阅读说明：本技术 一种缝纫机机壳底板自动拼装方法 (Automatic assembling method for bottom plate of sewing machine shell ) 是由 杨玉龙 张鹏魁 兰兵 谢其渝 杨鹏飞 于 2021-08-30 设计创作，主要内容包括：本发明公开一种缝纫机机壳底板自动拼装方法,包括以下步骤：底板从上料位输送至涂胶工位,按轨迹进行涂胶；涂胶完成,落下继续输送至底板装配位,抬起夹紧底板；从机壳上料位抓取机壳,使机壳翻转90°；紧固件输出至指定位置,四轴机器人将紧固件装配后输送至螺钉移位装置；螺钉移位装置步进旋转地向机壳底板的安装孔处上料；拧紧装置拧紧机壳底板后,复位；螺钉移位装置转动一次,释放底板,安装好的机壳底板落入辊道进入校正位置；将零件推入机壳底板位置校正拧紧机内进行校正,完成后推出至辊道输送下线。本发明实现了机壳和底板装配的自动化,同时能够精确定位,大大提高了生产效率,同时避免了装配误差,可以规模化生产,通用性好。(The invention discloses an automatic assembling method for a bottom plate of a sewing machine shell, which comprises the following steps: conveying the bottom plate from the feeding position to a gluing station, and gluing according to the track; after the glue is coated, the glue falls down and is continuously conveyed to a bottom plate assembly position, and the clamping bottom plate is lifted; grabbing the shell from the shell loading position, and turning the shell by 90 degrees; the four-axis robot is used for assembling the fastener and then conveying the assembled fastener to the screw shifting device; the screw shifting device feeds materials to the mounting hole of the bottom plate of the machine shell in a stepping and rotating manner; the tightening device is used for resetting after tightening the bottom plate of the shell; the screw shifting device rotates once to release the bottom plate, and the installed bottom plate of the machine shell falls into the roller way to enter a correction position; and pushing the part into a machine shell bottom plate position correction screwing machine for correction, and pushing the part out to a roller way conveying off-line after the correction is finished. The invention realizes the automation of the assembly of the shell and the bottom plate, can accurately position, greatly improves the production efficiency, avoids assembly errors, can realize large-scale production and has good universality.)

1. An automatic assembling method for a bottom plate of a sewing machine shell is characterized by comprising the following steps:

s1, conveying the machine shell from the loading position to a machine shell assembly position;

s2, conveying the bottom plate from the feeding position to a gluing station, and gluing according to the track;

s3, finishing gluing, dropping and continuously conveying to a bottom plate assembly position, and lifting the clamping bottom plate by a lifting device;

s4, grabbing the casing from the casing loading position, lifting to enable the casing to turn over for 90 degrees, then shifting to a bottom plate assembly position, and descending to be attached to the bottom plate;

s5, outputting the fastener to a designated position, and conveying the fastener to a screw shifting device or assembling the fastener at the screw shifting position after the fastener is assembled by the four-axis robot;

s6, the screw shifting device ascends after stepping rotation to install the assembled fastener into the installation hole of the chassis base plate;

s7, the tightening device is reset after being lifted to tighten the bottom plate of the machine shell;

s8, the screw shifting device descends and rotates step by step, the lifting device descends, and the installed bottom plate of the machine shell falls into a roller way to enter a correction position;

and S9, pushing the part into the machine shell bottom plate position correction screwing machine for correction, and pushing the part to a roller way delivery line after the correction is finished.

2. The automatic assembling method of the bottom plate of the sewing machine shell according to claim 1, characterized in that: in S2, the bottom plate is lifted and clamped, and then scraps are removed from the position of the bottom plate where glue is to be coated.

3. The automatic assembling method of the bottom plate of the sewing machine shell according to claim 1, characterized in that: and S3, positioning and clamping the side surface and the end surface of the bottom plate at the same time.

4. The automatic assembling method of the bottom plate of the sewing machine shell according to claim 1, characterized in that: in S4, the cabinet is turned over under its own weight.

5. The automatic assembling method of the bottom plate of the sewing machine shell according to claim 1, characterized in that: in S6, the screw displacing device is rotated 90 ° each time.

6. The automatic assembling method of the bottom plate of the sewing machine shell according to claim 1, characterized in that: the automatic gluing device comprises a gluing rack on a bottom plate conveying roller way, wherein an XY servo displacement module is arranged on the gluing rack, a gluing cylinder is arranged on the XY servo displacement module, an automatic gluing head is arranged at the output end of the gluing cylinder, and the automatic gluing head is connected with a glue supply system; a gluing jacking cylinder is arranged on the gluing rack, the output end of the gluing jacking cylinder is connected with a bottom plate positioning tray, and the bottom plate positioning tray jacks up the bottom plate and is matched with a positioning surface arranged on the rack and side guides positioned at two sides of the bottom plate to position and clamp the bottom plate; the frame is also provided with a scrap cleaning cylinder, and the output end of the scrap cleaning cylinder is connected with the scrap cleaning block; the chip cleaning air cylinder pushes the chip cleaning block to move back and forth at the position, to be coated, of the bottom plate.

7. The automatic assembling method of the bottom plate of the sewing machine shell according to claim 1, characterized in that: the gripper grabs the shell from the shell loading position, and the gripper is driven by the pushing device to reciprocate between the loading station and the assembling station;

a feeding station: the gripper grips the shell from the roller way;

at an assembly station: the rack is provided with a clamp for positioning the bottom plate; a lifting device is arranged below the clamp; the lifting device lifts the bottom plate from the roller way to the position below the clamp; the lifting device is matched with the clamp to position and clamp the bottom plate;

a screw shifting device for inputting the fastener to the assembly station is arranged on the rack; a robot assembly unit which grips the fastener on the screw shifting device is arranged beside the rack; and the rack is also provided with a tightening device for tightening the fastener to assemble the shell and the bottom plate.

8. The automatic assembling method of the bottom plate of the sewing machine shell according to claim 7, characterized in that: the gripper comprises a suspension part and a gripping part hung below the suspension part; the suspension part is connected with the rack in a sliding manner, and the pushing device drives the suspension part to reciprocate between a feeding station and an assembling station; the grabbing part grabs the shell from the roller way and positions the shell; the grabbing part comprises a hoisting plate connected with the suspension part, two sides of the hoisting plate are respectively provided with a supporting plate, and the supporting plates are provided with spindle hole bolts which are oppositely arranged; a gripper cylinder is arranged between the supporting plates; the main shaft hole bolt is rotatably connected with the supporting plate.

9. The automatic assembling method of the bottom plate of the sewing machine shell according to claim 1, characterized in that: the tightening device comprises a sliding plate which is in sliding connection with the rack, a plurality of pneumatic tightening shafts are arranged on the sliding plate, and each pneumatic tightening shaft is provided with a telescopic sleeve; the tightening device also comprises a tightening bracket connected with the rack, and a tightening guide rail is arranged on the tightening bracket; the sliding plate is connected with the movable part of the tightening guide rail; the screwing and pushing cylinder is fixed on the screwing support, and the output end of the screwing and pushing cylinder is connected with the sliding plate.

10. The automatic assembling method of the bottom plate of the sewing machine shell according to claim 1, characterized in that: the screw shifting device comprises a fastener placing plate, a ratchet wheel fixed with the fastener placing plate and a shaft connected with the ratchet wheel key; the pawl is matched with the ratchet wheel and connected to a rotary plate, and the rotary plate is rotatably connected with the shaft; the output end of a pawl cylinder arranged on the ratchet support is connected with the rotating plate; the shaft is rotatably carried on the ratchet bracket; the ratchet bracket is connected with the output end of the ratchet cylinder; the ratchet cylinder is fixed on the frame.

Technical Field

The invention relates to the technical field of automatic assembly lines, in particular to the field of automatic assembly of a bottom plate of a sewing machine shell.

Background

At present, sewing machine manufacturers in China generally adopt manual assembly of the machine shell and the bottom plate, because the assembly precision is high, and the assembly process needs very accurate hand feeling control, only a few persons with rich technical experience can finish the assembly, the yield and the quality of products are severely restricted, and the automatic assembly line of the machine shell bottom plate is researched and developed by depending on projects.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide an automatic assembling method for a bottom plate of a sewing machine shell, which is used for realizing intelligent and automatic assembling in intelligent assembling production.

In order to achieve the aim, the invention provides an automatic assembling method for a bottom plate of a sewing machine shell, which is characterized by comprising the following steps:

s1, conveying the machine shell from the loading position to a machine shell assembly position;

s2, conveying the bottom plate from the feeding position to a gluing station, and gluing according to the track;

s3, finishing gluing, dropping and continuously conveying to a bottom plate assembly position, and lifting the clamping bottom plate by a lifting device;

s4, grabbing the casing from the casing loading position, lifting to enable the casing to turn over for 90 degrees, then shifting to a bottom plate assembly position, and descending to be attached to the bottom plate;

s5, outputting the fastener to a designated position, and conveying the fastener to a screw shifting device or assembling the fastener at the screw shifting position after the fastener is assembled by the four-axis robot;

s6, the screw shifting device ascends after stepping rotation to install the assembled fastener into the installation hole of the chassis base plate;

s7, the tightening device is reset after being lifted to tighten the bottom plate of the machine shell;

s8, the screw shifting device descends and rotates step by step, the lifting device descends, and the installed bottom plate of the machine shell falls into a roller way to enter a correction position;

and S9, pushing the part into the machine shell bottom plate position correction screwing machine for correction, and pushing the part to a roller way delivery line after the correction is finished.

Preferably, in S2, the base plate is lifted and clamped, and then the place of the base plate where the glue is to be applied is cleaned.

Preferably, in S3, the side and end faces of the bottom plate are clamped in place.

Preferably, in S4, the cabinet is turned over under its own weight.

Preferably, in S6, the screw displacing device is rotated by 90 ° each time.

The automatic splicing line applied to the bottom plate of the sewing machine shell of the method is characterized in that: comprises a shell rollgang and a bottom plate rollgang;

along the conveying direction, an automatic gluing machine, a pre-tightening machine and an automatic correcting machine are sequentially arranged on the bottom plate conveying roller way;

the automatic glue spreader coats glue on the part of the bottom plate to be glued;

the pre-tightening machine stretches across the shell conveying roller way and the bottom plate conveying roller way, grabs the shell from the shell conveying roller way to the bottom plate conveying roller way, and pre-tightens the shell and the bottom plate after clamping and positioning;

the automatic correcting machine corrects the positions of the bottom plate and the shell and screws the bottom plate of the shell tightly.

Preferably, the automatic gluing machine comprises a gluing rack which is erected on a bottom plate conveying roller way, an XY servo displacement module is arranged on the gluing rack, a gluing cylinder is arranged on the XY servo displacement module, an automatic gluing head is arranged at the output end of the gluing cylinder, and the automatic gluing head is connected with a glue supply system; the gluing machine is characterized in that a gluing jacking cylinder is arranged on the gluing machine frame, the output end of the gluing jacking cylinder is connected with a bottom plate positioning tray, and the bottom plate positioning tray jacks up the bottom plate and is matched with a positioning surface arranged on the gluing machine frame and side guides positioned at two sides of the bottom plate to position and clamp the bottom plate.

Preferably, the gluing machine frame is further provided with a scrap cleaning cylinder, and the output end of the scrap cleaning cylinder is connected with the scrap cleaning block; the chip cleaning air cylinder pushes the chip cleaning block to move back and forth at the position, to be coated, of the bottom plate. Thus, the part of the bottom plate to be coated with the glue is cleaned.

The pre-tightening machine preferably comprises a frame,

a gripper for gripping the workpiece is arranged above the rack and driven by the pushing device to reciprocate between the feeding station and the assembling station;

a feeding station: the gripper grips the shell from the roller way;

at an assembly station: the rack is provided with a clamp for positioning the bottom plate; a lifting device is arranged below the clamp; the lifting device lifts the bottom plate from the roller way to the position below the clamp; the lifting device is matched with the clamp to position and clamp the bottom plate;

a screw shifting device for inputting the fastener to the assembly station is arranged on the rack; a robot assembly unit which grips the fastener on the screw shifting device is arranged beside the rack; and the rack is also provided with a tightening device for tightening the fastener to assemble the shell and the bottom plate.

Preferably, the gripper comprises a hanging part and a gripping part hung below the hanging part; the suspension part is connected with the rack in a sliding manner, and the pushing device drives the suspension part to reciprocate between a feeding station and an assembling station; the grabbing part grabs the machine shell from the roller way and positions the machine shell.

Preferably, the suspension part comprises a gripper guide rail in sliding connection with the frame, and a lifting cylinder is arranged on the gripper guide rail; the output end of the lifting cylinder is connected with the grabbing part.

Still further preferably, a gripper bracket is arranged between the gripper guide rail and the frame; the gripper support is fixedly connected with the rack, and the gripper guide rail is connected with the gripper support in a sliding manner.

Preferably, the pushing device is a rodless cylinder, a movable part of the pushing device is connected with the gripper guide rail, and a fixed part of the pushing device is connected with the gripper support.

Preferably, the grabbing part comprises a hoisting plate connected with the hanging part, two sides of the hoisting plate are respectively provided with a supporting plate, and the supporting plates are provided with spindle hole bolts which are arranged oppositely; and a gripper cylinder is arranged between the supporting plates. Therefore, the two supporting plates are driven to move away from and close to each other through the gripper cylinder, so that the machine shell is grabbed and released.

Still further preferably, the spindle hole plug is rotatably connected with the supporting plate.

Still further preferably, the hoisting plate is provided with a first guide column; the lifting cylinder is connected with the gripper guide rail through a lifting cylinder mounting plate; one end of the first guide post is connected with the hoisting plate, and the other end of the first guide post penetrates through the lifting cylinder mounting plate. Thus, the guide function is realized in the process of moving up and down.

Still further preferably, a second guide column is arranged on the hoisting plate, and a positioning hole matched with the second guide column is arranged on the supporting plate. Therefore, the machine shell model is clamped tightly through the guiding and positioning of the second guide column by pulling of the gripper cylinder.

Preferably, the lifting device comprises a lifting cylinder, and the lifting cylinder is connected to the rack through a lifting support; the lifting top frame is connected with the output end of the lifting cylinder; the top of the lifting top frame is provided with a pressing block which can be abutted against the bottom plate.

Further preferably, the pressing block is detachably connected with the lifting top frame, and the height of the pressing block on the lifting top frame is adjustable.

Preferably, the robot assembly unit comprises a robot, and a robot gripper for gripping the fastener is arranged on the robot; a fastener sorting vibration disc is arranged beside the robot; the fastener sequencing vibration disc conveys the fasteners to a designated position; and the robot grabs the fastener from the specified position to the screw displacement device through the robot gripper.

Further preferably, the robot gripper comprises a three-finger pneumatic gripper and fingers; the three-finger pneumatic claw is arranged on a plate, and the plate is connected with the robot through a coupler.

Preferably, the tightening device comprises a sliding plate slidably connected with the frame, the sliding plate is provided with a plurality of pneumatic tightening shafts, and each pneumatic tightening shaft is provided with a telescopic sleeve.

Preferably, the tightening device further comprises a tightening bracket connected with the frame, and a tightening guide rail is arranged on the tightening bracket; the sliding plate is connected with the movable part of the tightening guide rail; the screwing and pushing cylinder is fixed on the screwing support, and the output end of the screwing and pushing cylinder is connected with the sliding plate.

Preferably, the screw displacement device comprises a fastener placing plate, a ratchet fixed with the fastener placing plate, and a shaft connected with the ratchet; the pawl is matched with the ratchet wheel and connected to a rotary plate, and the rotary plate is rotatably connected with the shaft; the output end of a pawl cylinder arranged on the ratchet support is connected with the rotary plate.

Further preferably, the shaft is rotatably carried on the ratchet bracket; the ratchet bracket is connected with the output end of the ratchet cylinder; the ratchet cylinder is fixed on the frame.

Preferably, the machine frame is provided with an adjustable stop iron for positioning the hand grip at the feeding station and the assembling station.

The invention has the beneficial effects that: the invention realizes the automation of the assembly of the shell and the bottom plate and can accurately position; compared with the existing manual assembly mode, the invention greatly improves the production efficiency, avoids assembly errors and can realize large-scale production; in addition, the invention can use parts with different sizes and has good universality.

Drawings

Fig. 1 is a front view of a pre-tightening machine;

FIG. 2 is a top view of the pre-tightening machine;

FIG. 3 is a front view of the pre-tightener grip;

FIG. 4 is a left side view of the pre-tightener grip;

FIG. 5 is a front view of the pre-tightening machine lifting device;

FIG. 6 is a top view of the pre-tightening robot assembly unit;

FIG. 7 is a front view of the pre-tightening robotic gripper;

FIG. 8 is a bottom view of the pre-tightener clamp;

FIG. 9 is a front view of the tightening device of the pre-tightening machine;

FIG. 10 is a front view of the pre-tightening machine screw displacement device;

FIG. 11 is a top view of the pre-tightening machine screw displacement device;

FIG. 12 is a cross-sectional view of the pre-tightener screw displacement apparatus;

FIG. 13 is a cross-sectional view of the pre-tightening machine screw displacement device;

FIG. 14 is an isometric view of a pre-tightening machine grip;

FIG. 15 is an isometric view of a pre-tightener clamp;

FIG. 16 is an isometric view of the tightening device of the pre-tightening machine;

FIG. 17 is an isometric view of the pre-tightening machine screw displacement device;

FIG. 18 is a perspective cross-sectional view of the pre-tightener screw displacement apparatus;

FIG. 19 is a perspective partial view of a screw shifting device of the pre-tightening machine

FIG. 20 is a front view of an automatic thread splicing of a bottom plate of a sewing machine housing;

FIG. 21 is a top plan view of an automatic stitching line of a bottom plate of a sewing machine housing;

FIG. 22 is a front view of an automatic glue applicator for an automatic assembly line of a bottom plate of a sewing machine housing;

FIG. 23 is a left side view of an automatic glue applicator for an automatic assembly line of a bottom plate of a sewing machine housing;

FIG. 24 is a top view of an automatic glue spreader for an automatic assembly line of a base plate of a sewing machine housing;

fig. 25 is a top view of the present invention.

Detailed Description

The technical solutions of the present invention (including the preferred technical solutions) are further described in detail by way of fig. 1 to 25 and enumerating some alternative embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

As shown in fig. 1 and 2, the pre-tightening machine designed by the invention comprises a frame 1, wherein a gripper 3 for gripping a workpiece is arranged above the frame 1, and the gripper 3 is driven by a pushing device 3.9 to reciprocate between a feeding station I and an assembling station II;

a feeding station: the gripper 3 grips the shell from the roller way;

at an assembly station: the frame 1 is provided with a clamp 2 for positioning the bottom plate; a lifting device 5 is arranged below the clamp 2; the lifting device 5 lifts the bottom plate from the roller way to the position below the clamp 2; the lifting device 5 is matched with the clamp 2 to position and clamp the bottom plate;

a screw shifting device 6 for inputting a fastener to an assembly station is arranged on the frame 1; a robot assembly unit 7 for grabbing fasteners on the screw shifting device 6 is arranged beside the rack 1; and the frame 1 is also provided with a tightening device 4 for tightening the fastener to assemble the shell and the bottom plate.

As shown in fig. 3, 4 and 14, the gripper 3 includes a suspension part, a gripping part suspended below the suspension part; the suspension part is connected with the rack 1 in a sliding mode, and the pushing device 3.9 drives the suspension part to reciprocate between a feeding station and an assembling station; the grabbing part grabs the machine shell from the roller way and positions the machine shell.

The suspension part comprises a gripper guide rail 3.10 which is connected with the rack 1 in a sliding way, and a lifting cylinder 3.7 is arranged on the gripper guide rail 3.10; the output end of the lifting cylinder 3.7 is connected with the grabbing part. A hand grip support 3.1 is arranged between the hand grip guide rail 3.10 and the frame 1; the gripper support 3.1 is fixedly connected with the rack 1, and the gripper guide rail 3.10 is in sliding connection with the gripper support 3.1. The pushing device 3.9 is a rodless cylinder, a movable part of the pushing device is connected with the gripper guide rail 3.10, and a fixed part of the pushing device is connected with the gripper support 3.1.

The grabbing part comprises a hoisting plate 3.13 connected with the suspension part, two sides of the hoisting plate 3.13 are respectively provided with a supporting plate 3.4, and the supporting plates 3.4 are provided with spindle hole bolts 3.2 which are oppositely arranged; a gripper cylinder 3.5 is arranged between the supporting plates 3.4; the gripper cylinder 3.5 drives the two supporting plates 3.4 to move away from and close to each other, so that the machine shell is grabbed and released. The spindle hole bolt 3.2 is rotatably connected with the supporting plate 3.4. A first guide column 3.8 is arranged on the hoisting plate 3.13; the lifting cylinder 3.7 is connected with the gripper guide rail 3.10 through a lifting cylinder mounting plate 3.14; one end of the first guide column 3.8 is connected with the hoisting plate 3.13, and the other end of the first guide column penetrates through the lifting cylinder mounting plate 3.14, so that the guide effect is achieved in the up-and-down moving process. The hoisting plate 3.13 is provided with a second guide column 3.6, the supporting plate 3.4 is provided with a positioning hole matched with the second guide column 3.6, and thus, the machine shell model is clamped by the guide positioning of the second guide column 3.6 through the pulling of the gripper cylinder 3.5.

The gripper support 3.1 is fixed on the rack 1, the gripper 3 grips the shell from a material loading position of a shell conveying roller way, the gripper 3 is positioned by a main shaft hole bolt 3.2, the main shaft hole bolt 3.2 is supported and rotated by a bearing 3.3, the bearing 3.3 is arranged on two side supporting plates 3.4, the supporting plates 3.4 are pulled by a gripper cylinder 3.5, parts are clamped by a second guide column 3.6 in a positioning mode, the gripper 3 ascends and is driven by a lifting cylinder 3.7, the parts are turned over by self weight in a guiding mode of a first guide column 3.8, the gripper 3 transversely moves by a rodless cylinder 3.9, a gripper guide rail 3.10 is positioned, adjustable stop irons 3.11 are arranged on two sides, the gripper guide rail is moved to the upper space of the bottom plate and is descended to be contacted with the bottom plate, a limit block 2.6 designed on the adjusting clamp is used, and a drag chain 3.12 for a pipeline is designed in a horizontal displacement mode.

As shown in fig. 5, the lifting device 5 includes a lifting cylinder 5.3, and the lifting cylinder 5.3 is connected to the frame 1 through a lifting support 5.6; the lifting top frame 5.2 is connected with the output end of the lifting cylinder 5.3; the top of the lifting top frame 5.2 is provided with a pressing block 5.1 which can be abutted against the bottom plate. The pressing block 5.1 is detachably connected with the lifting top frame 5.2, and the height of the pressing block 5.1 on the lifting top frame 5.2 is adjustable.

The part bottom plate is conveyed to an assembly station by a roller way, the part is clamped to a positioning surface by a lifting device 5, the lifting device 5 comprises a pressing block 5.1, the height of the pressing block 5.1 is adjustable, the pressing block 5.1 is positioned on a lifting top frame 5.2, the lifting top frame 5.2 is lifted by a lifting cylinder 5.3 and positioned by a guide pillar 5.4 and a linear bearing 5.5, the lifting cylinder 5.3 and the linear bearing 5.5 are positioned on a lifting support 5.6, and the lifting support 5.6 is fixed on a rack 1.

As shown in fig. 6 and 7, the robot assembling unit 7 comprises a robot 7.4, and a robot gripper 7.5 for gripping the fastener is arranged on the robot 7.4; a fastener sorting vibration disc is arranged beside the robot 7.4; the fastener sequencing vibration disc conveys the fasteners to a designated position; the robot 7.4 grips the fastener, in this case a washer and two sizes of screws, from the above specified position onto the screw displacement device 6 by means of a robot gripper 7.5. The robot gripper 7.5 comprises a three-finger pneumatic gripper 7.51 and fingers 7.52; the three-finger pneumatic claw 7.51 is arranged on a plate 7.53, and the plate 7.53 is connected with the robot 7.4 through a coupler 7.54.

Robot assembly unit 7 includes that two kinds of specification screws are ordered vibration dish 7.1, 7.2, gasket and are ordered vibration dish 7.3, robot 7.4 and robot tongs 7.5 and constitute, and three vibration dish is carried two kinds of specification screws and gasket to assigned position, is provided with no material switch, robot tongs 7.5 comprises three fingers gas claw 7.51 and finger 7.52, and finger 7.52 can compatible screw and gasket, three fingers gas claw 7.51 are installed on board 7.53, and board 7.53 is fixed through shaft coupling 7.54 and robot 7.4.

As shown in fig. 8 and 15, the fixture 2 is provided with three positioning blocks 2.1 on the top surface, the positioning blocks 2.1 are height-adjustable and equal in height, two positioning blocks 2.2 and clamping cylinders 2.3 are arranged on two side surfaces of the base plate, one positioning block 2.4 and one clamping cylinder 2.5 are arranged on two end surfaces of the base plate to completely fix the part base plate, and the fixture is provided with a gripper descending limiting block 2.6.

As shown in fig. 9 and 16, the tightening device 4 includes a sliding plate 4.3 slidably connected to the frame 1, the sliding plate 4.3 is provided with a plurality of pneumatic tightening shafts 4.1, and each of the pneumatic tightening shafts 4.1 is provided with a telescopic sleeve 4.2. The tightening device 4 further comprises a tightening support 4.6 connected with the rack 1, and a tightening guide rail 4.4 is arranged on the tightening support 4.6; the sliding plate 4.3 is connected with the movable part of the tightening guide rail 4.4; the screwing and pushing cylinder 4.5 is fixed on the screwing support 4.6, and the output end is connected with the sliding plate 4.4.

The tightening device 4 comprises four pneumatic tightening shafts 4.1, the tightening torque is more than or equal to 10Nm, a telescopic sleeve 4.2 with a 50mm stroke is mounted on each pneumatic tightening shaft 4.1, each pneumatic tightening shaft 4.1 is mounted on a sliding plate 4.3, each sliding plate 4.3 is mounted on a tightening guide rail 4.4 sliding block, each tightening guide rail 4.4 is mounted on a tightening support 4.6, each tightening support 4.6 is connected with the machine frame 1, each sliding plate 4.3 moves up and down through a tightening and pushing cylinder 4.5, and each pneumatic tightening shaft 4.1 is responsible for tightening part assembling screws.

As shown in fig. 10 to 13, 17 to 19, the screw displacing means 6 comprises a fastener placing plate 6.1, a ratchet 6.2 fixed with the fastener placing plate 6.1, a shaft 6.7 keyed with the ratchet 6.2; a pawl 6.4 matched with the ratchet wheel 6.2, wherein the pawl 6.4 is connected to a rotary plate 6.6, and the rotary plate 6.6 is rotationally connected with the shaft 6.7; the output end of a pawl cylinder 6.3 arranged on the pawl support 6.9 is connected with the rotary plate 6.6. The shaft 6.7 is rotatably carried on the ratchet bracket 6.9; the ratchet support 6.9 is connected with the output end of the ratchet cylinder 6.17; the ratchet cylinder 6.17 is fixed on the frame 1.

Preferably, the screw shifting device 6 comprises a screw placing plate 6.1, the screw placing plate 6.1 and a ratchet 6.2 are fixed, the ratchet 6.2 and a shaft 6.7 are in key connection transmission, a pawl 6.4 is positioned on an installation shaft 6.5, the installation shaft 6.5 is installed on a rotary plate 6.6, the rotary plate 6.6 is connected with a pawl cylinder 6.3 joint, the pawl cylinder 6.3 is positioned on a pawl bracket 6.9, the rotary plate 6.6 is installed on the shaft 6.7 through a bearing, the shaft 6.7 is installed on the pawl bracket 6.9 through an upper bearing and a lower bearing 6.8, the position of the rotary plate 6.6 is limited by an adjustable stop iron 6.10, the screw placing plate 6.1 can rotate 90 degrees every time the pawl cylinder 6.3 is driven once, the ball placing plate 6.1 is slowly parked by the plunger 6.11 to stop, the ball plunger 6.11 is realized by an adjustable limit stop block 6.12 arranged on the screw placing plate 6.1, the plunger 6.11 is arranged beside the proximity switch 6.20, and then the accurate positioning pin of the placing plate is judged whether the positioning pin is in place or not, the pin 6.13 is fixed with the pin cylinder 6.14 in a joint mode so as to be positioned by a linear bearing 6.15, a limiting sleeve 6.16 matched with the pin 6.13 is arranged on the screw placing plate 6.1, the pin 6.13 can vertically position the screw placing plate 6.1, the robot 7.4 can carry out screw gasket assembly when the screw placing plate 6.1 is positioned at A, B points, the assembling takt time is increased, the ratchet support 6.9 is driven by a ratchet cylinder 6.17, the guide column 6.18 can move up and down in a limiting mode, a screw is inserted into a through hole of the bottom plate, the ratchet cylinder 6.17 is positioned on the ratchet rack 6.19, and the ratchet rack 6.19 is fixed on the mounting rack 1.

The invention adopts Chinese patent 'an automatic correcting and screwing machine for the position of a bottom plate of a sewing machine shell', which is disclosed in publication No. CN113182829A, publication No. 2021.07.30, and is not limited to the above.

As shown in fig. 20 and 21, the sewing machine shell bottom plate automatic splicing line designed by the invention comprises a shell rollgang 14 and a bottom plate rollgang 15; along the conveying direction, an automatic glue spreader 11, a pre-tightening machine 12 and an automatic correcting machine 13 are sequentially arranged on the bottom plate conveying roller way 15; the automatic glue spreader 11 coats glue on the part of the bottom plate to be glued; the pre-tightening machine 12 stretches across the shell conveying roller way 14 and the bottom plate conveying roller way 15, grabs the shell from the shell conveying roller way 15 to the bottom plate conveying roller way 14, and pre-tightens the shell and the bottom plate after clamping and positioning; the automatic correcting machine 13 corrects the positions of the bottom plate and the casing, and screws the bottom plate of the casing tightly.

As shown in fig. 22 to 24, the automatic glue spreader 11 includes a glue spreading frame 11.13 standing on a bottom plate conveying roller table 14, an XY servo displacement module 11.9 is arranged on the glue spreading frame 11.13, a glue spreading cylinder 11.11 is arranged on the XY servo displacement module 11.9, an automatic glue spreading head 11.8 is arranged at an output end of the glue spreading cylinder 11.1, and the automatic glue spreading head 11.8 is connected with a glue supply system 11.14; the gluing machine is characterized in that a gluing jacking cylinder 11.3 is arranged on the gluing machine frame 11.13, the output end of the gluing jacking cylinder 11.3 is connected with a bottom plate positioning tray 11.1, and the bottom plate positioning tray 11.1 jacks up the bottom plate and is matched with a positioning surface 11.4 arranged on the gluing machine frame 11.13 and side guides 11.5 positioned on two sides of the bottom plate to position and clamp the bottom plate. A scrap cleaning cylinder 11.6 is further arranged on the gluing machine frame 11.13, and the output end of the scrap cleaning cylinder 11.6 is connected with a scrap cleaning block 11.7; the chip cleaning air cylinder 11.6 pushes the chip cleaning block 11.7 to reciprocate at the position of the bottom plate to be coated with the glue, so that the position of the bottom plate to be coated with the glue is cleaned.

A part bottom plate is conveyed to a station of an automatic gluing machine 11 by a bottom plate conveying roller way 15, a bottom plate positioning tray 11.1 is limited by a gluing guide post 1.2, a gluing jacking cylinder 11.3 lifts the bottom plate to a positioning surface 11.4, two sides of the bottom plate are guided by side guides 11.5, after clamping, a scrap cleaning cylinder 11.6 pushes a scrap cleaning block 11.7 to clean the gluing surface of the bottom plate, an automatic gluing head 11.8 is limited by a gluing head guide post 11.10 and pushed by a gluing cylinder 11.11, the gluing cylinder 11.11 is connected with an XY servo displacement module 11.9 through a gluing head support 11.12, and the XY servo displacement module 11.9 servo-drives the automatic gluing head 11.8 to complete corresponding track gluing.

The machine shell conveying roller way 14 and the bottom plate conveying roller way 15 both adopt friction wheel mechanisms.

As shown in fig. 25, the automatic assembling method for the bottom plate of the sewing machine shell designed by the invention comprises the following steps:

s1, conveying the machine shell from the loading position to a machine shell assembly position;

s2, conveying the bottom plate from the feeding position to a gluing station, and gluing according to the track; firstly, the bottom plate is lifted and then clamped, and then scraps are removed from the position of the bottom plate to be coated with glue.

S3, finishing gluing, and continuously conveying the glue to a bottom plate assembly position after falling; the lifting device 5 lifts and clamps the bottom plate; the lifting device 5 is matched with the clamp 2, and simultaneously positions and clamps the side surface and the end surface of the bottom plate;

s4, the gripper 3 grabs the shell from the shell loading position, the spindle hole bolt 3.2 positions the shell, after the shell is lifted, the gripper 3 moves to an assembly station after the shell is turned over by 90 degrees under the action of self gravity due to the fact that the spindle hole bolt 3.2 is rotatably connected with the supporting plate 3.4, and the gripper 3 descends to enable the shell to be attached to the bottom plate;

s5, the vibrating disk sorts and outputs the screws and the gaskets with the two specifications; the four-axis robot puts the screws into a rotary feeding position, assembles the gaskets and the screws, and completes assembly of 4 groups of screw gaskets at the rotary feeding position B; of course, the four-axis robot conveys the fastener to the screw displacement device after assembling or assembles at the screw displacement position;

s6, rotating the assembled screw gasket by 90 degrees to the mounting hole in one step, and then lifting to insert the screw into the mounting hole; the screw shifting device of the invention feeds materials to the mounting hole of the bottom plate of the machine shell in a stepping rotation manner;

s7, the screw is screwed by lifting the screwing device, and a pneumatic screwing shaft or an electric screwing shaft can be adopted; the tightening device is used for resetting after tightening the bottom plate of the shell;

and S8, the screw shifting device descends and rotates step by step, the lifting device descends, and the installed bottom plate of the machine shell falls into the roller way to enter the correction position. After the screwing is finished, the screwing device descends, the screw rotating device rotates, the lifting device descends, and the installed workpiece falls into the roller way to continue to advance;

and S9, pushing the part into the machine shell bottom plate position correction screwing machine for correction, and pushing the part to a roller way delivery line after the correction is finished.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and any modification, combination, replacement, or improvement made within the spirit and principle of the present invention is included in the scope of the present invention.