of the sound gauge.
Furthermore, the first assembling mechanical arm comprises a first assembling mechanical arm body and a first assembling gripper, the first assembling mechanical arm body has four degrees of freedom, the first assembling gripper is installed on an output flange of the first assembling mechanical arm body, the first assembling mechanical arm body drives the assembling gripper to move along three directions of an X, Y, Z shaft and rotate around a Z shaft, the first assembling gripper comprises a third finger cylinder and a voice coil clamping jaw, and the voice coil clamping jaw is installed at the output end of the third finger cylinder.
The first assembling gripper comprises an upper plate, the upper plate is mounted at the output end of the first assembling manipulator body, connecting side plates are symmetrically arranged at two ends of the upper plate and located at the lower portion of the upper plate, two ends of a first connecting shaft are rotatably mounted in the two connecting side plates, a second rotary cylinder is mounted on the outer side surfaces of the connecting side plates, one end of the first connecting shaft extends out of the connecting side plates and is fixedly connected with the output end of the second rotary cylinder, a horizontal through hole is formed in a rotary connecting frame, the first connecting shaft is inserted into the through hole of the rotary connecting frame, the rotary connecting frame is located between the two connecting side plates, and the second rotary cylinder drives the rotary connecting frame to rotate around the horizontal axis; the second rotating electrical machines are arranged at one end of the rotating connecting frame, the second rotating electrical machines transmit power to the cylinder mounting plate through the synchronous belt transmission mechanism, the third finger cylinder is vertically mounted on the cylinder mounting plate, and the second rotating electrical machines drive the voice coil clamping jaws to rotate around the vertical axis.
Furthermore, the elastic wave feeding mechanism comprises an elastic wave material supplying position, an elastic wave transition position and an elastic wave material supplying rack, the elastic wave material supplying position, the elastic wave transition position and the first carrying manipulator are all arranged on the elastic wave material supplying rack, an elastic wave convex surface is stacked at the elastic wave material supplying position under the elastic wave material supplying position, the elastic wave material supplying mechanism further comprises an elastic wave turning position, the first carrying manipulator comprises a first carrying manipulator body and two elastic wave grippers, the two elastic wave grippers are arranged on the first carrying manipulator body along the direction of a connecting line between the elastic wave transition position and the elastic wave turning position, and the first carrying manipulator body drives the elastic wave grippers to carry the elastic waves among the elastic wave material supplying position, the elastic wave transition position and the elastic wave turning position; the elastic wave gripper close to the elastic wave material supply position carries elastic waves between the elastic wave material supply position and the elastic wave transition position, and the other elastic wave gripper carries elastic waves between the elastic wave transition position and the elastic wave turning position; the elastic wave transition position is used for separating bonded elastic waves; the elastic wave turning bit is used for turning the elastic wave to a convex surface of the elastic wave.
Furthermore, the elastic wave gripper comprises a first finger cylinder and a contact pin, the first finger cylinder is vertically arranged at the output end of the first carrying manipulator, the upper end of a contact pin clamping block is arranged at the output end of the first finger cylinder, and the middle part of the contact pin is embedded into a through hole at the lower part of the contact pin clamping block; the contact pin clamping block comprises an upper connecting block and a lower clamping block, the upper end of the upper connecting block is installed at the output end of the first finger cylinder, the lower end of the upper connecting block is detachably and fixedly connected with the upper end of the lower clamping block, the connecting angle between the lower clamping block and the upper connecting block is adjustable, the upper connecting block and the lower clamping block are both arranged towards the direction far away from the vertical axis of the first finger cylinder, and the upper connecting block is connected with the lower clamping block in an obtuse angle; the tip of the contact pin is arranged towards the direction far away from the vertical axis of the first finger cylinder.
Furthermore, the elastic wave transition position comprises an elastic wave placing table and a plurality of limiting saturation mechanisms which are uniformly distributed along the periphery of the elastic wave placing table, the second mounting base plate is fixed on the upper end face of the elastic wave feeding rack, the elastic wave placing table is arranged on the upper end face of the second mounting base plate, the middle of the elastic wave placing table is a circular table, each limiting saturation mechanism comprises a first straight cylinder, the first straight cylinder is arranged towards the elastic wave placing table, a limiting block is arranged on a lever of the first straight cylinder, and the limiting block is positioned at one end, close to the elastic wave placing table, of the first straight cylinder; the gas blow pipe is arranged on the second mounting base plate, the gas blow pipe is horizontally arranged, and the gas outlet nozzle of the gas blow pipe faces the elastic wave placing table.
Further, play ripples upset position including playing ripples locating plate and tilting mechanism, the second mounting substrate is fixed at the up end of playing ripples feed frame, plays the ripples locating plate setting at the up end of second mounting substrate, plays ripples locating plate one end and opens and to have the bullet ripples to place the recess, plays the ripples and places the recess for having the circular of breach, and tilting mechanism sets up and is being close to the one side that the recess breach was placed to the bullet ripples, and tilting mechanism is arranged in driving the bullet ripples and places the recess bullet ripples upset degree.
Further, the turnover mechanism comprises a second straight cylinder, a third straight cylinder, a rotary cylinder and a second finger cylinder, the second straight cylinder is horizontally arranged on the lower end face of the second mounting substrate, the third straight cylinder is vertically arranged and is fixedly connected with an output lever of the second straight cylinder, a second adapter plate is fixedly connected with an output cylinder rod of the third straight cylinder, the rotary cylinder is arranged on one side close to the notch and is horizontally arranged on the second adapter plate towards the notch, and the second finger cylinder is positioned between the rotary cylinder and the elastic wave positioning plate; the second finger cylinder horizontal installation is on revolving cylinder's jar pole, and revolving cylinder and second finger cylinder all set up towards the breach, and the output at second finger cylinder is installed to the bullet ripples clamping jaw.
Furthermore, the lower end of the elastic wave positioning plate is connected with a second transverse moving mechanism, and the second transverse moving mechanism drives the elastic wave positioning plate to move towards the direction far away from the first carrying manipulator.
The invention has the beneficial effects that: (1) the voice gauge with the voice coil is manually loaded, in the process of placing the voice gauge loaded with the voice coil on the guide post, the notch of the voice gauge is opposite to the wave bead in the wave bead screw, the wave bead in the wave bead screw is extruded, the wave bead moves towards the direction close to the axis of the guide shaft, after the voice gauge is placed on the guide post, the spring in the wave bead screw stretches and pushes the wave bead to return, and one end, far away from the axis of the guide post, of the wave bead is pressed into the notch of the voice gauge, so that the consistent posture of the voice coil in the voice gauge is ensured, and the subsequent welding process is facilitated; (2) according to the morphological characteristics of the elastic waves, the concave surfaces of the elastic waves are stacked in the charging barrel, the elastic wave gripper is inserted into the pore of the elastic waves by using a contact pin so as to grip the elastic waves, and then the elastic waves are turned for 180 degrees to be in a posture with the concave surfaces below, so that the required posture of assembly is adapted; set up bullet ripples separation position and separate the bonding bullet ripples that bullet ripples tongs snatched, utilize the blowing nozzle to blow and can realize bonding the effective separation of bullet ripples, play the ripples and place the feed cylinder by manual reason material in, consequently do not have the condition of inseparable bonding, utilize the blowing nozzle to blow and can realize playing the effective separation of ripples.
Drawings
Fig. 1 is a schematic overall perspective view of the device of the present invention.
Fig. 2 is a schematic perspective view of a compass tray of the device of the present invention.
FIG. 3 is a schematic cross-sectional view of a ball screw in the device of the present invention.
Fig. 4 is a schematic perspective view of a first assembled gripper in the apparatus of the present invention.
Fig. 5 is a schematic perspective view of the shockwave feeding mechanism 8 in the device of the present invention.
Fig. 6 is a schematic perspective view of a cartridge in the device of the present invention.
Fig. 7 is a schematic cross-sectional structural view of a charging barrel in the device of the present invention.
Fig. 8 is a schematic perspective view of a jacking mechanism in the device of the present invention.
FIG. 9 is a perspective view of another perspective of the jacking mechanism of the present invention.
Fig. 10 is a schematic perspective view of the elastic wave separating position and the elastic wave turning position in the device of the present invention.
Fig. 11 is a schematic partial perspective view of the elastic wave flipping position in the device of the present invention.
Fig. 12 is a schematic perspective view of a first handling robot in the apparatus of the present invention.
Fig. 13 is a schematic perspective view of a popple finger of the apparatus of the present invention.
Fig. 14 is a schematic perspective view of another view of the elastic wave gripper in the apparatus of the present invention.
FIG. 15 is a schematic view of the flipping mechanism of the apparatus of the present invention after flipping.
In the figure: 5. a gluing mechanism; 6. a first assembling manipulator; 601. a first assembly manipulator body; 602. a first assembly gripper; 621. a third finger cylinder; 622. a voice coil clamping jaw; 623. a second rotating electrical machine; 624. rotating the connecting frame; 625. a synchronous belt transmission mechanism; 626. connecting the upper plate; 627. a second rotary cylinder; 628. connecting the side plates; 629. a cylinder mounting plate; 7. a voice coil directional feeding mechanism; 701. a tone gauge tray; 711. a guide post; 712. a support base plate; 713. a tray baffle; 714. a ball screw; 8. a damper feeding mechanism; 801. a damper material supply position; 812. a slide plate; 813. a charging barrel; 8131. a barrel; 8132. a circular support plate; 8133. pressing a plate; 814. a jacking mechanism; 8141. a vertical plate; 8142. a first rotating electrical machine; 8143. a driving pulley; 8144. a driven pulley; 8145. a guide slide rail; 8146. a jacking rod; 802. elastic wave separation position; 821. a damper placement table; 822. a limiting saturation mechanism; 8221. a first straight-traveling cylinder; 8222. a limiting block; 823. an air blowing pipe; 803. flipping and turning positions by elastic waves; 831. a damper positioning plate; 832. a turnover mechanism; 8321. a second straight cylinder; 8322. a third straight cylinder; 8323. a first rotary cylinder; 8324. a second finger cylinder; 8325. a first transfer plate; 8326. a second adapter plate; 804. a damper feeder; 841. a first mounting substrate; 842. a second mounting substrate; 805. a first carrying manipulator; 851. a first transfer robot body 851; 852. a gripper adapter plate 852; 853. the elastic wave gripper; 8531. a first finger cylinder; 8532. an upper connecting block; 8533. a lower clamping block; 8534. inserting a pin; 8535. a cylinder connecting block; 8536. and pressing the block.
Detailed Description
As shown in fig. 1-15, an automatic damper voice coil assembling device comprises a voice coil directional feeding mechanism 7, a damper feeding mechanism 8 and a first assembling manipulator 6, the first transporting manipulator is arranged at one side of the damper feeding mechanism 8, the first transporting manipulator picks out a damper from the damper feeding mechanism 8 and places the damper in a damper assembling station, the first assembling manipulator 6 is arranged at one side of the damper assembling station and an output end of the voice coil directional feeding mechanism 7, the voice coil is nested in a damper, the damper has a vertical gap, the first assembling manipulator 6 picks out a damper from the voice coil directional feeding mechanism 7 and places the damper in the damper assembling station, the damper carrying the voice coil is placed in a through hole in the middle of the damper, the automatic damper voice coil assembling device is characterized in that the voice coil directional feeding mechanism 7 comprises a damper tray 701, the voice coil is placed in the damper tray 701, the damper tray 701 comprises a support bottom plate 712 and a tray baffle 713 arranged around the support bottom plate 712, the plurality of guide posts 711 are uniformly distributed on the upper end surface of the support base plate 712, horizontal internal thread holes are formed in the guide posts 711 in the direction perpendicular to the axis, the bead screws 714 are mounted in the internal thread holes of the guide posts 711, beads in the bead screws 714 are arranged in the direction far away from the axis of the guide posts 711, the sound gauge is nested on the guide posts 711, and the beads in the bead screws 714 are arranged right opposite to gaps of the sound gauge.
In the process of manually feeding, a sound gauge loaded with a voice coil is placed on the guide column 711, the sound gauge notch is arranged right opposite to a wave bead in the wave bead screw 714, the wave bead in the wave bead screw 714 is extruded, the wave bead moves towards the direction close to the axis of the guide shaft, after the sound gauge is placed on the guide column 711, the spring in the wave bead screw 714 stretches and retracts to push the wave bead to return, and one end, far away from the axis of the guide column 711, of the wave bead is pressed into the sound gauge notch.
The first assembling mechanical arm 6 comprises a first assembling mechanical arm body 601 and a first assembling gripper 602, the first assembling mechanical arm body 601 has four degrees of freedom, the first assembling gripper 602 is mounted on an output flange of the first assembling mechanical arm body 601, the first assembling mechanical arm body 601 drives the assembling gripper to move along three directions of an X, Y, Z axis and rotate around a Z axis, the first assembling gripper 602 comprises a third finger cylinder 621 and a voice coil gripper 622, and the voice coil gripper 622 is mounted at an output end of the third finger cylinder 621.
The voice coil gluing device further comprises a gluing mechanism 5, and the gluing mechanism 5 is used for gluing the voice coil nested in the voice coil gauge. In order to simplify the structure of the gluing mechanism 5, the structure of the first assembling gripper 602 needs to be designed to match the gluing. The first assembling hand grip 602 comprises an upper plate 626, the upper plate 626 is mounted at the output end of the first assembling manipulator body 601, connecting side plates 628 are symmetrically arranged at two ends of the upper plate 626 and located at the lower part of the upper plate, two ends of a connecting shaft are rotatably mounted in the two connecting side plates 628, a second rotating cylinder 627 is mounted on the outer side surface of the connecting side plates 628, one end of the connecting shaft extends out of the connecting side plates 628 to be fixedly connected with the output end of the second rotating cylinder 627, a horizontal through hole is formed in a rotating connecting frame 624, the connecting shaft is inserted into the through hole of the rotating connecting frame 624, the rotating connecting frame 624 is located between the two connecting side plates 628, and the second rotating cylinder 627 drives the rotating connecting frame 624 to rotate around the horizontal axis; the second rotating motor 623 is arranged at one end of the rotating connecting frame 624, the rotating joint is arranged at the lower part of the rotating connecting frame 624, a vertical through hole is formed in the rotating joint, the output end of the synchronous transmission mechanism is fixedly connected with the upper end of the second connecting shaft, the middle part of the second connecting shaft penetrates through the through hole of the rotating joint, the cylinder connecting plate is fixedly connected with the lower end of the second connecting shaft, and the finger cylinder is vertically arranged on the cylinder mounting plate 629. The second rotating motor 623 transmits power to the second connecting shaft through the synchronous belt transmission mechanism 625, and the second connecting shaft drives the cylinder mounting plate 629 and the upper part thereof to rotate, namely drives the voice coil clamping jaw 622 to rotate around the vertical axis.
The glue spreading head in the glue spreading mechanism 5 is arranged obliquely upwards, the second rotating cylinder 627 drives the rotating connecting frame 624 and the upper part thereof to incline towards the glue spreading head in the glue spreading mechanism 5, and the second rotating motor 623 drives the voice coil clamping jaw 622 and the upper part thereof to rotate along the output end of the third finger cylinder 621, so that the voice coil is coated with glue along the circumferential direction of the voice coil.
As shown in fig. 5, the damper feeding mechanism 8 includes a damper feeding position 801, a damper transition position 802, and a damper feeding rack 804, wherein the damper feeding position 801, the damper transition position 802, and a first carrying manipulator 805 are all disposed on the damper feeding rack 804, a damper convex surface is stacked on the damper feeding position 801 at a lower concave surface, and further includes a damper turning position 803 and a damper turning position 803, the first carrying manipulator 805 includes a first carrying manipulator body 851 and two damper grippers 853, the two damper grippers 853 are disposed on the first carrying manipulator body 851 along a direction connecting a line between the damper transition position 802 and the damper turning position 803, and the first carrying manipulator body 851 drives the damper grippers 853 to carry dampers between the damper feeding position 801, the damper transition position 802, and the damper turning position 803; a damper hand 853 near the damper material supply position 801 carries damper between the damper material supply position 801 and the damper transition position 802, and another damper hand 853 carries damper between the damper transition position 802 and the damper transition position 803; the elastic wave transition position 802 is used for separating bonded elastic waves; the bullet wave turning bit 803 is used to turn the bullet wave 180 degrees until its concave surface is on the convex surface.
The first mounting substrate 841 and the second mounting substrate 842 are both fixed on the upper end face of the elastic wave feeding rack 804, the second mounting substrate 842 is located on one side of the first mounting substrate 841, the elastic wave feeding position 801 is arranged on the first mounting substrate 841, the elastic wave separating position 802 and the elastic wave turning position 803 are both arranged on the second mounting substrate 842, and the elastic wave separating position 802 is arranged in the middle of the elastic wave feeding position 801 and the elastic wave turning position 803.
The elastic wave material supply position 801 comprises a charging barrel 813 and a sliding plate 812, the sliding plate 812 is arranged above a first installation base plate 841, a through hole is formed in the sliding plate 812, the charging barrel 813 is arranged in the through hole of the sliding plate 812, a jacking mechanism 814 is arranged at the lower part of the elastic wave material supply rack 804 and is positioned below the charging barrel 813, a corresponding through hole for the jacking mechanism 814 to penetrate is formed in the first installation base plate 841, and the jacking mechanism 814 is used for pushing elastic waves to move upwards in the charging barrel 813.
In order to reduce the frequency of the artificially-fed elastic waves, the sliding plate 812 is arranged on the first mounting substrate 841 in a sliding manner, and a sliding plate pushing mechanism is arranged on the first mounting substrate 841 and is arranged below the sliding plate 812 and is used for pushing the sliding plate 812 to slide relative to the first mounting substrate 841; two cylinders 813 are provided therein in the sliding direction of the slide plate 812, the two cylinders 813 being alternately supplied.
The charging barrels 813 comprise cylindrical curved barrels 8131 and circular supporting plates 8132, the lower end of each barrel 8131 is an annular supporting seat, the outer diameter of each circular supporting plate 8132 is slightly smaller than the inner diameter of each barrel 8131, each circular supporting plate 8132 is placed in each barrel 8131, the lower end face of each circular supporting plate 8132 is in contact with the upper end face of each annular supporting seat, the upper end of each barrel 8131 is provided with an annular retainer ring, the outer diameter of each annular retainer ring is larger than the diameter of each through hole in the sliding plate 812, each barrel 8131 is placed in each through hole of the sliding plate 812, each barrel 813 is provided with at least two pressing plates 8133, the pressing plates 8133 are evenly distributed in the circumferential direction of each through hole in the sliding plate 812, one end of each pressing plate 8133 is hinged to the sliding plate 812, each pressing plate 8133 can rotate along the vertical line of one end of each pressing plate 8133, and the pressing plates 8131 are used for pressing the annular retainer rings of the barrels 8131. The jacking mechanism 814 is arranged at the lower part of the missile wave feeding rack 804 and is located below the charging barrel 813, a corresponding through hole for the jacking mechanism 814 to penetrate through is formed in the first mounting base plate 841, and the jacking mechanism 814 is used for pushing the circular support plate 8132 to move upwards in the cylinder 8131.
When the material cylinder 813 is loaded, the rotary pressure plate 8133 moves towards the direction away from the cylinder body 8131, the material cylinder 813 is manually taken down, after the material cylinder 813 is loaded with the bomb wave, the material cylinder 813 is placed into the through hole of the sliding plate 812, the rotary pressure plate 8133 moves towards the cylinder body 8131, and the pressure plate 8133 presses the annular retainer ring of the cylinder body 8131.
The first carrying manipulator 805 comprises a first carrying manipulator body 851 and two elastic wave grippers 853, wherein the gripper adapter plate 852 is installed on an output flange of the first carrying manipulator body 851, the two elastic wave grippers 853 are arranged at two ends of the gripper adapter plate 852 along the direction of the connecting line between the elastic wave separating position 802 and the elastic wave turning position 803, the first carrying manipulator body 851 has two freedom degrees, and the first carrying manipulator body 851 is used for driving the gripper adapter plate 852 to move along the direction of the connecting line between the elastic wave material supplying position 801 and the elastic wave separating position 802 and the vertical direction. The first carrying manipulator body 851 drives the gripper adapting plate 852 and the two elastic and wave grippers 853 thereon to carry elastic waves among the elastic and wave separating position 802, the elastic and wave turning position 803 and the elastic and wave material supplying position 801.
The elastic claw 853 comprises a first finger cylinder 8531 and a pin 8534, the first finger cylinder 8531 is vertically installed at one end of the claw adapting plate 852, the upper end of a pin clamping block is installed at the output end of the finger cylinder, and the middle part of the pin 8534 is embedded into a through hole at the lower part of the pin clamping block. The pin clamping block comprises an upper connecting block 8532 and a lower clamping block 8533, the upper end of the upper connecting block 8532 is installed at the output end of the first finger cylinder 8531, the lower end of the upper connecting block 8532 is detachably and fixedly connected with the upper end of the lower clamping block 8533, the connection angle between the lower clamping block 8533 and the upper connecting block 8532 is adjustable, the upper connecting block 8532 and the lower clamping block 8533 are both arranged towards the direction far away from the vertical axis of the first finger cylinder 8531, and the upper connecting block 8532 is connected with the lower clamping block 8533 at an obtuse angle; the pointed end of the pin 8534 is disposed away from the vertical axis of the first finger cylinder 8531.
In order to ensure accurate grasping position of the elastic wave gripper 853, namely to ensure accurate height of the uppermost elastic wave in the material cylinder 813 and accurate position of the top projection of the elastic wave, the elastic wave gripper 853 further comprises a pressing part which is arranged at the lower part of the first finger cylinder 8531 and is coaxially arranged with the first finger cylinder 8531, the pressing part comprises a cylinder connecting block 8535 and a pressing block 8536, the lower end of the cylinder body of the first finger cylinder 8531 is fixedly connected with the cylinder connecting block 8535, the upper end of the pressing block 8536 is fixedly connected with the lower end of the cylinder connecting block 8535, the lower part of the pressing block 8536 is in a circular truncated cone shape with a large upper part and a small lower part, the pressing block 8536 is provided with a vertical through hole along the axis thereof, and the lower end face of the pressing block 8536 is in a circular ring shape. The lower end surface of the insertion pin 8534 is slightly lower than the lower end surface of the pressing block 8536. The lower end surface of the lower clamping block 8533 is higher than the lower end surface of the pressing block 8536.
The first finger cylinder 8531 is preferably a finger cylinder having three outputs.
When the elastic waves are grabbed from the material cylinder 813, the first carrying manipulator body 851 drives the elastic wave grabbers 853 to move downwards, the lower end face of the pressing block 8536 is in contact with the upper end face of the elastic waves in the material cylinder 813, the tips of the inserting pins 8534 are inserted into the elastic waves, and the first carrying manipulator body 851 drives the elastic wave grabbers 853 to move upwards to lift the elastic waves.
For the ripples of bullet ripples is grabbed to bullet ripples tongs 853, still include and grab detection mechanism, grab detection mechanism and include the sensor, the sensor passes through linking bridge in order to install on first mounting substrate 841 and be located the top of feed cylinder 813, the induction end of sensor sets up from last down, the overhead projection of induction end in the sensor is the circular outside that the contact pin 8534 outer end encloses, or the overhead projection of induction end in the sensor is between adjacent contact pin 8534. The sensor is used to detect whether the popple finger 853 has caught the popple.
The jacking mechanism 814 comprises a vertical plate 8141, a first rotating motor 8142 is installed at the lower end of the vertical plate 8141, a driven pulley 8144 and a driving pulley 8143 are both rotatably installed on the vertical plate 8141, the driving pulley 8143 and the first rotating motor 8142 are arranged on two sides of the vertical plate 8141, so that the width of the jacking mechanism 814 is reduced, the driving pulley 8143 is arranged at the lower part of the vertical plate 8141, the driven pulley 8144 is arranged at the upper part of the vertical plate 8141, the output end of the first rotating motor 8142 is connected with the driving pulley 8143, and the driving pulley 8143 is connected with the driven pulley 8144 through a synchronous pulley, so that the power of the driving pulley 8143 is transmitted to the driven pulley 8144; the guide slide rail 8145 and the driving belt wheel 8143 are arranged on two sides of the vertical plate 8141, the sliding block is embedded on the slide rail, a vertical through groove is formed in the vertical plate 8141, the connecting block penetrates through the vertical through groove, the sliding block is fixedly connected with the vertical plate 8141 through the connecting block, and the lower end of the jacking rod 8146 is fixedly connected with the sliding block.
The elastic wave separation position 802 is used for separating bonded elastic waves, so that the elastic wave gripper 853 is guaranteed to grip one elastic wave at a time and place the elastic wave on the elastic wave turning position 803; the elastic wave separation position 802 comprises an elastic wave placing table 821 and a plurality of limiting saturation mechanisms 822 uniformly distributed around the elastic wave placing table 821, the number of the preferred limiting saturation mechanisms 822 in the embodiment is four, the middle of the elastic wave placing table 821 is a circular truncated cone, the number of the limiting saturation mechanisms 822 is four, each limiting saturation mechanism 822 comprises a first straight air cylinder 8221, the first straight air cylinder 8221 faces the elastic wave placing table 821 and is arranged, a limiting block 8222 is installed on a lever of the first straight air cylinder 8221, the limiting block 8222 is located at one end, close to the elastic wave placing table 821, of the first straight air cylinder 8221 in the limiting saturation mechanisms 822 and is far away from the limiting block 8222 in the four limiting saturation mechanisms 822. When the first carrying manipulator 805 grabs the elastic waves from the first material cylinder 813 and places the elastic waves on the elastic wave placing table 821, the first straight air cylinder 8221 in the limiting saturated mechanism 822 extends out to drive the limiting block 8222 to be close to the elastic wave placing table 821.
The blowing pipe 823 is arranged on the second mounting substrate 842, the blowing pipe 823 is horizontally arranged, and an air outlet nozzle of the blowing pipe 823 faces the axis of the catapult placing table 821. The elastic wave grippers 853 grab the elastic waves and place the elastic waves in the limiting and saturating mechanism 822, the air blowing pipe 823 blows the elastic waves grabbed by the elastic wave grippers 853 from the side faces of the elastic waves, the elastic wave grippers 853 grab the uppermost elastic waves so that the uppermost elastic waves are not blown down, if bonded elastic waves exist below the next time, the bonded elastic waves below the next time are influenced by air flow and are separated from the elastic waves clamped by the uppermost elastic wave grippers 853, the elastic waves fall onto the elastic wave placing table 521, the inner circular holes of the elastic waves are inserted into the circular truncated cone in the middle of the elastic wave preventing table 521, and the limiting and saturating mechanism 822 is arranged to limit the blown elastic waves to fall out of the limiting and saturating mechanism 822.
Play ripples transposition position 803 is including playing ripples locating plate 831 and tilting mechanism 832, plays ripples locating plate 831 one end and has seted up the bullet ripples and place the recess, plays the ripples and places the recess circular for having the breach, preferably great circle of cutting, and tilting mechanism 832 sets up in being close to the one side that the recess breach was placed to the bullet ripples, and tilting mechanism 832 is arranged in driving the bullet ripples and places 180 degrees of bullet ripples upset in the recess.
The turnover mechanism 832 comprises a second straight-moving cylinder 8321, a third straight-moving cylinder 8322, a first rotary cylinder 8323 and a second finger cylinder 8324, wherein the second straight-moving cylinder 8321 is horizontally arranged on the lower end surface of the second mounting substrate 842, the third straight-moving cylinder 8322 is vertically arranged and is arranged on an output lever of the second straight-moving cylinder 8321, a second adapter plate 8326 is fixedly connected with an output cylinder rod of the third straight-moving cylinder 8322, the first rotary cylinder 8323 is arranged on one side close to the notch and horizontally arranged on the second adapter plate 8326 towards the notch, the second finger cylinder 8324 is horizontally arranged on a cylinder rod of the first rotary cylinder 8323, and the second finger cylinder 8324 is positioned between the first rotary cylinder 8323 and the elastic wave positioning plate 831; a first rotating cylinder 8323 and a second finger cylinder 8324 are both arranged towards the notch, and the clamping jaws are mounted at the output end of the second finger cylinder 832.
The first carrying manipulator 805 drives the elastic wave gripper 853 to grip the elastic wave from the elastic wave separation position 802 and place the elastic wave in the elastic wave placement groove of the first elastic wave turning position 803.
The elastic wave overturning process is as follows: the second straight cylinder 8321 drives the third straight cylinder 8322 and the upper part of the third straight cylinder to be close to the elastic wave containing groove, the second finger cylinder 832 drives the clamping jaws to be unfolded, after the elastic wave is located between the two clamping jaws, the second finger cylinder 832 drives the clamping jaws to be closed, the third straight cylinder 8322 drives the second adapter plate 8326 and the upper part of the third straight cylinder to move upwards, and the first rotary cylinder 8323 drives the elastic wave to rotate 180 degrees around the horizontal axis.
In order to facilitate the first assembly manipulator 6 to place the voice coil into the damper located in the damper placement groove, the lower end of the damper positioning plate 831 is connected to the second traverse mechanism, and the second traverse mechanism drives the damper to move towards the direction away from the first carrying manipulator 805, so as to provide a sufficient operation space for the damper transfer manipulator.
During the feed cylinder 813 is placed to artifical with bullet ripples horizontal stacking, climbing mechanism 814 promotes play ripples in the feed cylinder 813 and goes upward, first transport manipulator 805 snatchs the bullet ripples from the feed cylinder 813 and places bullet ripples separation position 802, bullet ripples separation position 802 separates the bullet ripples that bonds, first transport manipulator 805 snatchs the bullet ripples from bullet ripples separation position 802 and places the bullet ripples that bullet ripples locating plate 831 places in placing the recess, tilting mechanism 832 places the recess to the bullet ripples and overturns, bullet ripples transport manipulator snatchs the bullet ripples from bullet ripples and places the recess and get into next station.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.

Claims (9)

1. The utility model provides an automatic assembly device of bullet ripples voice coil loudspeaker voice coil, including voice coil loudspeaker voice coil directional feed mechanism (7), play ripples feed mechanism and first installation manipulator (6), first transport manipulator sets up in one side of playing ripples feed mechanism, first transport manipulator snatchs the bullet ripples from playing ripples feed mechanism and places in playing ripples equipment station, first installation manipulator (6) set up in one side of bullet ripples equipment station and voice coil loudspeaker voice coil directional feed mechanism (7) output, the voice coil loudspeaker voice coil nestification is in the sound gauge, the sound gauge has vertical breach, first installation manipulator (6) are grabbed the sound gauge from voice coil loudspeaker voice coil directional feed mechanism (7) and are placed bullet ripples equipment station, the sound gauge that carries the voice coil loudspeaker voice coil is placed in the through-hole at play ripples middle part, a serial communication port, voice coil loudspeaker voice coil directional feed mechanism (7) are including sound gauge tray (701), the voice coil loudspeaker voice coil is placed in sound gauge tray (701), sound gauge tray (701) are including supporting baseplate (712) and set up tray baffle around supporting baseplate (712) (713) The sound gauge is embedded in the guide columns (711), and the wave beads in the wave bead screws (714) are arranged in the direction far away from the axes of the guide columns (711).
2. The automatic assembling device for the popple voice coil according to claim 1, wherein the first assembling manipulator (6) comprises a first assembling manipulator body (601) and a first assembling gripper (602), the first assembling manipulator body (601) has four degrees of freedom, the first assembling gripper (602) is mounted on an output flange of the first assembling manipulator body (601), the first assembling manipulator body (601) drives the assembling gripper to move along three directions of X, Y, Z axis and rotate around Z axis, the first assembling gripper (602) comprises a third finger cylinder (621) and a voice coil clamping jaw (622), and the voice coil clamping jaw (622) is mounted on an output end of the third finger cylinder (621).
3. The automatic assembling device for the damper voice coil according to claim 2, further comprising a glue coating mechanism (5), wherein the glue coating mechanism (5) coats the voice coil embedded in the voice coil gauge, the first assembling gripper (602) comprises an upper plate (626), the upper plate (626) is mounted at the output end of the first assembling manipulator body (601), connecting side plates (628) are symmetrically arranged at two ends of the upper plate (626) and located at the lower portion of the connecting side plates, two ends of a first connecting shaft are rotatably mounted in the two connecting side plates (628), a second rotating cylinder (627) is mounted on the outer side surface of the connecting side plates (628), one end of the first connecting shaft extends out of the connecting side plates (628) and is fixedly connected with the output end of the second rotating cylinder (627), a horizontal through hole is formed in the rotating connecting frame (624), the first connecting shaft is inserted into the through hole of the rotating connecting frame (624), the rotary connecting frame (624) is positioned between the two connecting side plates (628), and the second rotary cylinder (627) drives the rotary connecting frame (624) to rotate around a horizontal axis; the setting of second rotating electrical machines (623) is installed in the one end that rotates linking frame (624), and second rotating electrical machines (623) pass through synchronous belt drive mechanism (625) with power transmission to cylinder mounting panel (629) on, the vertical installation of third finger cylinder (621) is on cylinder mounting panel (629), second rotating electrical machines (623) drive voice coil clamping jaw (622) and rotate around vertical axis.
4. The automatic assembling device for the damper voice coil according to claim 1, wherein the damper feeding mechanism comprises a damper feeding position (801), a damper transition position (802) and a damper feeding rack (804), the damper feeding position (801), the damper transition position (802) and a first carrying manipulator (805) are all arranged on the damper feeding rack (804), and the automatic assembling device is characterized in that damper convex surfaces are stacked on the damper feeding position (801) at the lower part, the automatic assembling device further comprises a damper turning position (803), the first carrying manipulator (805) comprises a first carrying manipulator body (851) and two damper grippers (853), the two damper grippers (853) are arranged on the first carrying manipulator body (851) along the direction of the connecting line between the damper transition position (802) and the damper turning position (803), and the first carrying manipulator body (851) drives the damper grippers (853) to grip the damper feeding position (801), The elastic wave is conveyed between an elastic wave transition position (802) and an elastic wave turning position (803); the damper gripper (853) close to the damper feeding position (801) carries damper between the damper feeding position (801) and the damper transition position (802), and the other damper gripper (853) carries damper between the damper transition position (802) and the damper turning position (803); the elastic wave transition position (802) is used for separating bonded elastic waves; the elastic wave turning position (803) is used for turning the elastic wave by 180 degrees until the convex surface of the elastic wave is arranged on the upper surface.
5. The automatic assembling device for a damper voice coil according to claim 4, wherein the damper gripper (853) comprises a first finger cylinder (8531) and a pin (8534), the first finger cylinder (8531) is vertically installed at the output end of the first handling robot (805), the upper end of the pin clamping block is installed at the output end of the first finger cylinder (8531), and the middle part of the pin (8534) is inserted into the through hole at the lower part of the pin clamping block; the contact pin clamping block comprises an upper connecting block (8532) and a lower clamping block (8533), the upper end of the upper connecting block (8532) is installed at the output end of the first finger cylinder (8531), the lower end of the upper connecting block (8532) is detachably and fixedly connected with the upper end of the lower clamping block (8533), the connection angle between the lower clamping block (8533) and the upper connecting block (8532) is adjustable, the upper connecting block (8532) and the lower clamping block (8533) are both arranged in the direction far away from the vertical axis of the first finger cylinder (8531), and the upper connecting block (8532) is connected with the lower clamping block (8533) in an obtuse angle; the pointed end of the pin (8534) is disposed away from the vertical axis of the first finger cylinder (8531).
6. The automatic assembling device for the damper voice coil according to claim 4, wherein the damper transition position (802) comprises a damper placing table (821) and a plurality of limiting saturation mechanisms (822) uniformly distributed around the damper placing table (821), the second mounting substrate (842) is fixed on the upper end face of the damper feeding rack (804), the damper placing table (821) is arranged on the upper end face of the second mounting substrate (842), the middle of the damper placing table (821) is a circular table, the limiting saturation mechanisms (822) comprise first straight cylinders (8221), the first straight cylinders (8221) are arranged towards the damper placing table (821), the limiting blocks (8222) are arranged on a lever of the first straight cylinders (8221), and the limiting blocks (8222) are located at one ends, close to the damper placing table (821), of the first straight cylinders (8221); the blow pipe (823) is arranged on the second mounting substrate (842), the blow pipe (823) is horizontally arranged, and the air outlet nozzle of the blow pipe faces the missile wave placing table (821).
7. The automatic assembling device for an elastic wave voice coil according to claim 4, wherein the elastic wave overturning position (803) comprises an elastic wave positioning plate (831) and an overturning mechanism (832), the second mounting substrate (842) is fixed on the upper end surface of the elastic wave feeding rack (804), the elastic wave positioning plate (831) is arranged on the upper end surface of the second mounting substrate (842), an elastic wave placing groove is formed in one end of the elastic wave positioning plate (831), the elastic wave placing groove is circular with a notch, the overturning mechanism (832) is arranged on one side close to the notch of the elastic wave placing groove, and the overturning mechanism (832) is used for driving the elastic wave overturning mechanism (180) in the elastic wave placing groove.
8. The automatic assembling device for a damper voice coil according to claim 7, wherein the overturning mechanism (832) comprises a second straight cylinder (8321), a third straight cylinder (8322), a rotary cylinder (8323) and a second finger cylinder (8324), the second straight cylinder (8321) is horizontally arranged on the lower end surface of the second mounting substrate (842), the third straight cylinder (8322) is vertically arranged and fixedly connected with an output lever of the second straight cylinder (8321), a second adapter plate (8326) is fixedly connected with an output cylinder rod of the third straight cylinder (8322), the rotary cylinder (8323) is arranged on one side close to the notch and horizontally arranged on the second adapter plate (8326) towards the notch, and the second finger cylinder (8324) is located between the rotary cylinder (8323) and the damper positioning plate (831); second finger cylinder (8324) horizontal installation is on revolving cylinder (8323)'s cylinder pole, and revolving cylinder (8323) and second finger cylinder (8324) all set up towards the breach, and the output at second finger cylinder (8324) is installed to the bullet ripples clamping jaw.
9. The automatic assembling device of damper voice coil according to claim 8, wherein the lower end of the damper positioning plate (831) is connected to a second traverse mechanism, and the second traverse mechanism drives the damper positioning plate (831) to move in a direction away from the first carrying robot (805).
CN202210244103.7A 2022-03-13 2022-03-13 Automatic assembling device for damper ring Active CN114515965B (en)

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