阅读说明：本技术 具有视觉检测功能的机动车部件装配生产流水线系统 (Motor vehicle component assembly production line system with visual detection function ) 是由 马金玉 于 2020-08-12 设计创作，主要内容包括：本发明所公开的一种具有视觉检测功能的机动车部件装配生产流水线系统,包括位于挤压机构左右两侧的送料机构,两送料机构的位置处均设置有螺母上料机构；挤压机构的前侧安装有平移机构,平移机构的两端均滑移式安装有装配机构,两装配机构位于送料机构的送料出料端下方；平移机构的前侧设置有输送机构；输送机构的前侧设置有六轴工业机器人,其出料端设置带视觉检测装置的夹持旋转机构；夹持旋转机构的出料端设置有分类机构,夹持旋转机构的侧面设置有平移滑台机构,输送机构的出料端上方和夹持旋转机构的夹持部位下方均设置有夹持机械手,平移滑台机构的平移件与两个夹持机械手固定相连；其装配后质量得到保证,提升生产效率,降低人工劳动强度。(The invention discloses a motor vehicle component assembly production line system with a visual detection function, which comprises feeding mechanisms positioned on the left side and the right side of an extrusion mechanism, wherein nut feeding mechanisms are arranged at the positions of the two feeding mechanisms; a translation mechanism is installed on the front side of the extrusion mechanism, assembling mechanisms are installed on two ends of the translation mechanism in a sliding manner, and the two assembling mechanisms are located below the feeding and discharging end of the feeding mechanism; the front side of the translation mechanism is provided with a conveying mechanism; the front side of the conveying mechanism is provided with a six-axis industrial robot, and the discharge end of the conveying mechanism is provided with a clamping and rotating mechanism with a visual detection device; the discharge end of the clamping and rotating mechanism is provided with a sorting mechanism, the side face of the clamping and rotating mechanism is provided with a translational sliding table mechanism, clamping manipulators are arranged above the discharge end of the conveying mechanism and below a clamping part of the clamping and rotating mechanism, and a translational piece of the translational sliding table mechanism is fixedly connected with the two clamping manipulators; the quality of the assembled steel wire rope is guaranteed, the production efficiency is improved, and the labor intensity of workers is reduced.)

1. A motor vehicle component assembly production line system with a visual detection function is characterized by comprising a base plate, an extrusion mechanism and feeding mechanisms positioned on the left side and the right side of the extrusion mechanism, wherein nut feeding mechanisms are arranged at the positions of the two feeding mechanisms; the front side of the extrusion mechanism is provided with a translation mechanism, two ends of the translation mechanism are respectively provided with an assembling mechanism positioned with a mandrel in a sliding manner, the two assembling mechanisms are respectively and correspondingly positioned below the feeding and discharging end positions of the two feeding mechanisms, and the extrusion mechanism, the two feeding mechanisms and the translation mechanism are all arranged on the substrate; the feeding mechanism conveys and places the nuts discharged by the nut feeding mechanism on the assembling mechanism, the translation mechanism pushes the assembling mechanism with the positioned mandrels and the nuts one by one to the position below the extrusion part of the extrusion mechanism, then the end covers of the motor vehicle parts are placed on the assembling mechanism below the extrusion part in the extrusion mechanism, and at the moment, the extrusion part on the extrusion mechanism extrudes the end covers so as to assemble the nuts and the mandrels on the end covers; the front side of the translation mechanism is provided with a conveying mechanism; the front side of the conveying mechanism is provided with a six-axis industrial robot which grabs the assembled end cover and places the end cover on the conveying mechanism, and the discharge end of the six-axis industrial robot is provided with a clamping and rotating mechanism with a visual detection device; the discharging end of the clamping and rotating mechanism is provided with a sorting mechanism for discharging, the side face of the clamping and rotating mechanism is provided with a translational sliding table mechanism, clamping mechanical arms are arranged above the discharging end of the conveying mechanism and below a clamping part of the clamping and rotating mechanism, two translational pieces arranged at intervals on the translational sliding table mechanism are fixedly connected with the two clamping mechanical arms respectively, and the two clamping mechanical arms are connected with each other through a connecting rod; the two clamping mechanical arms are driven by the sliding table to synchronously translate, the clamping mechanical arm above the discharge end of the conveying mechanism clamps the end covers which are arranged at the discharge end of the conveying mechanism and are assembled, and conveys the end covers to the corresponding position of the visual detection device of the clamping rotating mechanism for visual detection, and the clamping mechanical arm at the clamping rotating mechanism clamps the end covers which are detected and finished at the visual detection device and conveys the end covers to the feed port of the classification mechanism.

2. The motor vehicle component assembly production line system with the visual detection function as recited in claim 1, wherein each of the two assembly mechanisms comprises a transposition slide table, a U-shaped support fixed on the bottom surface of the transposition slide table, a rotary cylinder fixed in the inner cavity of the U-shaped support, a transposition bearing fixed in the central hole of the transposition slide table in an interference fit manner, a T-shaped transposition rotating shaft fixed in the inner ring of the transposition bearing in an interference fit manner, a transposition plate, two limiting plates with limiting holes, a movable plate, four hexagonal guide pillars, a positioning ring located below the movable plate, and a guide sleeve ring positioned and fixed on the top surface of the movable plate, wherein the bottoms of the four hexagonal guide pillars are all sleeved with a return spring;

the two transposition sliding tables are respectively fixed at two ends of the translation mechanism, the bottom end of the longitudinal part of the T-shaped transposition rotating shaft is fixed on the rotating part of the rotating cylinder, the top surface of the transverse part of the T-shaped transposition rotating shaft is fixedly connected with the transposition plate, the two limiting plates are respectively fixed at the two side edge parts corresponding to each other on the top surface of the transposition plate, and the limiting holes of the two limiting plates are corresponding to each other; the movable plate is arranged between the two limit plates, two parts corresponding to each other on the peripheral side surface of the movable plate are respectively provided with a limit lug, and the limit lugs are correspondingly inserted into the limit holes; the positioning ring is fixed on the transposition plate, four hexagonal holes are arranged on the top surface of the positioning ring in an annular array mode, the bottom ends of the four hexagonal guide columns are respectively positioned and fixed in the four hexagonal holes, and four hexagonal through holes which respectively correspond to the hexagonal holes are formed in the guide ring and the movable plate; the top end positioning column of the hexagonal guide column penetrates through the hexagonal through hole of the movable plate and then penetrates out of the hexagonal through hole of the guide sleeve ring; the nut is sleeved on the positioning column, the upper half part of the nut is arranged outside, the lower half part of the nut is arranged in the hexagonal through hole of the guide sleeve ring and is positioned by the step between the bottom end of the positioning column and the top end of the hexagonal guide column; the central position of the top surface of the movable plate is provided with a mandrel positioning groove, and the bottom end of the mandrel is positioned in the mandrel positioning groove; after the central hole of the end cover is sleeved on the mandrel, the positioning column sequentially penetrates through the nut positioning hole in the end cover and the through hole in the upper part of the nut positioning hole, and a space is reserved between the bottom of the end cover and the top surface of the guide sleeve ring; two ends of the reset spring are respectively abutted against the bottom surface of the movable plate and the top surface of the positioning ring; the top end of the guide sleeve ring is also fixed with a positioning column body.

3. The assembly line system with the visual inspection function for the motor vehicle components as claimed in claim 2, wherein the translation mechanism comprises an elongated translation frame body, two parallel and spaced transverse translation linear guide rails and two transverse translation cylinders parallel to the translation frame body, wherein an elongated notch is formed in the front side of the extrusion mechanism on the base plate, and the left end and the right end of the translation frame body are respectively fixed to the left end and the right end of the elongated notch on the base plate; two transverse translation linear guide rails are fixed on the translation frame body, and two end sliding blocks on the transverse translation linear guide rails are respectively and fixedly connected with the bottom surfaces of the two transposition sliding tables; two transverse translation cylinders are fixed at the rear side positions of the two ends of the translation frame body, and the end parts of piston rods of the transverse translation cylinders are fixedly connected with the rear side part of the transposition sliding table through a connecting plate; the left end position of the front side of the left end transposition sliding table and the right end position of the front side of the right end transposition sliding table are both fixed with a limiting baffle, first limiting sensors are respectively arranged on the two limiting baffles and the left end and the right end of the translation frame body, a left limiting part and a right limiting part are fixed in the middle of the front side surface of the translation frame body, and the positions of the left limiting part and the right limiting part correspond to the first limiting sensors; when the transposition sliding table at the left end position or the transposition sliding table at the right end position is displaced to the middle part of the translation frame, the assembling mechanism on the transposition sliding table corresponds to the extrusion part of the extrusion mechanism, and the first limit sensor on the transposition sliding table at the left end is abutted against the left limiting part, or the first limit sensor on the transposition sliding table at the right end is abutted against the right limiting part.

4. The assembly line system with vision detection function for motor vehicle parts as claimed in claim 3, wherein the extrusion mechanism comprises a 7-shaped frame body fixed on the base plate, an extrusion cylinder, two longitudinal translation linear guide rails which are parallel to each other and arranged at intervals, an extrusion flat moving frame, an extrusion block and a second limit sensor; the extrusion cylinder is longitudinally fixed on the top surface of the transverse part of the 7-shaped frame body; the bottom end of the longitudinal part of the 7-shaped frame body is positioned at the rear side of the middle part of the translation frame body, two longitudinal translation linear guide rails are fixed on the front side plate body of the longitudinal part, a limiting frame is fixed at the bottom of the front side plate body of the longitudinal part, a second limiting sensor is installed on the limiting frame, the rear side part of the extrusion translation frame is fixedly connected with a sliding block of the longitudinal translation linear guide rails, and a piston rod of an extrusion cylinder penetrates through the transverse part of the 7-shaped frame body and is fixedly connected with the extrusion translation frame; the extrusion block is fixed on the bottom surface of the front side part of the extrusion flat moving frame, and four assembling holes which are arranged in an annular array and correspond to the four hexagonal through holes on the guide sleeve ring and a central through hole at the central position are arranged on the bottom surface of the extrusion block; when the transposition sliding table at the left end position or the transposition sliding table at the right end position is displaced to the middle part of the translation frame, the assembly mechanism on the transposition sliding table corresponds to the position of the extrusion block; two 7-type positioning pieces which are symmetrically arranged with each other are fixed on the top surface of the front side part of the extrusion horizontal moving frame, positioning grooves are arranged on the end surfaces of the transverse parts of the 7-type positioning pieces, the piston rod of the extrusion cylinder is an inverted T-shaped piston rod, the transverse part of the piston rod is clamped in the depressions of the two 7-type positioning pieces, and the longitudinal part of the piston rod is clamped in the positioning grooves.

5. The assembly line system for motor vehicle components with visual inspection function of claim 1, wherein the two feeding mechanisms each comprise a feeding frame body, two feeding linear guide rails parallel to each other and spaced from each other, a third limit sensor, a feeding translation cylinder, a feeding translation plate, a feeding lifting cylinder, a T-shaped positioning plate, and two pneumatic clamping jaws which are parallel to each other and spaced from each other in position, the feeding linear guide rails and the feeding translation cylinder are parallel to each other, the sliding blocks of the two feeding linear guide rails are fixed on the outer side plate body at the top of the feeding frame body, and the feeding translation plate is fixed at the front side end position of the feeding linear guide rails; the feeding translation cylinder is fixed at the top of the feeding frame body, and a piston rod of the feeding translation cylinder is fixedly connected with the feeding translation plate through a connecting plate; a feeding lifting cylinder is fixed on the side surface of the feeding translation plate, a piston rod of the feeding lifting cylinder is fixedly connected with the longitudinal part of the T-shaped positioning plate, two pneumatic clamping jaws are fixed at the left end and the right end of the bottom surface of the transverse part of the T-shaped positioning plate, and the positions of the two pneumatic clamping jaws are respectively corresponding to two positioning columns on the assembling mechanism; the plate body on the outer side of the top of the feeding frame body is further fixedly provided with a limiting mounting frame, a third limiting sensor is fixedly mounted on the limiting mounting frame, the positions of the two pneumatic clamping jaws respectively correspond to the positions of the two nuts at the discharging end of the feeding mechanism, and the third limiting sensor is in contact with the feeding translation plate.

6. The motor vehicle component assembly production line system with visual inspection function as claimed in claim 5, wherein the two feeding mechanisms each comprise a vibrating feeding tray, two feeding guide slots, a feeding cylinder, a feeding linear guide rail, a feeding displacement block and a feeding frame body, the vibrating feeding tray is positioned on the base plate and located beside the feeding frame body, one ports of the two feeding guide slots are respectively butted with the two discharge ports at the top of the vibrating feeding tray, the other ports of the two feeding guide slots are positioned on the top surface of the feeding frame body, and the other ports of the two feeding guide slots are respectively corresponding to the positions of the two pneumatic clamping jaws; a nut positioning block is arranged at the other port of the feeding guide groove, a nut positioning through groove is formed in the top surface of the nut positioning block, an opening for a nut to enter is formed in the nut positioning through groove and faces one side wall of the feeding guide groove, and the nut positioning block is fixed on the top surface of the feeding frame body; a feeding position shifting block is arranged at the other port of the other feeding guide groove, a feeding cylinder is fixed on the feeding support body and is positioned at the rear end of the feeding position shifting block, the end part of a piston rod of the feeding cylinder is fixedly connected with the feeding position shifting block, a sliding block of the feeding linear guide rail is fixedly connected with the feeding position shifting block, a guide rail body of the feeding linear guide rail is fixed with the top surface of the feeding support body, a limiting block is fixed at the front end of the feeding linear guide rail, a fourth limiting sensor is installed on the limiting block, a nut positioning long groove corresponding to the other port of the other feeding guide groove is arranged on the feeding position shifting block, an opening for a nut to enter is formed in one side wall of the nut positioning long groove facing the feeding guide groove, and the feeding support body is correspondingly positioned below the feeding linear guide rail.

7. The motor vehicle component assembly production line system with visual inspection function as claimed in claim 1, wherein the conveying mechanism comprises an elongated conveyor body, a first belt conveyor, and at least three end cover positioning discs placed on the first belt conveyor at equal intervals; the end cover positioning disc is used for placing the assembled end cover, the conveying guide groove body on the first belt conveying device is fixed on the top surface of the long conveying frame body, the long conveying frame body and the first belt conveying device are parallel to each other with the translation mechanism, long blocking strips are arranged on the front side edge and the rear side edge of the top surface of the first belt conveying device, and the long blocking strips are fixedly connected with the outer side surface of the conveying guide groove body on the first belt conveying device through a plurality of fixing frames; the six-axis industrial robot is located on the front side of the first belt conveyor and corresponds to the position of the pressing mechanism.

8. The motor vehicle component assembly production line system with the visual detection function as claimed in claim 1, wherein the translation sliding table mechanism comprises a sliding frame body, a 20866fixed on the top surface of the sliding frame body, a profile frame body, two sliding linear guide rails fixed on the top surface of the profile frame body and arranged in parallel at intervals, and two sliding frames fixedly connected with two clamping manipulators respectively, wherein 20866is arranged on the left end part of the top surface of the profile frame body; a sliding cylinder parallel to the sliding linear guide rail is arranged in the mounting groove, one end face of the sliding cylinder with a piston rod is fixedly connected with the right side face of the partition plate, and the piston rod penetrates through the partition plate and is fixedly connected with a sliding frame at the left end; the sliding frame body is positioned beside the discharge end of the conveying mechanism and is parallel to the conveying mechanism; the two ends of one sliding frame are fixedly connected with the left end sliding blocks of the two sliding linear guide rails respectively, the two ends of the other sliding frame are fixedly connected with the right end sliding blocks of the two sliding linear guide rails respectively, and the two sliding frames are fixedly connected through a connecting rod; the bottom of the left end sliding frame is also fixed with a guide block which is inserted into the long guide groove;

the two clamping manipulators respectively comprise a mounting plate fixedly connected with the sliding frame, a clamping cylinder, a gear, an upper moving guide rail and a lower moving guide rail, wherein an Contraband-type mounting block is fixed on the inner side surface of the end part of the mounting plate, the upper moving guide rail and the lower moving guide rail are arranged in a through groove of a Contraband-type mounting block in a mutually laminated and superposed state, the gear is rotatably mounted in the middle of the longitudinal inner side wall in the through groove of the Contraband-type mounting block, a first groove is arranged in the middle of the lower side surface of the upper moving guide rail, a second groove with the length longer than that of the first groove is arranged in the middle of the upper side surface of the lower moving guide rail, the gear is arranged in a space formed by the first groove and the second groove, meshing teeth are arranged on the groove bottom surface of the first groove and the groove bottom surface of the second groove, the meshing teeth are meshed with teeth on the gear, clamping pieces are fixed at the rear, the end part of a piston rod is fixedly connected with a clamping piece at the front end of a lower moving guide rail; the clamping end of the clamping piece is provided with Y-shaped clamping rods which are symmetrically arranged, and a clamping space is formed between the end parts of the two Y-shaped clamping rods.

9. The assembly line system with the visual detection function for the motor vehicle parts as claimed in claim 1, wherein the clamping and rotating mechanism comprises a detection frame body positioned at the discharge port of the conveying mechanism, a lifting servo motor, a longitudinally arranged ball screw, a synchronous belt, two longitudinally translated linear slide rails arranged in parallel, a sliding table, a rotating servo motor, a rotating mandrel, a detection cylinder, a shifting fork, a spring piece, a sliding sleeve, a slope sleeve, three clamping claws, a visual detection frame fixed on the top surface of the detection frame body and a support frame body, wherein a CCD camera is mounted on the visual detection frame body; a lifting servo motor is longitudinally fixed on the plate body of the support frame body towards the top of one side surface of the feeding end of the conveying mechanism, and two longitudinal translation linear slide rails are fixed on one side surface of the plate body of the support frame body towards the sorting mechanism; the top end and the bottom end of the ball screw are respectively fixed at the top end and the bottom end of one side surface of the plate body of the support frame body facing the sorting mechanism through bearing shafts, a rotating rod at the top end of the ball screw and a rotating shaft of the lifting servo motor are both sleeved with fixed synchronous pulleys, the synchronous pulleys are tensioned on the two synchronous pulleys, and a ball sliding block of the ball screw and a sliding block of the longitudinal translation linear sliding rail are fixedly connected with the sliding table; a motor fixing plate is fixed on the top of one side surface of the classification mechanism on the sliding table, a bearing seat and two cylinder fixing frames which are arranged at intervals are fixed in the middle of the sliding table, and two shifting fork connecting pieces are fixed at the bottom of the sliding table; the cylinder fixing frame is positioned below the bearing seat, the rotating mandrel is fixed in the bearing inner ring of the bearing seat, the rotating servo motor is longitudinally fixed on the motor fixing plate, the top end of the rotating mandrel penetrates through the space between the two cylinder fixing frames and then is fixedly connected with a coupler of a rotating shaft of the rotating servo motor, the sliding sleeve and the slope sleeve are respectively sleeved on the rotating mandrel through sliding bearings, two ends of a U-shaped ring sleeve part of the shifting fork are respectively hinged with two shifting fork connecting pieces through pin shafts, the detection cylinder is fixed between the outer side ends of the two cylinder fixing frames, the end part of a piston rod of the detection cylinder is hinged with a hinge block pin shaft of the U-shaped ring sleeve part on the shifting fork, the U-shaped ring sleeve part of the shifting fork is sleeved at the position of a top annular groove of the sliding sleeve, shaft bodies are respectively fixed on the front side wall and the rear side wall of, the bottom of sliding sleeve cup joints and is fixed in the telescopic top in slope, the bottom of rotatory dabber is the body, the bottom week side annular array of body is provided with three U type hole of invering, install in three U type hole of invering through the pivot rotation respectively in the middle part of three gripper jaw, the top of gripper jaw is fixed with the hole bottom surface in the U type hole of invering through the spring leaf, the laminating of the inboard inclined plane in lateral surface inclined plane and the telescopic bottom surface in slope of gripper jaw, the bottom of three gripper jaw all is provided with the circular arc piece, and three circular arc piece annular array sets up.

10. The assembly line system with visual inspection function for motor vehicle parts according to any one of claims 1 to 9, wherein the sorting mechanism comprises a second belt conveying mechanism, a sorting frame, a sorting rail obliquely fixed on the top of the sorting frame, a sorting rotary cylinder and a sorting plate, two blanking channels are formed on the sorting rail by fixing a partition plate, and the top end of the partition plate is shorter than the top end of the sorting rail; the classification rotary cylinder is fixed on the bottom surface of the classification track, and a rotary shaft of the classification rotary cylinder penetrates through the classification track and is positioned at the top end of the partition plate; the bottom end of the classification plate is fixedly sleeved and fixed on a rotating shaft of the classification rotating cylinder, after the classification plate rotates, the top end of the classification plate is abutted against one side of a feeding port of the classification track so as to seal a feeding channel at one side, and the feeding channel at the other side is opened; the support columns on the classification frame body support, position and fix the classification rotary cylinders.

Technical Field

The invention relates to machining manufacturing production equipment, in particular to a motor vehicle component assembly production line system with a visual detection function.

Background

Among the prior art, when carrying out interference fit formula assembly a plurality of nuts and a dabber to on braking system's the end cover among the motor vehicle, all adopt the manual work to fix a plurality of nuts and a dabber one by one to the end cover on, then adopt the hammer to beat to fix nut interference fit in the nut locating hole, dabber interference fit fixes in the centre bore, therefore adopts this mode of production, has following defect: 1. the production and assembly efficiency is low; 2. because the hammer is adopted for beating during assembly, the phenomenon of deviating can occur during beating, so that the product is easy to damage during the assembly process, the labor intensity of workers is high, and the quality of the assembled product cannot be guaranteed.

Disclosure of Invention

The invention aims to solve the defects of the prior art and provides a motor vehicle component assembly production line system with a visual detection function, which improves the processing efficiency and reduces the labor intensity.

The invention discloses a motor vehicle component assembly production line system with a visual detection function, which comprises a base plate, an extrusion mechanism and feeding mechanisms positioned on the left side and the right side of the extrusion mechanism, wherein nut feeding mechanisms are arranged at the positions of the two feeding mechanisms; the front side of the extrusion mechanism is provided with a translation mechanism, two ends of the translation mechanism are respectively provided with an assembling mechanism positioned with a mandrel in a sliding manner, the two assembling mechanisms are respectively and correspondingly positioned below the feeding and discharging end positions of the two feeding mechanisms, and the extrusion mechanism, the two feeding mechanisms and the translation mechanism are all arranged on the substrate; the feeding mechanism conveys and places the nuts discharged by the nut feeding mechanism on the assembling mechanism, the translation mechanism pushes the assembling mechanism with the positioned mandrels and the nuts one by one to the position below the extrusion part of the extrusion mechanism, then the end covers of the motor vehicle parts are placed on the assembling mechanism below the extrusion part in the extrusion mechanism, and at the moment, the extrusion part on the extrusion mechanism extrudes the end covers so as to assemble the nuts and the mandrels on the end covers; the front side of the translation mechanism is provided with a conveying mechanism; the front side of the conveying mechanism is provided with a six-axis industrial robot which grabs the assembled end cover and places the end cover on the conveying mechanism, and the discharge end of the six-axis industrial robot is provided with a clamping and rotating mechanism with a visual detection device; the discharging end of the clamping and rotating mechanism is provided with a sorting mechanism for discharging, the side face of the clamping and rotating mechanism is provided with a translational sliding table mechanism, clamping mechanical arms are arranged above the discharging end of the conveying mechanism and below a clamping part of the clamping and rotating mechanism, two translational pieces arranged at intervals on the translational sliding table mechanism are fixedly connected with the two clamping mechanical arms respectively, and the two clamping mechanical arms are connected with each other through a connecting rod; the two clamping mechanical arms are driven by the sliding table to synchronously translate, the clamping mechanical arm above the discharge end of the conveying mechanism clamps the end covers which are arranged at the discharge end of the conveying mechanism and are assembled, and conveys the end covers to the corresponding position of the visual detection device of the clamping rotating mechanism for visual detection, and the clamping mechanical arm at the clamping rotating mechanism clamps the end covers which are detected and finished at the visual detection device and conveys the end covers to the feed port of the classification mechanism.

Preferably, the two assembling mechanisms respectively comprise a transposition sliding table, a U-shaped support fixed on the bottom surface of the transposition sliding table, a rotating cylinder fixed in the inner cavity of the U-shaped support, a transposition bearing fixed in a central hole of the transposition sliding table in an interference fit manner, a T-shaped transposition rotating shaft fixed in an inner ring of the transposition bearing in an interference fit manner, a transposition plate, two limiting plates with limiting holes, a movable plate, four hexagonal guide pillars, a positioning ring positioned below the movable plate and a guide sleeve ring positioned and fixed on the top surface of the movable plate, wherein the bottoms of the four hexagonal guide pillars are sleeved with reset springs; the two transposition sliding tables are respectively fixed at two ends of the translation mechanism, the bottom end of the longitudinal part of the T-shaped transposition rotating shaft is fixed on the rotating part of the rotating cylinder, the top surface of the transverse part of the T-shaped transposition rotating shaft is fixedly connected with the transposition plate, the two limiting plates are respectively fixed at the two side edge parts corresponding to each other on the top surface of the transposition plate, and the limiting holes of the two limiting plates are corresponding to each other; the movable plate is arranged between the two limit plates, two parts corresponding to each other on the peripheral side surface of the movable plate are respectively provided with a limit lug, and the limit lugs are correspondingly inserted into the limit holes; the positioning ring is fixed on the transposition plate, four hexagonal holes are arranged on the top surface of the positioning ring in an annular array mode, the bottom ends of the four hexagonal guide columns are respectively positioned and fixed in the four hexagonal holes, and four hexagonal through holes which respectively correspond to the hexagonal holes are formed in the guide ring and the movable plate; the top end positioning column of the hexagonal guide column penetrates through the hexagonal through hole of the movable plate and then penetrates out of the hexagonal through hole of the guide sleeve ring; the nut is sleeved on the positioning column, the upper half part of the nut is arranged outside, the lower half part of the nut is arranged in the hexagonal through hole of the guide sleeve ring and is positioned by the step between the bottom end of the positioning column and the top end of the hexagonal guide column; the central position of the top surface of the movable plate is provided with a mandrel positioning groove, and the bottom end of the mandrel is positioned in the mandrel positioning groove; after the central hole of the end cover is sleeved on the mandrel, the positioning column sequentially penetrates through the nut positioning hole in the end cover and the through hole in the upper part of the nut positioning hole, and a space is reserved between the bottom of the end cover and the top surface of the guide sleeve ring; two ends of the reset spring are respectively abutted against the bottom surface of the movable plate and the top surface of the positioning ring; its structure makes the part assembly quick effective, promotes assembly efficiency to and assembly back product quality obtains guaranteeing, and assembly devices can change the position 90 rotatory moreover, places two nuts again through changing the position 90 rotation after once placing two nuts, can accomplish placing of four nuts, further promotes the nut and places efficiency.

Preferably, the translation mechanism comprises a long translation frame body, two parallel transverse translation linear guide rails arranged at intervals and two transverse translation cylinders arranged in parallel with the translation frame body, a long notch is formed in the position, located on the front side of the extrusion mechanism, on the base plate, and the left end part and the right end part of the translation frame body are respectively fixed to the left end part and the right end part of the long notch on the base plate; two transverse translation linear guide rails are fixed on the translation frame body, and two end sliding blocks on the transverse translation linear guide rails are respectively and fixedly connected with the bottom surfaces of the two transposition sliding tables; two transverse translation cylinders are fixed at the rear side positions of the two ends of the translation frame body, and the end parts of piston rods of the transverse translation cylinders are fixedly connected with the rear side part of the transposition sliding table through a connecting plate; the left end position of the front side of the left end transposition sliding table and the right end position of the front side of the right end transposition sliding table are both fixed with a limiting baffle, first limiting sensors are respectively arranged on the two limiting baffles and the left end and the right end of the translation frame body, a left limiting part and a right limiting part are fixed in the middle of the front side surface of the translation frame body, and the positions of the left limiting part and the right limiting part correspond to the first limiting sensors; when the transposition sliding table at the left end position or the transposition sliding table at the right end position is displaced to the middle part of the translation frame, the assembling mechanism on the transposition sliding table corresponds to the extrusion part of the extrusion mechanism, and the first limit sensor on the transposition sliding table at the left end is abutted against the left limiting part, or the first limit sensor on the transposition sliding table at the right end is abutted against the right limiting part; the structure realizes the exchange type assembly between the two parts, greatly improves the assembly efficiency, and is particularly suitable for large-batch production.

Preferably, the extrusion mechanism comprises a 7-shaped frame body fixed on the substrate, an extrusion cylinder, two longitudinal translation linear guide rails which are parallel to each other and arranged at intervals, an extrusion flat moving frame, an extrusion block and a second limit sensor; the extrusion cylinder is longitudinally fixed on the top surface of the transverse part of the 7-shaped frame body; the bottom end of the longitudinal part of the 7-shaped frame body is positioned at the rear side of the middle part of the translation frame body, two longitudinal translation linear guide rails are fixed on the front side plate body of the longitudinal part, a limiting frame is fixed at the bottom of the front side plate body of the longitudinal part, a second limiting sensor is installed on the limiting frame, the rear side part of the extrusion translation frame is fixedly connected with a sliding block of the longitudinal translation linear guide rails, and a piston rod of an extrusion cylinder penetrates through the transverse part of the 7-shaped frame body and is fixedly connected with the extrusion translation frame; the extrusion block is fixed on the bottom surface of the front side part of the extrusion flat moving frame, and four assembling holes which are arranged in an annular array and correspond to the four hexagonal through holes on the guide sleeve ring and a central through hole at the central position are arranged on the bottom surface of the extrusion block; when the transposition sliding table at the left end position or the transposition sliding table at the right end position is displaced to the middle part of the translation frame, the assembly mechanism on the transposition sliding table corresponds to the position of the extrusion block; the structural arrangement of the end cover enables the end cover to be extruded stably and reliably during assembly.

Preferably, two 7-type positioning pieces which are symmetrically arranged with each other are fixed on the top surface of the front side part of the extrusion flat moving frame, positioning grooves are formed in the end faces of the transverse parts of the 7-type positioning pieces, the piston rod of the extrusion air cylinder is a piston rod which is shaped like a Chinese character 'jiffy', the transverse part of the piston rod is clamped in the depressions of the two 7-type positioning pieces, and the longitudinal part of the piston rod is clamped in the positioning grooves; the structure of the device is convenient to install, firm and reliable after installation and convenient to overhaul.

Preferably, the two feeding mechanisms respectively comprise a feeding frame body, two feeding linear guide rails which are parallel to each other and arranged at intervals, a third limit sensor, a feeding translation cylinder, a feeding translation plate, a feeding lifting cylinder, a T-shaped positioning plate and two pneumatic clamping jaws which are parallel to each other and arranged at intervals and have corresponding positions, the feeding linear guide rails and the feeding translation cylinder are arranged in parallel to each other, sliding blocks of the two feeding linear guide rails are fixed on an outer side plate body at the top of the feeding frame body, and the feeding translation plate is fixed at the front side end position of the feeding linear guide rails; the feeding translation cylinder is fixed at the top of the feeding frame body, and a piston rod of the feeding translation cylinder is fixedly connected with the feeding translation plate through a connecting plate; a feeding lifting cylinder is fixed on the side surface of the feeding translation plate, a piston rod of the feeding lifting cylinder is fixedly connected with the longitudinal part of the T-shaped positioning plate, two pneumatic clamping jaws are fixed at the left end and the right end of the bottom surface of the transverse part of the T-shaped positioning plate, and the positions of the two pneumatic clamping jaws are respectively corresponding to two positioning columns on the assembling mechanism; a limiting mounting frame is further fixed on the plate body on the outer side of the top of the feeding frame body, a third limiting sensor is mounted and fixed on the limiting mounting frame, and when the positions of the two pneumatic clamping jaws respectively correspond to the positions of the two nuts at the discharging end of the feeding mechanism, the third limiting sensor is in contact with the feeding translation plate; the nut is fast transported to the assembly devices after being grabbed by the structure, and the working efficiency is improved.

Preferably, the two feeding mechanisms respectively comprise a vibrating feeding disc, two feeding guide grooves, a feeding cylinder, a feeding linear guide rail, a feeding shifting block and a feeding frame body, the vibrating feeding disc is positioned on the base plate and positioned beside the feeding frame body, one end ports of the two feeding guide grooves are respectively butted with two discharge ports at the top of the vibrating feeding disc, the other end ports of the two feeding guide grooves are positioned on the top surface of the feeding frame body, and the other end ports of the two feeding guide grooves respectively correspond to the positions of the two pneumatic clamping jaws; a nut positioning block is arranged at the other port of the feeding guide groove, a nut positioning through groove is formed in the top surface of the nut positioning block, an opening for a nut to enter is formed in the nut positioning through groove and faces one side wall of the feeding guide groove, and the nut positioning block is fixed on the top surface of the feeding frame body; a feeding position shifting block is arranged at the other port of the other feeding guide groove, a feeding cylinder is fixed on the feeding frame body and is positioned at the rear end of the feeding position shifting block, the end part of a piston rod of the feeding cylinder is fixedly connected with the feeding position shifting block, a sliding block of a feeding linear guide rail is fixedly connected with the feeding position shifting block, a guide rail body of the feeding linear guide rail is fixed with the top surface of the feeding frame body, a limiting block is fixed at the front end part of the feeding linear guide rail, a fourth limiting sensor is installed on the limiting block, a nut positioning long groove corresponding to the other port of the other feeding guide groove is arranged on the feeding position shifting block, an opening for a nut to enter is formed in one side wall, facing the feeding guide groove, of the nut positioning long groove, and the feeding frame body is correspondingly positioned below the feeding linear guide rail; the two pneumatic clamping jaws of the feeding mechanism are convenient to grab two nuts from the feeding mechanism simultaneously due to the structural design of the feeding mechanism, so that the feeding efficiency and the assembling efficiency are improved.

Further preferably, a positioning column is fixed at the top end of the guide sleeve ring. The structure of the positioning column body enables the end cover to be placed on the guide sleeve ring, and then the positioning column body is inserted into the positioning through hole of the end cover to be positioned, so that the four nut positioning holes can be respectively and accurately penetrated through by the four positioning columns, and the positioning of the end cover is accurate, stable and reliable.

Further preferably, the conveying mechanism comprises a long conveying frame body, a first belt conveying device and at least three end cover positioning discs which are arranged on the first belt conveying device and are spaced at equal intervals; the end cover positioning disc is used for placing the assembled end cover, the conveying guide groove body on the first belt conveying device is fixed on the top surface of the long conveying frame body, the long conveying frame body and the first belt conveying device are parallel to each other with the translation mechanism, long blocking strips are arranged on the front side edge and the rear side edge of the top surface of the first belt conveying device, and the long blocking strips are fixedly connected with the outer side surface of the conveying guide groove body on the first belt conveying device through a plurality of fixing frames; the six-axis industrial robot is located on the front side of the first belt conveyor and corresponds to the position of the pressing mechanism. The structure is used for conveying the assembled end covers one by one to a detection station to be detected, and the use performance is improved.

Preferably, the sliding table mechanism comprises a sliding frame body and a 20866fixed on the top surface of the sliding frame body, a model frame body and two sliding linear guide rails which are fixed on the 20866, the model frame body top surface is parallel to each other and arranged at intervals, and the two sliding frames are fixedly connected with the two clamping manipulators respectively, 20866is arranged on the left end part of the top surface of the model frame body, a long guide groove is arranged on the right end part of the top surface of the model frame body, an installation groove communicated with the long guide groove is arranged on the right end part of the top surface of the model frame body, and a partition plate is arranged between the; a sliding cylinder parallel to the sliding linear guide rail is arranged in the mounting groove, one end face of the sliding cylinder with a piston rod is fixedly connected with the right side face of the partition plate, and the piston rod penetrates through the partition plate and is fixedly connected with a sliding frame at the left end; the sliding frame body is positioned beside the discharge end of the conveying mechanism and is parallel to the conveying mechanism; the two ends of one sliding frame are fixedly connected with the left end sliding blocks of the two sliding linear guide rails respectively, the two ends of the other sliding frame are fixedly connected with the right end sliding blocks of the two sliding linear guide rails respectively, and the two sliding frames are fixedly connected through a connecting rod; the bottom of the left-end sliding frame is also fixed with a guide block, and the guide block is inserted into the long guide groove. The mechanism can better realize that the end cover to be detected is conveyed to the detection station, and the end cover after the detection is finished is conveyed to the technical effect of the sorting mechanism for blanking, so that the use performance is improved.

Preferably, the two clamping manipulators comprise a mounting plate fixedly connected with the sliding frame, a clamping cylinder, a gear, an upper moving guide rail and a lower moving guide rail, an Contraband-type mounting block is fixed on the inner side face of the end part of the mounting plate, the upper moving guide rail and the lower moving guide rail are arranged in a through groove of the Contraband-type mounting block in a mutually laminated and superposed state, the gear is rotatably mounted in the middle of the longitudinal inner side wall in the through groove of the Contraband-type mounting block, a first groove is arranged in the middle of the lower side face of the upper moving guide rail, a second groove with the length longer than that of the first groove is arranged in the middle of the upper side face of the lower moving guide rail, the gear is arranged in a space formed by the first groove and the second groove, meshing teeth are arranged on the groove bottom face of the first groove and the groove bottom face of the second groove, the meshing teeth are meshed with teeth on the gear, clamping pieces are fixed at the rear end of the upper, the end part of a piston rod is fixedly connected with a clamping piece at the front end of a lower moving guide rail; the clamping end of the clamping piece is provided with Y-shaped clamping rods which are symmetrically arranged, and a clamping space is formed between the end parts of the two Y-shaped clamping rods. The clamping manipulator structure enables the efficiency of clamping the end cover on the end cover positioning plate to be higher.

Preferably, the clamping and rotating mechanism comprises a detection frame body, a lifting servo motor, a longitudinally arranged ball screw, a synchronous belt, two longitudinally-translated linear slide rails, a sliding table, a rotating servo motor, a rotating mandrel, a detection cylinder, a shifting fork, a spring piece, a sliding sleeve, a slope sleeve, three clamping claws, a visual detection frame and a support frame body, wherein the detection frame body is positioned at the discharge port of the conveying mechanism; a lifting servo motor is longitudinally fixed on the plate body of the support frame body towards the top of one side surface of the feeding end of the conveying mechanism, and two longitudinal translation linear slide rails are fixed on one side surface of the plate body of the support frame body towards the sorting mechanism; the top end and the bottom end of the ball screw are respectively fixed at the top end and the bottom end of one side surface of the plate body of the support frame body facing the sorting mechanism through bearing shafts, a rotating rod at the top end of the ball screw and a rotating shaft of the lifting servo motor are both sleeved with fixed synchronous pulleys, the synchronous pulleys are tensioned on the two synchronous pulleys, and a ball sliding block of the ball screw and a sliding block of the longitudinal translation linear sliding rail are fixedly connected with the sliding table; a motor fixing plate is fixed on the top of one side surface of the classification mechanism on the sliding table, a bearing seat and two cylinder fixing frames which are arranged at intervals are fixed in the middle of the sliding table, and two shifting fork connecting pieces are fixed at the bottom of the sliding table; the cylinder fixing frame is positioned below the bearing seat, the rotating mandrel is fixed in the bearing inner ring of the bearing seat, the rotating servo motor is longitudinally fixed on the motor fixing plate, the top end of the rotating mandrel penetrates through the space between the two cylinder fixing frames and then is fixedly connected with a coupler of a rotating shaft of the rotating servo motor, the sliding sleeve and the slope sleeve are respectively sleeved on the rotating mandrel through sliding bearings, two ends of a U-shaped ring sleeve part of the shifting fork are respectively hinged with two shifting fork connecting pieces through pin shafts, the detection cylinder is fixed between the outer side ends of the two cylinder fixing frames, the end part of a piston rod of the detection cylinder is hinged with a hinge block pin shaft of the U-shaped ring sleeve part on the shifting fork, the U-shaped ring sleeve part of the shifting fork is sleeved at the position of a top annular groove of the sliding sleeve, shaft bodies are respectively fixed on the front side wall and the rear side wall of, the bottom of sliding sleeve cup joints and is fixed in the telescopic top in slope, the bottom of rotatory dabber is the body, the bottom week side annular array of body is provided with three U type hole of invering, install in three U type hole of invering through the pivot rotation respectively in the middle part of three gripper jaw, the top of gripper jaw is fixed with the hole bottom surface in the U type hole of invering through the spring leaf, the laminating of the inboard inclined plane in lateral surface inclined plane and the telescopic bottom surface in slope of gripper jaw, the bottom of three gripper jaw all is provided with the circular arc piece, and three circular arc piece annular array sets up. The structure of the end cover rotation detection device is realized by rotating the assembled end cover after clamping, so that whether the end cover is assembled or not can be detected in 360 degrees in an all-round mode by the CCD camera, and the technical means of automatic clamping and detection are adopted to control the product quality of the end cover after assembly production, so that the quality of the end cover product obtained by assembly production is higher.

Preferably, the classification mechanism comprises a second belt conveying mechanism, a classification frame body, a classification track obliquely fixed at the top of the classification frame body, a classification rotary cylinder and a classification plate, two blanking channels are formed on the classification track in a separation mode through a fixed partition plate, and the top end of the partition plate is shorter than the top end of the classification track; the classification rotary cylinder is fixed on the bottom surface of the classification track, and a rotary shaft of the classification rotary cylinder penetrates through the classification track and is positioned at the top end of the partition plate; the bottom end of the classification plate is fixedly sleeved and fixed on a rotating shaft of the classification rotating cylinder, after the classification plate rotates, the top end of the classification plate is abutted against one side of a feeding port of the classification track so as to seal a feeding channel at one side, and the feeding channel at the other side is opened; the support columns on the classification frame body support, position and fix the classification rotary cylinders. The purpose of classified blanking is to distinguish qualified products from unqualified products, prevent defective products from occurring in a batch of products due to the mixing of the qualified products and the unqualified products through automatic classification, and reproduce the classified unqualified products into qualified products after recovery.

According to the motor vehicle component assembly production line system with the visual detection function, the nuts are automatically fed to the assembly mechanism, only the core shaft and the end cover need to be manually placed on the assembly mechanism with the positioned nuts, and then the extrusion mechanism is used for extrusion assembly, so that the quality of a product after assembly is guaranteed, meanwhile, the processing mode of the motor vehicle component assembly production line system also improves the production efficiency, and the technical effect of reducing the labor intensity of workers is achieved; meanwhile, the positioning columns and the positioning columns are arranged to enable the end covers to be positioned accurately, so that the phenomenon that nuts and mandrels are inclined after assembly is avoided.

Drawings

FIG. 1 is a schematic view of the overall structure of the embodiment;

FIG. 2 is a schematic structural view of an end cap assembly part of the embodiment;

FIG. 3 is an exploded view of the assembly mechanism of the embodiment;

FIG. 4 is a schematic view of an assembly structure of the assembly mechanism of the embodiment;

FIG. 5 is a sectional view of an assembled structure of the embodiment;

FIG. 6 is a schematic structural view of a translation mechanism of the embodiment;

FIG. 7 is a schematic structural view of a combination of a feeding mechanism and a loading structure of the embodiment;

FIG. 8 is a schematic structural view (one) of the pressing mechanism of the embodiment;

FIG. 9 is a schematic structural view of a pressing mechanism of the embodiment (II);

FIG. 10 is a schematic structural view of the conveying mechanism, the translation stage mechanism, the clamping robot, the visual inspection device, and the sorting mechanism according to the embodiment in combination with one another;

FIG. 11 is an enlarged view taken at A in FIG. 10;

FIG. 12 is a schematic structural view (I) of the holding and rotating mechanism of the embodiment

Fig. 13 is a structural schematic view (two) of the clamping and rotating mechanism of the embodiment;

fig. 14 is a schematic structural view (iii) of the clamping rotation mechanism of the embodiment;

fig. 15 is a structural schematic diagram (two) of the six-axis industrial robot of the embodiment.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.

Example (b):

as shown in fig. 1 to 8, the assembly line system for motor vehicle component assembly with visual detection function described in this embodiment includes a substrate 1, an extrusion mechanism 2, and feeding mechanisms 5 located at the left and right sides of the extrusion mechanism 2, where the positions of the two feeding mechanisms 5 are respectively provided with a nut feeding mechanism 6, the front side of the extrusion mechanism 2 is provided with a translation mechanism 4, the two ends of the translation mechanism 4 are respectively provided with an assembly mechanism 3 in a sliding manner, the two assembly mechanisms 3 are respectively located below the feeding and discharging end positions of the two feeding mechanisms, and the extrusion mechanism, the two feeding mechanisms, and the translation mechanism are all installed on the substrate; the feeding mechanism conveys and places the nuts discharged by the nut feeding mechanism on the assembling mechanism, the translation mechanism pushes the assembling mechanism with the positioned mandrels and the nuts one by one to the position below the extrusion part of the extrusion mechanism, then the end covers of the motor vehicle parts are placed on the assembling mechanism below the extrusion part in the extrusion mechanism, and at the moment, the extrusion part on the extrusion mechanism extrudes the end covers so as to assemble the nuts and the mandrels on the end covers; the conveying mechanism 7 is arranged on the front side of the translation mechanism 4; the front side of the conveying mechanism 7 is provided with a six-axis industrial robot 13 which grabs the assembled end cover 60 and places the end cover on the conveying mechanism 7, and the discharge end of the six-axis industrial robot is provided with a clamping and rotating mechanism 8 with a visual detection device 80; a sorting mechanism 12 for blanking is arranged at the discharge end of the clamping and rotating mechanism 8, a translational sliding table mechanism 9 is arranged on the side surface of the clamping and rotating mechanism 8, clamping manipulators 10 are arranged above the discharge end of the conveying mechanism 7 and below the clamping position of the clamping and rotating mechanism 8, two translational pieces arranged at intervals on the translational sliding table mechanism 9 are fixedly connected with the two clamping manipulators 10 respectively, and the two clamping manipulators 10 are connected with each other through a connecting rod 95; the two clamping mechanical arms are driven by the sliding table to synchronously translate, the clamping mechanical arm above the discharge end of the conveying mechanism clamps and conveys the end covers assembled at the discharge end of the conveying mechanism to a position corresponding to a visual detection device of the clamping rotating mechanism for visual detection, and the clamping mechanical arm at the clamping rotating mechanism clamps and conveys the end covers detected and finished at the visual detection device to a feed port of the classification mechanism; wherein, dabber and end cover are all placed on assembly devices in manual positioning.

In this embodiment, each of the two assembling mechanisms 3 includes a transposition slide table 31, a u-shaped support 311 fixed on the bottom surface of the transposition slide table 31, a rotary cylinder 312 fixed in an inner cavity of the u-shaped support 311, a transposition bearing 313 fixed in a center hole of the transposition slide table 31 in an interference fit manner, a T-shaped transposition rotating shaft 32 fixed in an inner ring of the transposition bearing 313 in an interference fit manner, a transposition plate 33, two limiting plates 331 with limiting holes 332, a movable plate 35, four hexagonal guide pillars 37, a positioning ring 34 located below the movable plate 35, and a guide sleeve ring 36 fixed on the top surface of the movable plate 35 in a positioning manner, and return springs 341 are sleeved on the bottoms of the four hexagonal; the two transposition sliding tables 31 are respectively fixed at two ends of the translation mechanism 4, the bottom end of the longitudinal part of the T-shaped transposition rotating shaft 32 is fixed on the rotating part of the rotating cylinder 312, the top surface of the transverse part of the T-shaped transposition rotating shaft 32 is fixedly connected with the transposition plate 33, the two limit plates 331 are respectively fixed at two side edge parts corresponding to each other on the top surface of the transposition plate 33, and the limit holes 332 of the two limit plates 331 are corresponding to each other; the movable plate 35 is disposed between the two limiting plates 331, two portions of the circumferential side surface of the movable plate corresponding to each other are provided with limiting protrusions 353, and the limiting protrusions 353 are correspondingly inserted into the limiting holes 332; the positioning ring 34 is fixed on the transposition plate 33, four hexagonal holes 342 are arranged on the top surface of the positioning ring 34 in an annular array, the bottom ends of four hexagonal guide pillars 37 are respectively positioned and fixed in the four hexagonal holes 342, and four hexagonal through holes 351 respectively corresponding to the positions of the hexagonal holes 342 are respectively arranged on the guiding ring 36 and the movable plate 35; the top end positioning column of the hexagonal guide column 37 penetrates through the hexagonal through hole 351 of the movable plate 35 and then penetrates out of the hexagonal through hole 351 of the guide sleeve ring 36; the nut 50 is sleeved on the positioning column 371, the upper half part of the nut is arranged outside, the lower half part of the nut is arranged in the hexagonal through hole 351 of the guide sleeve ring and is positioned by the step between the bottom end of the positioning column 371 and the top end of the hexagonal guide column 37; a mandrel positioning groove 352 is formed in the central position of the top surface of the movable plate 35, and the bottom end of the mandrel 40 is positioned in the mandrel positioning groove 352; after the central hole 602 of the end cover 60 is sleeved on the mandrel 40, the positioning column 371 sequentially penetrates through the nut positioning hole 604 on the end cover 60 and the through hole 601 at the upper part of the nut positioning hole, and a space is reserved between the bottom of the end cover 60 and the top surface of the guide sleeve ring 36; the two ends of the return spring 341 respectively abut against the bottom surface of the movable plate 35 and the top surface of the positioning ring 34; the top surface of the transverse part of the T-shaped transposition rotating shaft 32 is provided with a fixed shaft 321, a central hole 333 of the transposition plate 33 is sleeved on the fixed shaft 321, and the central hole 333 is fixed with the fixed shaft 321 in an interference fit manner; a positioning column 39 is fixed at the top end of the guide sleeve ring 36; after the end cap 60 is placed on the guide collar 36, the positioning column 39 is inserted into the positioning through hole 603 of the end cap 60 for positioning.

The structure is in an initial state, the reset spring pushes the sliding plate upwards to enable the limiting lug on the movable plate to be positioned at the upper part of the limiting hole, after the extrusion block of the extrusion mechanism presses the end cover downwards, the movable plate, the end cover and the guide sleeve ring all move downwards until the limiting lug on the movable plate moves downwards to the lower part of the limiting hole, the upper half parts of the four nuts are fixed in the nut positioning holes of the end cover in an interference fit mode, the bottom of the end cover is spaced from the guide sleeve ring, then the extrusion block of the extrusion mechanism continuously presses the end cover downwards to enable the bottom of the end cover to be abutted against the top of the guide sleeve ring, the mandrel and the four nuts are fixed to the end cover in an interference fit mode under the positioning and fixing effects, the nuts completely enter the nut positioning holes to be fixed, and the upper end part of the; after the downward pressing force of the end cover is eliminated, the movable plate and the guide sleeve ring automatically move upwards and reset by the reset spring.

In this embodiment, the translation mechanism includes a long-strip-shaped translation frame body 42, two parallel horizontal translation linear guide rails 43 arranged at intervals, and two horizontal translation cylinders 41 arranged parallel to the translation frame body 42, wherein a long notch 11 is arranged at a position on the front side of the extrusion mechanism 2 on the substrate 1, and left and right end portions of the translation frame body 42 are respectively fixed at left and right end portions of the long notch 11 on the substrate 1; two transverse translation linear guide rails 43 are fixed on the translation frame body 42, and two end sliding blocks on the transverse translation linear guide rails 43 are respectively and fixedly connected with the bottom surfaces of the two transposition sliding tables 31; two transverse translation cylinders 41 are fixed at the rear side positions of the two ends of the translation frame body 42, and the end parts of piston rods of the transverse translation cylinders are fixedly connected with the rear side part of the transposition sliding table 31 through a connecting plate; a limiting baffle 45 is fixed at the front left end position of the left end transposition sliding table 31 and the front right end position of the right end transposition sliding table 31, first limiting sensors 44 are respectively arranged on the two limiting baffles 45 and at the left end and the right end of the translation frame body, a left limiting part 461 and a right limiting part 462 are fixed at the middle part of the front side surface of the translation frame body 42, and the positions of the left limiting part and the right limiting part correspond to the first limiting sensors; when the transposition sliding table at the left end position or the transposition sliding table at the right end position is displaced to the middle part of the translation frame, the assembling mechanism on the transposition sliding table corresponds to the extrusion part of the extrusion mechanism, the first limiting sensor on the transposition sliding table at the left end is abutted to the left limiting part, or the first limiting sensor on the transposition sliding table at the right end is abutted to the right limiting part, the limiting sensor on the transposition sliding table realizes an electronic limiting function after the transposition sliding table is pushed to the middle part of the translation frame body, and the limiting sensor at the end part of the translation frame body realizes the electronic limiting function after the transposition sliding table is pushed to the end part of the translation frame body.

In the structure, the piston rods of the two transverse translation cylinders stretch to drive the translation of the transposition sliding table, when the piston rod of the left transverse translation cylinder is in an extending state, the piston rod of the right transverse translation cylinder is in a retracting state, and the transposition sliding table at the left end is translated to the middle part of the translation frame body; if the piston rod of the right-end transverse translation cylinder is in an extending state, the piston rod of the left-end transverse translation cylinder is in a retracting state, and the transposition sliding table at the right end is translated to the middle part of the translation frame body; the premise that the transposition sliding table needs to be pushed to the middle of the translation frame body is that four nuts and a mandrel are positioned at the top of an assembling mechanism on the transposition sliding table, and the end cover belt assembling mechanism is pushed to the middle of the translation frame body and then placed.

In this embodiment, the extruding mechanism 2 includes a 7-shaped frame body 21 fixed on the substrate 1, an extruding cylinder 22, two longitudinal translation linear guide rails 24 parallel to each other and arranged at intervals, an extruding translation frame 27, an extruding block 28, and a second limit sensor 25; the extrusion cylinder 22 is longitudinally fixed on the top surface of the transverse part of the 7-shaped frame body 21; the bottom end of the longitudinal part of the 7-shaped frame body 21 is positioned at the rear side position of the middle part of the translation frame body 42, two longitudinal translation linear guide rails 24 are fixed on the front side plate body 23 of the longitudinal part, a limiting frame 26 is fixed at the bottom of the front side plate body of the longitudinal part, a second limiting sensor 25 is installed on the limiting frame 26, the rear side part of the extrusion translation frame 27 is fixedly connected with a sliding block of the longitudinal translation linear guide rails 24, and a piston rod of an extrusion cylinder penetrates through the transverse part of the 7-shaped frame body and is fixedly connected with the extrusion translation frame; the extrusion block 26 is fixed on the bottom surface of the front side part of the extrusion flat moving frame, and the bottom surface of the extrusion block is provided with four assembly holes 281 which are arranged in an annular array and correspond to four hexagonal through holes on the guide sleeve ring, and a central through hole 282 at the central position; when the transposition sliding table at the left end position or the transposition sliding table at the right end position is displaced to the middle part of the translation frame, the assembly mechanism on the transposition sliding table corresponds to the position of the extrusion block; two 7-type positioning pieces 29 which are symmetrically arranged are fixed on the top surface of the front side part of the extrusion horizontal moving frame, positioning grooves 292 are formed in the transverse end faces of the 7-type positioning pieces, the piston rod of the extrusion air cylinder 22 is a piston rod which is shaped like a Chinese character 'jiu', the transverse part of the piston rod is clamped in the concave 291 of the two 7-type positioning pieces 29, and the longitudinal part of the piston rod is clamped in the positioning grooves.

In the structure, after an assembly mechanism (four positioned nuts, a mandrel and an end cover) on a transposition sliding table is pushed to the middle of the translation frame body, the piston rod of the extrusion cylinder stretches out to drive the extrusion block to move downwards so as to press the end cover on the assembly mechanism downwards to perform extrusion assembly on the end cover, and after the extrusion assembly is completed, the piston rod of the extrusion cylinder returns to drive the extrusion block to also return.

In this embodiment, each of the two feeding mechanisms 5 includes a feeding frame body 52, two feeding linear guide rails 53 that are parallel to each other and are arranged at intervals, a third limit sensor 55, a feeding translation cylinder 56, a feeding translation plate 57, a feeding lifting cylinder 58, a T-shaped positioning plate 59, and two pneumatic clamping jaws 51 that are parallel to each other and are arranged at intervals and have positions corresponding to each other, the feeding linear guide rails and the feeding translation cylinder are arranged parallel to each other, sliding blocks of the two feeding linear guide rails are fixed on an outer side plate body at the top of the feeding frame body, and the feeding translation plate is fixed at a front side end position of the feeding linear guide rails; the feeding translation cylinder is fixed at the top of the feeding frame body, and a piston rod of the feeding translation cylinder is fixedly connected with the feeding translation plate through a connecting plate; a feeding lifting cylinder is fixed on the side surface of the feeding translation plate, a piston rod of the feeding lifting cylinder is fixedly connected with the longitudinal part of the T-shaped positioning plate, two pneumatic clamping jaws are fixed at the left end and the right end of the bottom surface of the transverse part of the T-shaped positioning plate, and the positions of the two pneumatic clamping jaws are respectively corresponding to two positioning columns on the assembling mechanism; a limiting mounting frame is further fixed on the plate body on the outer side of the top of the feeding frame body, a third limiting sensor 55 is fixedly mounted on the limiting mounting frame 54, and when the positions of the two pneumatic clamping jaws are further respectively corresponding to the positions of the two nuts at the discharging end of the feeding mechanism, the third limiting sensor is in contact with the feeding translation plate; the rear side ends of the two feeding linear guide rails are fixedly connected through a connecting plate so as to ensure the stability of the two feeding linear guide rails.

In the structure, under the condition that a piston rod of a feeding translation cylinder is in a retraction state, two pneumatic clamping jaws are correspondingly positioned at the top of a feeding frame body of a feeding mechanism and respectively correspond to two nuts arranged side by side at the top of the feeding frame body, at the moment, the piston rod of a feeding lifting cylinder extends out to enable the two pneumatic clamping jaws to descend and grab the two nuts at the top of the feeding frame body, after the nuts are grabbed by the clamping jaws of the pneumatic clamping jaws, the piston rod of the feeding lifting cylinder retracts to enable the two pneumatic clamping jaws to ascend, the piston rod of the feeding translation cylinder also begins to extend to convey the two nuts to the positions above two positioning columns arranged correspondingly, at the moment, the piston rod of the feeding lifting cylinder extends out to enable the two pneumatic clamping jaws to descend, the two nuts are simultaneously sleeved on the two positioning columns arranged correspondingly, and the clamping jaws of the pneumatic clamping, positioning of two nuts on the assembly mechanism is completed; when two nuts are positioned on the assembling mechanism, the piston rod of the feeding lifting cylinder retracts to promote the two pneumatic clamping jaws to ascend, the rotating cylinder on the assembling mechanism rotates the T-shaped rotating shaft by 90 degrees so that each part on the transposition plate and the transposition plate rotates by 90 degrees, two positioning columns which are not sleeved with the nuts respectively correspond to the two pneumatic clamping jaws, then the piston rod of the feeding translation cylinder starts to retract to a state that the two pneumatic clamping jaws are correspondingly positioned at the top of the feeding frame of the feeding mechanism and respectively correspond to the two nuts which are arranged side by side at the top of the feeding frame, at the moment, the piston rod of the feeding lifting cylinder extends again to promote the two pneumatic clamping jaws to descend and then grasp the two nuts at the top of the feeding frame, and after the clamping jaws of the pneumatic clamping jaws grasp the nuts, the piston rod of the feeding lifting cylinder starts to retract to promote the two pneumatic clamping jaws to ascend, the piston rod of the feeding translation cylinder also begins to extend out to convey the two nuts to the positions above the two positioning columns which are arranged correspondingly, at the moment, the piston rod of the feeding lifting cylinder extends out to enable the two pneumatic clamping jaws to descend, the two nuts are sleeved on the two positioning columns which are vacant at the same time, after the nuts are positioned, the clamping jaws of the pneumatic clamping jaws are loosened, and the positioning of the two nuts on the assembling mechanism is completed again; positioning of the four nuts is completed on the assembly mechanism based on the above, so that the nuts are repeatedly positioned according to the above steps.

In this embodiment, each of the two feeding mechanisms 6 includes a vibrating feeding tray 61, two feeding guide grooves 62, a feeding cylinder 68, a feeding linear guide rail 66, a feeding displacement block 64, and a feeding frame 67, the vibrating feeding tray is positioned on the substrate 1 and beside the feeding frame, one end ports of the two feeding guide grooves are respectively butted with two discharge ports at the top of the vibrating feeding tray, the other end ports of the two feeding guide grooves are positioned on the top surface of the feeding frame, and the other end ports of the two feeding guide grooves respectively correspond to the positions of the two pneumatic clamping jaws; a nut positioning block 63 is arranged at the other port of the feeding guide groove, a nut positioning through groove 631 is arranged on the top surface of the nut positioning block 63, an opening 632 for nuts to enter is arranged on one side wall of the nut positioning through groove 631 facing the feeding guide groove 62, and the nut positioning block 63 is fixed on the top surface of the feeding frame body 67; a feeding position shifting block 64 is arranged at the other port of the other feeding guide groove 62, a feeding cylinder 68 is fixed on the feeding frame body 67, the feeding cylinder 68 is arranged at the rear end of the feeding position shifting block 64, the end part of a piston rod of the feeding cylinder is fixedly connected with the feeding position shifting block, a sliding block of the feeding linear guide rail is fixedly connected with the feeding position shifting block, a guide rail body of the feeding linear guide rail is fixed with the top surface of the feeding frame body, a limiting block is fixed at the front end part of the feeding linear guide rail, a fourth limiting sensor is installed at the limiting block, a nut positioning long groove 641 corresponding to the other port of the other feeding guide groove 62 is arranged on the feeding position shifting block 64, an opening 6422 for a nut to enter is arranged on one side wall of the nut long groove 641 towards the feeding guide groove, and the feeding frame body is correspondingly arranged below the feeding linear guide rail.

In the structure, the charging tray will be arranged in a plurality of nuts of inside material loading to two guide slots in vibrations, then the nut in the guide slot pushes the nut in two guide slots respectively to the nut constant head tank of nut locating piece and the nut constant head tank of material loading displacement piece based on the lasting material loading of charging tray in vibrations, at this moment, because two nuts are in the dislocation distribution, consequently, the piston rod of material loading cylinder stretches out and shifts the piece with material loading displacement to correspond with the nut locating piece, and nut constant head tank and the long groove of nut location correspond each other after the displacement, two nuts are the interval distribution side by side, thereby snatch two nuts simultaneously in order to be convenient for carrying out of two pneumatic clamping jaws of feeding mechanism.

In this embodiment, the conveying mechanism 7 includes a long conveying frame body 72, a first belt conveying device 78, and at least three end cover positioning discs 70 placed on the first belt conveying device 78 at equal intervals; the end cover positioning disc 70 is used for placing the assembled end cover 60, the conveying guide groove body 71 on the first belt conveying device 78 is fixed on the top surface of the long conveying frame body 72, the long conveying frame body 72 and the first belt conveying device 78 are parallel to the translation mechanism 4, long barrier strips 77 are arranged on the front side and the rear side of the top surface of the first belt conveying device 78, and the long barrier strips 77 are fixedly connected with the outer side surface of the conveying guide groove body 71 on the first belt conveying device 78 through a plurality of fixing frames 73; the six-axis industrial robot 13 is located on the front side of the first belt conveyor 78, and corresponds to the position of the pressing mechanism 2; the first belt conveying device 78 comprises two belt wheels, a conveying belt 781 and a conveying driving motor 782, wherein the two belt wheels are respectively installed at a feeding port and a discharging port of the conveying guide groove body through a rotating shaft and a bearing, the conveying belt is tensioned on the two belt wheels, and the rotating shaft of the conveying driving motor is fixedly connected with the rotating shaft of one belt wheel through a speed reducer; a positioning rod 75 is fixedly welded on the fixing frame 73, a threaded through hole and a through hole 751 communicated with the threaded through hole are arranged at the top end of the positioning rod 75, a top post 74 is inserted into the through hole 751, the inner side end of the top post is fixedly welded and connected with the long barrier strip 77, a bolt is connected in the threaded through hole through threads, and the end part of a screw rod of the bolt props against the side wall of the top post to fix the top post, so that the long barrier strip is fixed; the end cover positioning disc is placed on the upper side face of the upper side belt body of the conveying belt, and the peripheral side face of the bottom of the end cover positioning disc is attached to the inner side faces of the two long barrier strips.

In the structure, the conveying driving motor is electrified to work, so that the two belt wheels rotate, and the conveying belt also starts to move, so that the end cover positioning discs are conveyed to the discharge port of the conveying guide groove body one by one; and the end cover on the end cover positioning disc is clamped by a clamping tool of the six-axis industrial robot from the extrusion mechanism and then placed on the top surface of the end cover positioning disc on the conveying mechanism, and the top surface of the end cover positioning disc is higher than the top surface of the long barrier strip.

In the embodiment, the translational sliding table mechanism 9 comprises a sliding frame body 90, a 20866fixed on the top surface of the sliding frame body 90, a profile frame body 91, two sliding linear guide rails 92 fixed on the top surface of the profile frame body 91 and arranged in parallel at intervals, and two sliding frames 94, 20866and fixedly connected with two clamping manipulators 10 respectively, wherein the left end part of the top surface of the profile frame body is provided with a long guide groove 911, the right end part of the top surface of the profile frame body is provided with a mounting groove 912 communicated with the long guide groove 911, and a partition plate 913 is arranged between the right end part of the long guide groove and the left end of the mounting groove; a sliding cylinder 93 parallel to the sliding linear guide rail is arranged in the mounting groove, one end face of the sliding cylinder with a piston rod is fixedly connected with the right side face of the partition plate, and the piston rod penetrates through the partition plate and is fixedly connected with a sliding frame at the left end; the sliding frame body is positioned beside the discharge end of the conveying mechanism and is parallel to the conveying mechanism; the two sliding linear guide rails are also parallel to the conveying mechanism respectively, two ends of one sliding frame are fixedly connected with left end sliding blocks of the two sliding linear guide rails respectively, two ends of the other sliding frame are fixedly connected with right end sliding blocks of the two sliding linear guide rails respectively, and the two sliding frames are fixedly connected through a connecting rod 95; the bottom of the left-end sliding frame is also fixed with a guide block, and the guide block is inserted into the long guide groove.

In the structure, the piston rod of the sliding cylinder stretches to drive the two clamping manipulators to synchronously reciprocate and translate after simultaneously clamping the end cover; when the piston rod of the sliding cylinder stretches out, the two clamping mechanical arms are respectively positioned behind the end cover positioning disc at the discharge end of the conveying mechanism and the end cover positioning disc at the position of the visual detection device, so that the two clamping mechanical arms clamp the end cover positioning disc at the corresponding position, the piston rod of the sliding cylinder retracts, the end cover positioning disc at the position of the visual detection device is pushed to the second conveying device of the classification mechanism, the end cover positioning disc at the discharge end of the conveying mechanism is pushed to the position of the visual detection device, the piston rod of the sliding cylinder resets at last, and the two clamping mechanical arms reset to the end cover positioning disc at the discharge end of the conveying mechanism and the end cover positioning disc at the position of the visual detection device respectively.

In this embodiment, each of the two clamping manipulators 10 includes a mounting plate 100 fixedly connected to the sliding frame 94, a clamping cylinder 101, a gear 107, an upper moving rail 104 and a lower moving rail 105, an Contraband-type mounting block 103 is fixed to the inner side of the end of the mounting plate 100, the upper moving rail and the lower moving rail are placed in the through groove 1031 of the Contraband-type mounting block 103 in a mutually attached and overlapped state, the gear 107 is rotatably mounted in the middle of the longitudinal inner side wall in the through groove of the Contraband-type mounting block, a first groove 1041 is formed in the middle of the lower side surface of the upper moving rail 104, a second groove 1051 longer than the first groove is formed in the middle of the upper side surface of the lower moving rail 105, the gear 107 is placed in the space formed by the first groove and the second groove, engaging teeth are formed on the groove bottom surface of the first groove and the groove bottom surface of the second groove, the engaging teeth are engaged with the teeth on the gear, clamping pieces 106 are fixed to the rear end of the, the clamping cylinder is fixed in the middle of the inner side surface of the mounting plate through an L-shaped fixing plate 102, and the end part of a piston rod of the clamping cylinder is fixedly connected with a clamping piece 106 at the front end of the lower moving guide rail; the clamping ends of the clamping members 106 are provided with Y-shaped clamping rods 1062 symmetrically arranged, and a clamping space is formed between the end parts of the two Y-shaped clamping rods.

In the structure, the piston rod of the clamping cylinder is used for driving the clamping piece to move to clamp the object; when a piston rod of the clamping cylinder extends out, the lower moving guide rail is enabled to translate towards the rear side under the action of the gear and the meshing teeth, the upper moving guide rail translates towards the front side, when the upper moving guide rail translates to the front side end to be abutted against the inner side surface of the longitudinal rod 1061 of the clamping piece at the lower moving guide rail, the lower moving guide rail translates to the rear side end to be abutted against the inner side surface of the longitudinal rod 1061 of the clamping piece at the upper moving guide rail, namely, the inner side surfaces of the inclined rods at the ends of the two Y-shaped clamping rods are clung to the peripheral side surface of the top of the end cover positioning disc, so that the clamping; after a piston rod of the clamping cylinder retracts, the lower moving guide rail is enabled to move forwards and backwards under the action of the gear and the meshing teeth, when the upper moving guide rail moves forwards until the front side end of the upper moving guide rail is separated from the inner side surface of the longitudinal rod of the clamping piece at the position of the lower moving guide rail, the lower moving guide rail moves forwards until the rear side end of the lower moving guide rail is separated from the inner side surface of the longitudinal rod of the clamping piece at the position of the upper moving guide rail, namely, the inner side surfaces of the inclined rods at the ends of the two Y-shaped clamping rods are separated from the top peripheral side surface of the end cover positioning disc, and therefore.

In this embodiment, the clamping and rotating mechanism 8 includes a detecting frame 81 located at the discharge port of the conveying mechanism 7, a lifting servo motor 83, a longitudinally arranged ball screw 85, a synchronous belt 832, two longitudinally translating linear slide rails 84 arranged in parallel with each other, a sliding table 86, a rotating servo motor 87, a rotating mandrel 89, a detecting cylinder 88, a shifting fork 891, a spring sheet 896, a sliding sleeve 892, a slope sleeve 893, three clamping claws 897, a visual detecting frame 801 fixed on the top surface of the detecting frame 81, and a supporting frame 82, and the visual detecting frame is provided with a CCD camera 802; a lifting servo motor 83 is longitudinally fixed on the plate body of the support frame body towards the top of one side surface of the feeding end of the conveying mechanism, and two longitudinal translation linear slide rails are fixed on one side surface of the plate body of the support frame body towards the sorting mechanism; the top end and the bottom end of the ball screw are respectively fixed at the top end and the bottom end of one side surface of the plate body of the support frame body facing the sorting mechanism through bearing shafts, a rotating rod at the top end of the ball screw and a rotating shaft of the lifting servo motor are both sleeved with fixed synchronous pulleys, the synchronous pulleys are tensioned on the two synchronous pulleys, and a ball sliding block of the ball screw and a sliding block of the longitudinal translation linear sliding rail are fixedly connected with the sliding table; a motor fixing plate 861 is fixed on the top of the sliding table facing one side face of the sorting mechanism, a bearing seat 863 and two cylinder fixing frames 862 arranged at intervals are fixed in the middle of the sliding table, and two shifting fork connecting pieces 864 are fixed at the bottom of the sliding table; the cylinder fixing frame is positioned below the bearing seat, the rotating mandrel is fixed in the bearing inner ring of the bearing seat, the rotating servo motor is longitudinally fixed on the motor fixing plate, the top end of the rotating mandrel penetrates through the space between the two cylinder fixing frames and then is fixedly connected with a coupler of a rotating shaft of the rotating servo motor, the sliding sleeve 892 and the slope sleeve 893 are respectively sleeved on the rotating mandrel 89 through a sliding bearing 894, two ends of a U-shaped ring sleeve part of a shifting fork are respectively hinged with two shifting fork connecting pieces through pin shafts, the detection cylinder is fixed between the outer side ends of the two cylinder fixing frames, the end part of a piston rod of the detection cylinder is hinged with a hinge block pin shaft of the U-shaped ring sleeve part on the shifting fork, the U-shaped ring sleeve part of the shifting fork is sleeved at the position of a top ring groove 8921 of the sliding sleeve 892, the front side wall and the rear side wall of an inner hole of the ring, and antifriction bearing's lateral wall and the laminating of annular lateral wall, sliding sleeve's bottom cup joints the top of being fixed in the telescopic slope of slope, the bottom of rotatory dabber 89 is the body, the bottom week side annular array of body is provided with three U type hole 895 of invering, install in three U type hole 895 of invering through the pivot rotation type respectively in the middle part of three gripper jaw 897, gripper jaw 897's top is fixed through spring leaf 896 and the hole bottom surface of the U type hole 895 of invering, the inboard inclined plane laminating of the lateral surface inclined plane of gripper jaw and the telescopic bottom surface of slope, the bottom of three gripper jaw 897 all is provided with circular arc piece 898, and three circular arc piece 898 annular array sets up, wherein CCD camera 802 is visual detection device.

In the structure, when an end cover positioning disc loaded with an end cover is conveyed to the top surface of the detection frame body under the mutual matching action of the translation sliding table mechanism and the clamping manipulator, and the central hole of the end cover corresponds to the positions of the three arc sheets, at the moment, the lifting servo motor is electrified and started, so that the synchronous belt pulley and the synchronous belt pulley work to enable the screw rod of the ball screw to rotate, the ball slide block is enabled to move up and down after the screw rod rotates, the displacement of the ball slide block drives the sliding table to displace, and the displacement of the sliding table drives the three clamping claws to move up and down; when the three arc sheets are downwards moved and inserted into the central hole of the end cover at the same time, the retraction of a piston rod of the cylinder is detected, the shifting fork is made to be in an upwards inclined state, so that the sliding sleeve is upwards lifted under the action that a rolling bearing on the shaft body is inserted into the annular groove, the bottom inclined planes of the sliding sleeve and the sliding sleeve are upwards displaced at the moment, the three clamping claws are outwards opened under the action of the spring piece based on the upwards displacement of the sliding sleeve, the distance between the three arc sheets is enlarged, finally, the outer side arc surfaces of the three arc sheets are clung to the inner wall of the central hole of the end cover, so that the end cover is tightly fixed on the clamping claws, the positions of the end cover correspond to the position of a lens of a CCD camera after the three clamping claws are upwards moved for a certain distance, the rotary servo motor is electrified, the rotary shaft rotates to make the rotary mandrel rotate, thereby the CCD camera shoots rotatory end cover image, at last will shoot the image transmission show to the display in, the manual work is looked over the display and is watched the detection, after the area detects and accomplishes, three gripper jaw moves down, place the end cover that snatchs on the end cover positioning disk of detection support body top surface, the piston rod of detection cylinder stretches out, make the shift fork be horizontal state, thereby the effect that antifriction bearing on the axis body inserts in the annular is with sliding sleeve displacement downwards, then utilize the inclined plane of activity sleeve bottom to extrude three gripper jaw, make three gripper jaw fold to the inboard, make the distance between the three arc piece reduce, the outside arc surface of last three arc piece separates with the centre bore inner wall of end cover, three arc piece and three gripper jaw at this moment, upwards shift out the end cover centre bore.

In this embodiment, the sorting mechanism 12 includes a second belt conveying mechanism 121, a sorting frame 120, a sorting track 122 obliquely fixed on the top of the sorting frame 120, a sorting rotary cylinder and a sorting plate 1223, two blanking channels 1222 are formed on the sorting track 122 by fixing a partition 1221 in a partitioned manner, and the top end of the partition 1221 is shorter than the top end of the sorting track 122; the classification rotary cylinder is fixed on the bottom surface of the classification track, and the rotary shaft 123 of the classification rotary cylinder penetrates through the classification track and is positioned at the top end of the partition 1221; the bottom end of the classification plate 1223 is fixedly sleeved and fixed on the rotating shaft 123 of the classification rotating cylinder, after the classification plate rotates, the top end of the classification plate is abutted against one side of the feeding port of the classification track so as to seal the feeding channel at one side, and the feeding channel at the other side is opened; the support columns on the classification frame body support, position and fix the classification rotary cylinders. The purpose of its structure realization categorised unloading is in order to distinguish the unloading with qualified product and unqualified product, wherein second conveying mechanism 121 includes two rotatory rollers 1214, conveyer belt 1212, two baffles 1211 and a conveying motor 1213 are constituteed, the medial surface at two baffle feed ends is installed through pivot and bearing respectively to the both ends of a rotatory roller, the medial surface at two baffle discharge ends is installed through pivot and bearing respectively to the both ends of another rotatory roller, the pivot of conveying motor and the pivot of a rotatory roller are fixed continuous, and two baffles are fixed on detecting the support body through the swash plate respectively, and the conveyer belt rises and tightly rises on two rotatory rollers, the side is bought flush with the top of detecting the support body on the upside area body of conveyer belt, and categorised orbital top port links up with the discharge end position of conveyer belt.

In the structure, the end cover positioning disc (carrying the end cover which is finished by detection) is clamped by the clamping manipulator on the top surface of the detection frame body and then is conveyed to the conveying belt of the second conveying device, at the moment, the conveying motor is electrified to work to drive the two rotating rollers to rotate, the conveying belt also starts to move so as to convey the end cover positioning disc (carrying the end cover which is finished by detection) to the top port of the classification track, and then the end cover positioning disc automatically falls under the action of the inclined inner bottom surface of the blanking channel on one side of the classification track.

The gripper of the six-axis industrial robot 13 comprises an electric push rod 132, an L-shaped mounting frame 131, a transverse block 133 parallel to the longitudinal part of the L-shaped mounting frame 131, two hinges 134 and two clamping jaws 135, wherein the longitudinal part of the L-shaped mounting frame is fixed on one end surface of the electric push rod with a telescopic rod, and the other end surface of the electric push rod is fixed on the end part of the six-axis industrial robot; the structure of the end cover clamping device comprises an electric push rod, a piston rod of the electric push rod penetrates through a longitudinal portion of an L-shaped mounting frame, a transverse block is fixed at the end portion of the piston rod, two ends of an articulated piece are hinged to the end portion of the transverse block and one end pin shaft of a clamping jaw respectively, a middle pin shaft of the clamping jaw is hinged to the transverse portion of the L-shaped mounting frame, a clamping block is fixed on the inner side face of the other end of the clamping jaw, an arc groove is formed in the inner side face of the clamping block, after a telescopic rod of the electric push rod stretches out, the distance between one ends of the two clamping jaws is increased; after the telescopic rod of the electric push rod retracts, the clamping jaws are pulled by the hinge parts, so that the distance between one ends of the two clamping jaws is reduced, then the distance between the other ends of the two clamping jaws is increased, and the clamped end covers are loosened.

Finally, all the fixing and connecting can be selected according to actual conditions and fixed through bolts or welding.

The working principle of the motor vehicle component assembling system is as follows:

firstly, a plurality of nuts arranged in the inner part are fed into two guide grooves by a vibrating feeding disc, then the nuts in the guide grooves are respectively pushed into nut positioning grooves of a nut positioning block and nut positioning length grooves of a feeding displacement block by the nuts in the two guide grooves based on continuous feeding of the vibrating feeding disc, at the moment, because the two nuts are in staggered distribution, a piston rod of a feeding cylinder extends out to push the feeding displacement block to be corresponding to the nut positioning block, the nut positioning grooves and the nut positioning long grooves correspond to each other after displacement, the two nuts are distributed in a side-by-side spaced manner, and the positions of the two nuts respectively correspond to the positions of two pneumatic clamping jaws; secondly, under the condition that a piston rod of a feeding translation cylinder is in a retraction state, two pneumatic clamping jaws are correspondingly positioned at the top of an upper material rack of a feeding mechanism and respectively correspond to two nuts arranged side by side at the top of the upper material rack, at the moment, the piston rod of the feeding lifting cylinder extends out to enable the two pneumatic clamping jaws to descend and grab the two nuts at the top of the upper material rack, after the nuts are grabbed by the clamping jaws of the pneumatic clamping jaws, the piston rod of the feeding lifting cylinder retracts to enable the two pneumatic clamping jaws to ascend, the piston rod of the feeding translation cylinder also begins to extend to convey the two nuts to the positions above two positioning columns which are correspondingly arranged, at the moment, the piston rod of the feeding lifting cylinder extends out to enable the two pneumatic clamping jaws to descend, the two nuts are simultaneously sleeved on the two positioning columns which are correspondingly arranged, and the clamping jaws, positioning of two nuts on the assembly mechanism is completed; when two nuts are positioned on the assembling mechanism, the piston rod of the feeding lifting cylinder retracts to promote the two pneumatic clamping jaws to ascend, the rotating cylinder on the assembling mechanism rotates the T-shaped rotating shaft by 90 degrees so that each part on the transposition plate and the transposition plate rotates by 90 degrees, two positioning columns which are not sleeved with the nuts respectively correspond to the two pneumatic clamping jaws, then the piston rod of the feeding translation cylinder starts to retract to a state that the two pneumatic clamping jaws are correspondingly positioned at the top of the feeding frame of the feeding mechanism and respectively correspond to the two nuts which are arranged side by side at the top of the feeding frame, at the moment, the piston rod of the feeding lifting cylinder extends again to promote the two pneumatic clamping jaws to descend and then grasp the two nuts at the top of the feeding frame, and after the clamping jaws of the pneumatic clamping jaws grasp the nuts, the piston rod of the feeding lifting cylinder starts to retract to promote the two pneumatic clamping jaws to ascend, the piston rod of the feeding translation cylinder also begins to extend out to convey the two nuts to the positions above the two positioning columns which are arranged correspondingly, at the moment, the piston rod of the feeding lifting cylinder extends out to enable the two pneumatic clamping jaws to descend, the two nuts are sleeved on the two positioning columns which are vacant at the same time, after the nuts are positioned, the clamping jaws of the pneumatic clamping jaws are loosened, and the positioning of the two nuts on the assembling mechanism is completed again; based on the positioning of the four nuts on the assembling mechanism, the nuts are repeatedly positioned according to the steps, after the nuts are assembled, the mandrel is positioned and placed in the mandrel positioning groove of the movable plate, the upper end part of the mandrel penetrates through the central inner hole of the guide sleeve ring, at the moment, after the piston rod of the left-end transverse translation cylinder is in an extending state, the piston rod of the right-end transverse translation cylinder is in a retracting state, the transposition sliding table at the left end is translated to the middle part of the translation frame body, the assembling mechanism with the nuts and the mandrel positioned at the left end is in an initial state and is displaced to the middle part of the translation frame body, then the end cover is sleeved on the mandrel, the four nut positioning holes in the end cover are respectively penetrated by the four positioning columns, the end cover corresponds to the extrusion block of the extrusion mechanism, when the piston rod of the extrusion cylinder extends out to drive the extrusion, the movable plate, the end cover and the guide sleeve ring all move downwards until the limiting lug on the movable plate moves downwards to the lower part of the limiting hole, the upper half parts of the four nuts are fixed in the nut positioning holes of the end cover in an interference fit mode at the moment, the bottom of the end cover and the guide sleeve ring are spaced, then the end cover is continuously pressed downwards by an extrusion block of the extrusion mechanism, the bottom of the end cover is enabled to be abutted against the top of the guide sleeve ring, the mandrel and the four nuts are fixed to the end cover in an interference fit mode under the positioning and fixing effects, the nuts completely enter the nut positioning holes to be fixed, and the upper end part of the mandrel is also inserted into the central hole of; after extrusion assembly is completed, a piston rod of the extrusion air cylinder retreats to drive the extrusion block to retreat, after the force of the extrusion block for pressing the end cover is eliminated, the movable plate and the guide sleeve ring automatically move upwards and reset by using a reset spring, the end cover after assembly is manually taken away, and at the moment, the piston rod of the transverse translation air cylinder at the left end retracts to retreat the vacant assembly mechanism to the left end of the translation frame;

at the moment, a piston rod of a right-end transverse translation cylinder extends out, a transposition sliding table at the right end is translated to the middle part of a translation frame body, an assembly mechanism with a nut and a mandrel positioned at the right end is in an initial state and is displaced to the middle part of the translation frame body, an end cover is sleeved on the mandrel, four nut positioning holes in the end cover are respectively penetrated by four positioning columns, the end cover corresponds to an extrusion block of an extrusion mechanism, when the piston rod of the extrusion cylinder extends out to drive the extrusion block to move downwards so as to press down the end cover on the assembly mechanism, a movable plate, the end cover and a guide sleeve ring all move downwards until a limiting lug on the movable plate moves downwards to the lower part of a limiting hole, the upper half parts of the four nuts are fixed in the nut positioning holes of the end cover in an interference fit manner, the bottom of the end cover is spaced from the guide sleeve ring, then the extrusion block of, at the moment, the mandrel and the four nuts are fixed on the end cover in an interference fit manner under the positioning and fixing effects, wherein the nuts completely enter the nut positioning holes for fixing, and the upper end part of the mandrel is also inserted into the central hole of the end cover for fixing; after extrusion assembly is completed, a piston rod of the extrusion air cylinder retreats to drive the extrusion block to retreat, after the force for pressing the end cover by the extrusion block is eliminated, the movable plate and the guide sleeve ring automatically move upwards and reset by using a reset spring, the end cover after assembly is manually taken away, and at the moment, the piston rod of the transverse translation air cylinder at the right end retracts to retreat the vacant assembly mechanism to the right end of the translation frame;

finally, performing cyclic reciprocating assembly processing according to the operation steps;

after the end covers are assembled, the six-axis industrial robot starts to work, the assembled end covers are clamped and taken out from the extrusion mechanism one by utilizing the clamping tools and then are placed on the end cover positioning disc on the first conveying device for positioning, then the first conveying device conveys the end cover positioning disc (positioned with the assembled end covers) to the discharge end of the first conveying device one by one based on the operation of the conveying belt of the first conveying device, at the moment, the piston rod of the sliding cylinder extends out, the two clamping mechanical arms are respectively positioned behind the end cover positioning disc at the discharge end of the conveying mechanism and the end cover positioning disc at the position of the visual detection device, the piston rods of the clamping cylinders in the two clamping mechanical arms simultaneously extend out, the lower moving guide rail is enabled to translate towards the rear side under the action of the gear and the meshing teeth, the upper moving guide rail translates towards the front side, and when the upper moving guide rail translates to, after the lower moving guide rail is translated to the position that the rear end of the lower moving guide rail is abutted against the inner side surface of the longitudinal rod of the clamping piece at the upper moving guide rail, namely, the inner side surfaces of the inclined rods at the end parts of the two Y-shaped clamping rods are tightly attached to the peripheral side surface of the top of the end cover positioning disc, so that the end cover positioning disc is clamped, and the end cover positioning disc at the corresponding position is clamped; at the moment, a piston rod of the sliding cylinder retracts, an end cover positioning disc (an assembled end cover is detected) at the position of the visual detection device is pushed to a second conveying device of the classification mechanism, after the piston rod of the cylinder to be clamped in the clamping manipulator at the position retracts, the lower moving guide rail is enabled to translate towards the front side under the action of a gear and a meshing tooth, the upper moving guide rail translates towards the rear side, when the upper moving guide rail translates to the front side end to be separated from the inner side surface of a longitudinal rod of a clamping piece at the lower moving guide rail, the lower moving guide rail translates to the rear side end to be separated from the inner side surface of the longitudinal rod of the clamping piece at the upper moving guide rail, namely, the inner side surfaces of inclined rods at the ends of the two Y-shaped clamping rods are separated from the top peripheral side surface of the end cover positioning; after the end cover positioning disc at the discharge end of the conveying mechanism is pushed to the position of the visual detection device, a clamping cylinder piston rod of a clamping manipulator at the position retracts, the lower moving guide rail is enabled to translate towards the front side under the action of the gear and the meshing teeth, the upper moving guide rail translates towards the rear side, when the upper moving guide rail translates to the front side end and is separated from the inner side surface of the longitudinal rod of the clamping piece at the lower moving guide rail, the lower moving guide rail translates to the rear side end and is separated from the inner side surface of the longitudinal rod of the clamping piece at the upper moving guide rail, namely, the inner side surfaces of the inclined rods at the end parts of the two Y-shaped clamping rods are separated from the top peripheral side surface of the end cover positioning disc; finally, a piston rod of the sliding cylinder is reset, and the two clamping mechanical arms are reset to an end cover positioning disc at the discharge end of the conveying mechanism and an end cover positioning disc at the position of the visual detection device respectively;

then when a clamping rotating mechanism with a visual detection device is used for detection, a lifting servo motor is electrified and started, so that a synchronous belt wheel and the synchronous belt wheel work to enable a lead screw of a ball screw to rotate, a ball sliding block is enabled to move up and down after the lead screw rotates, the displacement of the ball sliding block drives a sliding table to displace, and the displacement of the sliding table drives three clamping claws to move up and down; when the three arc sheets are downwards moved and inserted into the central hole of the end cover at the same time, the retraction of a piston rod of the cylinder is detected, the shifting fork is made to be in an upwards inclined state, so that the sliding sleeve is upwards lifted under the action that a rolling bearing on the shaft body is inserted into the annular groove, the bottom inclined planes of the sliding sleeve and the sliding sleeve are upwards displaced at the moment, the three clamping claws are outwards opened under the action of the spring piece based on the upwards displacement of the sliding sleeve, the distance between the three arc sheets is enlarged, finally, the outer side arc surfaces of the three arc sheets are clung to the inner wall of the central hole of the end cover, so that the end cover is tightly fixed on the clamping claws, the positions of the end cover correspond to the position of a lens of a CCD camera after the three clamping claws are upwards moved for a certain distance, the rotary servo motor is electrified, the rotary shaft rotates to make the rotary mandrel rotate, the CCD camera shoots the rotating end cover image, the shot image is transmitted to the display for display, the display is checked manually for watching and detecting, after the belt detection is finished, the three clamping claws move downwards, the grabbed end cover is placed on an end cover positioning disc on the top surface of the detection frame body, a piston rod of the detection cylinder extends out to enable the shifting fork to be in a horizontal state, so that the sliding sleeve is displaced downwards under the action that a rolling bearing on the shaft body is inserted into the annular groove, then the three clamping claws are extruded by utilizing the inclined planes at the bottom end of the movable sleeve to enable the three clamping claws to be folded inwards, the distance between the three arc sheets is reduced, the outer arc surfaces of the three arc sheets are separated from the inner wall of the center hole of the end cover, and at the moment, the three arc sheets and the three clamping claws;

after an end cover positioning disc (an assembled end cover is detected) at the position based on the visual detection device is pushed to a second conveying device of the classification mechanism, a conveying motor of the second conveying device is electrified to work to enable two rotating rollers to rotate, and a conveying belt also starts to move to convey the end cover positioning disc (loaded with the end cover which is detected) to the top port of the classification track and then automatically fall under the action of the inclined inner bottom surface of a blanking channel at one side of the classification track.

The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, fall within the protection scope of the present invention.