A baby carriage front frame and rear wheel assembly assembly device

Abstract

A baby carriage front frame and rear wheel assembly assembly equipment relates to the field of automation equipment. It includes a front frame main body conveyor line, a rear frame main body conveyor line, a rear wheel output line, a first press, a second press, a lower pipe plug vibration plate, an upper pipe plug vibration plate, a frame pipe inner plug vibration plate, a finished front frame grabbing manipulator, a rear wheel assembly and a rear wheel axle grabbing manipulator arm, a rear wheel axle feeding device, a left washer feeding shell mechanism, a right washer shell feeding mechanism, a rear axle positioning ring feeding mechanism, an axle clamp feeding mechanism, a rear wheel end cover feeding mechanism, a rear wheel grabbing manipulator arm, a hexagonal cover feeding mechanism, a rear wheel assembly positioning fixture, a cylindrical positioning fixture, a rear wheel end cover fixture, a rear wheel assembly parts grabbing manipulator arm, and a rear wheel assembly grabbing manipulator arm. Except for the loading and safety hook assembly processes that are completed manually, the present invention automatically completes the other processes through the equipment, effectively improving production efficiency, reducing labor costs, and improving product quality.

Description

Technical Field

[0001] The invention relates to the field of automation equipment, in particular to a baby carriage front frame and rear wheel assembly assembly equipment. Background Art

[0002] like Figure 20-22 As shown, the present invention provides an assembly device for front and rear frames and rear wheel assemblies of a baby stroller, which is used to assemble the front frame 1 and the rear wheel assembly 2 of the baby stroller. The front frame 1 includes a front frame body 1.1 and an upper tube plug 7, a lower tube plug 8, a frame tube inner plug 9 and a safety hook 11 to be assembled. The front frame body 1.1 includes a frame tube 5, a head tube 6 connected to the front end of the frame tube 5, and a rear connecting seat 10 connected to the rear end of the frame tube 5. The lower tube plug 8 is arranged in a lower port of the head tube 6, the upper tube plug 7 is arranged in an upper port of the head tube 6, the frame tube inner plug 9 is arranged in a rear port of the frame tube 5, the rear end of the rear connecting seat 10 is open, and the safety hook 11 is rotatably connected to the rear end of the rear connecting seat 10, and a tension spring 13 is connected therebetween. The safety hook 11 A first rivet hole 12 is provided between the upper end and the rear connecting seat 10; the rear wheel assembly 2 includes a rear frame body 3 to be assembled, two rear wheels 4, the rear frame body 3, a left washer shell 18, a right washer shell 19, a rear frame tube plug 16, two rear axle positioning rings 21, four hexagonal covers 23, two rear wheel end covers 26, and a rear wheel axle 24. The rear frame body 3 includes a rear frame tube 14, a front connecting seat 17 connected to the front end of the rear frame tube 6, and a D-shaped frame 15 connected to the rear end of the rear frame tube 14. The rear frame tube plug 16 is arranged in the front end of the rear frame tube 14, the left washer shell 18 and the right washer shell 19 are assembled at the front end of the front connecting seat 17, the front end of the front connecting seat 17 is matched and arranged in the rear connecting seat 10, and a second rivet hole 20 is provided therebetween. The horizontal section of the D-shaped frame 15 is a hollow tube, two rear axle positioning rings 21 are assembled at both ends of the horizontal section of the D-shaped frame 15, a hexagonal cover 23 is assembled in the center hole at both ends of each rear wheel 4, the two rear wheels 4 are arranged at both ends of the horizontal section of the D-shaped frame 15, a rear wheel axle 24 is inserted in the horizontal section of the D-shaped frame 15, the two ends of the rear wheel axle 24 respectively pass through the rear axle positioning rings 21 on both sides, and the hexagonal covers 23 at both ends of the rear wheels 4 on both sides, and then are positioned by the axle clamp 25, and the outer end center of the rear wheel 4 is clamped with a rear wheel end cover 26.

[0003] In the prior art, the above assembly processes are all completed manually, which has low efficiency and high labor cost. Summary of the invention

[0004] The purpose of the present invention is to provide a baby carriage front frame and rear wheel assembly assembly device, the main assembly processes are automatically completed by the device, and the production efficiency is effectively improved.

[0005] The technical solution to achieve the above-mentioned purpose is: a baby carriage front frame and rear wheel assembly assembly equipment, characterized in that: it includes a front frame main body conveying line, a rear frame main body conveying line, and a rear wheel output line arranged side by side at intervals, the front frame main body conveying line, the rear frame main body conveying line, and the rear wheel output line are all conveyed from right to left, and a first press and a second press arranged relatively at intervals are arranged on one side of the output ends of the front frame main body conveying line, the rear frame main body conveying line, and the rear wheel output line;

[0006] The front frame main body conveying line is arranged on a side close to the first press, a front frame semi-finished product conveying line is arranged at the output end of the front frame main body conveying line, and a front frame main body grabbing mechanical arm for grabbing the front frame main body is arranged between the front frame main body conveying line and the front frame semi-finished product conveying line;

[0007] The output end of the front frame main body conveyor line is provided with a lower pipe plug vibration plate, an upper pipe plug vibration plate, a frame pipe inner plug vibration plate and a first workbench arranged longitudinally above the output end of the front frame main body conveyor line, a supporting top plate arranged at intervals from the first workbench is arranged above one side of the first workbench, and a mounting plate is arranged above the other side;

[0008] The output end of the lower pipe plug vibration plate is connected to a transversely arranged lower pipe plug conveying guide rail, the end of the lower pipe plug conveying guide rail is closed and extends to the first workbench below the top plate, and openings are arranged on both sides of the end of the lower pipe plug conveying guide rail to form a lower pipe plug discharge trough, a first top plate is arranged at one end of the lower pipe plug discharge trough, a lower pipe plug lifting driving cylinder for driving the first top plate to lift is arranged below the first top plate, a lower pipe plug positioning groove matched with the lower pipe plug discharge trough is arranged on the side of the upper end surface of the first top plate close to the lower pipe plug discharge trough, and a first pushing cylinder for pushing a lower pipe plug at the end of the lower pipe plug conveying guide rail into the lower pipe plug positioning groove is arranged at the other end of the lower pipe plug discharge trough;

[0009] The output end of the upper pipe plug vibration plate is connected to a transversely arranged upper pipe plug conveying guide rail, the end of the upper pipe plug conveying guide rail is closed and extends to the first workbench below the top plate, and openings are arranged on both sides of the end of the upper pipe plug conveying guide rail to form an upper pipe plug discharge trough, a second top plate is arranged at one end of the upper pipe plug discharge trough, an upper pipe plug lifting and lowering driving cylinder for driving the second top plate to lift is arranged below the second top plate, an upper pipe plug positioning groove matched with the upper pipe plug discharge trough is arranged on one side of the upper end surface of the second top plate close to the upper pipe plug discharge trough, and a second pushing cylinder for pushing an upper pipe plug at the end of the upper pipe plug conveying guide rail into the upper pipe plug positioning groove is arranged at the other end of the upper pipe plug discharge trough;

[0010] The output end of the frame tube plug vibration plate is connected to a transversely arranged frame tube plug conveying guide rail, the end of the frame tube plug conveying guide rail is closed and extends to the first workbench, a first telescopic cylinder is arranged just above the end of the frame tube plug conveying guide rail, the telescopic end of the first telescopic cylinder is connected to the first lifting cylinder, the telescopic end of the first lifting cylinder faces downward and is connected to a vacuum suction cup, the vacuum suction cup is used to suck the frame tube plug at the end of the frame tube plug conveying guide rail, and a rear frame tube plug loading tool is arranged in front of the output end of the frame tube plug conveying guide rail. The first telescopic cylinder is used to push the frame tube plug sucked by the vacuum suction cup forward along the conveying direction of the frame tube plug conveying guide rail to the rear frame tube plug loading station; the first workbench is also provided with a front frame support positioning fixture located below the mounting plate, the rear end of the front frame is positioned upward on the front frame support positioning fixture, and a downward pressure cylinder is installed on the mounting plate directly above the front frame support positioning fixture, and the telescopic end of the downward pressure cylinder passes through the mounting plate downward and is coaxially arranged with the upper end of the frame tube of the front frame supported on the front frame support positioning fixture;

[0011] A front frame finished product conveyor line is provided between the first press and the second press, and a finished front frame grabbing manipulator is provided between the front frame finished product conveyor line and the second press; a second workbench is provided between the rear frame main body conveyor line and the rear wheel conveyor line, and a rear frame main body grabbing manipulator is provided between the output end of the rear frame main body conveyor line and the second workbench;

[0012] A rear frame limiting fixture is installed on one side of the output end of the rear frame main body conveying line through a supporting platform, and the front end of the rear frame is positioned downwardly and arranged on the rear frame limiting fixture; a rear frame tube plug vibration plate is arranged on the supporting platform on one side of the rear frame limiting fixture, and the output end of the rear frame tube plug vibration plate is connected to a rear frame tube plug conveying guide rail, and the end of the rear frame tube plug conveying guide rail is closed and extends to the bottom of the rear frame positioned on the rear frame limiting fixture, and openings are arranged on both sides of the end of the rear frame tube plug conveying guide rail to form a rear frame tube plug discharge guide groove, and a third top is arranged at one end of the rear frame tube plug discharge guide groove. A rear frame tube inner plug discharging guide groove is provided on one side of the upper end surface of the third top plate close to the rear frame tube inner plug discharging guide groove, and a rear frame tube inner plug positioning groove is matched with the rear frame tube inner plug discharging guide groove, and the other end of the inner plug discharging guide groove is provided with a third pushing cylinder for pushing a rear frame tube inner plug in the rear frame tube inner plug discharging guide groove into the rear frame tube inner plug positioning groove, and a rear frame tube inner plug discharging cylinder for driving the third pushing plate to discharge upward is installed on the supporting platform below the third pushing plate, and the rear frame tube of the rear frame main body positioned on the rear frame limiting fixture is vertically downward and arranged coaxially with the rear frame tube inner plug in the rear frame tube inner plug positioning groove;

[0013] A rear wheel assembly and rear wheel axle grabbing mechanical arm for grabbing the rear wheel assembly and the rear wheel axle is arranged on the left side of the second workbench, and a rear wheel axle feeding device for outputting the rear wheel axle is arranged on one side of the rear wheel assembly and rear wheel axle grabbing mechanical arm;

[0014] The second workbench on the side close to the rear frame main body conveyor line is provided with a left washer shell feeding mechanism and a right washer shell feeding mechanism, the second workbench on the side close to the rear wheel conveyor line is provided with a rear axle positioning ring feeding mechanism and an axle clamp feeding mechanism, and the middle part of the second workbench is provided with a rear wheel end cover feeding mechanism;

[0015] A cylindrical positioning fixture for positioning and supporting the rear wheel assembly, a rear wheel end cover fixture for positioning and supporting the rear wheel end cover, and a rear wheel assembly grasping mechanical arm for grasping the rear axle positioning ring, the axle clamp and the rear wheel end cover are also installed on the second workbench near the rear frame and the rear wheel axle grasping mechanical arm. A downward pressure cylinder is arranged directly above the cylindrical positioning fixture. The telescopic end of the downward pressure cylinder faces downward and is connected to a sleeve for being sleeved on the upper end of the rear wheel axle. The sleeve is arranged coaxially with the cylindrical positioning fixture. A second telescopic cylinder is arranged on one side above the cylindrical positioning fixture. The telescopic end of the second telescopic cylinder is connected to a rear wheel axle clamping cylinder connected to a telescopic end for holding the rear wheel axle. The clamping end of the rear wheel axle clamping cylinder is provided with a clamping groove that matches the clearance of the rear wheel axle.

[0016] A rear wheel assembly positioning fixture is arranged between the rear frame and the rear wheel axle grabbing mechanical arm and the second press, and a rear wheel assembly grabbing mechanical arm is arranged between the rear wheel assembly positioning fixture and the second press;

[0017] The output end of the rear wheel conveyor line is provided with a rear wheel grabbing mechanical arm, and a third workbench is also provided on the side of the rear wheel grabbing mechanical arm away from the second workbench, and a hexagonal cover feeding mechanism is installed on the third workbench.

[0018] Furthermore, the front frame support positioning fixture is provided with an arc groove that cooperates with the head pipe of the front frame body, one end of the arc groove is open and the other end is closed; the rear frame limiting fixture includes a vertical bracket, and the upper ends of the vertical bracket are connected to symmetrically arranged limiting positioning blocks on both sides, and the limiting positioning blocks are provided with a positioning groove with an opening facing downward and cooperating with the horizontal section of the D-shaped frame.

[0019] Further, the left gasket feeding shell mechanism comprises a left gasket shell vibrating plate, the output end of the left gasket shell vibrating plate is connected to a left gasket shell conveying guide rail for conveying to the left, the end of the left gasket shell conveying guide rail is closed, and openings are arranged on both sides of the end to form a left gasket shell discharging trough, a fifth top plate is arranged at one end of the left gasket shell discharging trough, a left gasket shell positioning groove matched with the left gasket shell discharging trough is arranged on one side of the fifth top plate close to the left gasket shell discharging trough, and a fifth pushing cylinder for pushing a left gasket shell at the end of the left gasket shell conveying guide rail into the left gasket shell positioning groove is arranged at the other end of the left gasket shell discharging trough;

[0020] The right gasket shell feeding mechanism comprises a right gasket shell vibrating plate, the output end of the right gasket shell vibrating plate is connected to a right gasket shell conveying guide rail for conveying to the left side, the end of the right gasket shell conveying guide rail is closed, and openings are arranged on both sides of the end to form a right gasket shell discharging trough, a fourth top plate is arranged at one end of the right gasket shell discharging trough, a right gasket shell positioning groove matched with the right gasket shell discharging trough is arranged on one side of the upper end surface of the fourth top plate close to the right gasket shell discharging trough, and a fourth pushing cylinder for pushing a right gasket shell at the end of the right gasket shell conveying guide rail into the right gasket shell positioning groove is arranged at the other end of the right gasket shell discharging trough;

[0021] The rear axle positioning ring feeding mechanism includes a rear axle positioning ring vibrating plate, the output end of the rear axle positioning ring vibrating plate is connected to a rear axle positioning ring guide rail with a closed end and conveying to the left side, the axle clamp feeding mechanism includes an axle clamp vibrating plate, the output end of the axle clamp vibrating plate is connected to an axle clamp conveying guide rail with a closed end and conveying to the left side, and the rear wheel end cover feeding mechanism includes a rear wheel end cover vibrating plate, the output end of the rear wheel end cover vibrating plate is connected to a rear wheel end cover conveying guide rail with a closed end and conveying to the left side.

[0022] Further, the free end of the front frame body grabbing mechanical arm is connected to the front frame body clamp, and the front frame body clamp includes a connecting seat connected to the front frame body grabbing mechanical arm, one end of the connecting seat is connected to a fixed backer for positioning the rear end of the front frame, and the other end is connected to a first clamping cylinder for clamping the frame tube;

[0023] The free end of the finished product front frame grabbing manipulator is connected with a finished product front frame grabbing fixture, and the finished product front frame grabbing fixture has the same structure as the front frame main body fixture.

[0024] Further, the free end of the rear frame body grabbing mechanical arm is connected to the rear frame body grabbing fixture, and the rear frame body grabbing fixture includes a fixed mounting plate connected to the free end of the rear frame body grabbing mechanical arm, one end of the fixed mounting plate is connected to a positioning seat for positioning the horizontal section of the D-shaped frame, and the positioning seat is provided with a groove matching the horizontal section of the D-shaped frame, and the other end of the fixed mounting plate is connected to a second clamping cylinder for clamping the rear frame pipe;

[0025] The free end of the rear wheel assembly grabbing mechanical arm is connected with a rear wheel assembly grabbing fixture, and the structure of the rear wheel assembly grabbing fixture is the same as that of the rear frame body grabbing fixture.

[0026] Further, a connecting plate perpendicular to the outside is connected to the free end of the rear-wheel assembly grasping robotic arm. A fourth clamping cylinder is connected to one side of the connecting plate, and an electromagnet column perpendicular to the opposite connecting plate is connected to the other side. Between the clamping ends of the fourth clamping cylinder, there is a first clamping groove for clamping the rear-wheel end cover and a second clamping groove for clamping the rear-axle positioning ring; a central hole for passing the rear-wheel axle is provided in the center of the cylindrical positioning fixture, and a positioning groove for accommodating the shaft clip and arranged coaxially with the central hole is provided at the upper end of the central hole.

[0027] Further, a rear-wheel assembly and rear-axle grasping robotic arm is connected with a rear-wheel assembly and rear-axle fixture at its free end. The rear-wheel assembly and rear-axle fixture includes a fixed connecting plate. One end of the fixed connecting plate is connected with a fixed seat for positioning the horizontal section of the D-shaped frame. The outside of the fixed seat is connected with a U-shaped frame. Second clamping cylinders for clamping the rear-axle are arranged on the opposite sides of the two sides of the U-shaped frame. A groove matching with the horizontal section of the D-shaped frame is arranged on the inner side of the fixed seat. The other end of the fixed connecting plate is connected with a third clamping cylinder for clamping the rear frame tube.

[0028] Further, a front-frame main body positioning fixture is arranged on the front-frame main body conveying line. The front-frame main body positioning fixture includes a head tube positioning seat and a rear connecting seat positioning block arranged along the width direction of the front-frame conveying line. A positioning boss matching with the lower port of the head tube is arranged on the head tube positioning seat, and the upper end of the positioning boss is spherical. An opening groove for positioning the rear connecting seat along the width direction is arranged on the rear connecting seat positioning seat.

[0029] The rear-frame main body conveying line adopts a chain plate conveyor. A rear-frame positioning fixture is arranged on the rear-frame main body conveying line. The rear-frame positioning fixture includes three first positioning blocks arranged in an isosceles triangle. Among them, the two first positioning blocks located at the base angles are provided with first positioning grooves for supporting the horizontal section of the D-shaped frame, and the first positioning block located at the apex angle is provided with a second positioning groove for supporting the rear frame tube.

[0030] The front-frame finished product conveying line adopts a chain plate conveyor. A front-frame finished product positioning fixture is arranged on the front-frame finished product conveying line. The front-frame finished product positioning fixture has the same structure as the front-frame main body positioning fixture.

[0031] Further, the rear-axle feeding device includes a support frame. A square feeding box is installed on the support frame. An inclined downward guide plate is arranged in the square feeding box. The guide plate divides the square feeding box into a storage bin located above and a discharge bin located below. A vertical discharge chute is arranged at the low position end of the storage bin. The discharge chute extends downward into the discharge bin. Two spaced positioning support blocks are arranged directly below the discharge chute. An opening groove for supporting and placing the rear-axle is arranged on the positioning support blocks. The gap between the lower end surface of the discharge chute and the positioning support blocks is smaller than the diameter of the rear-axle.

[0032] A discharging cylinder is installed in the discharging bin, and the output end of the discharging cylinder is connected to a push plate, which is installed in the discharging bin through a linear guide rail. Two positioning support blocks are connected to the front end of the push plate, and a side discharging port is provided on the outer wall of the discharging bin in front of the two positioning support blocks for discharging the rear wheel shaft supported by the positioning support blocks forward.

[0033] Furthermore, the hexagonal cap feeding mechanism comprises a hexagonal cap vibrating plate, the output end of the hexagonal cap vibrating plate is connected to a hexagonal cap conveying guide rail, the end of the hexagonal cap conveying guide rail is butted with a discharging seat, a side of the upper end surface of the discharging seat close to the hexagonal cap conveying guide rail is provided with a hexagonal cap positioning groove corresponding to the end of the guide groove of the hexagonal cap conveying guide rail, and a hexagonal cap discharging driving cylinder for driving the discharging seat to discharge upward is also installed on the third workbench;

[0034] The free end of the rear wheel grabbing mechanical arm is connected to a rear wheel clamping cylinder;

[0035] The rear wheel assembly positioning fixture comprises a bottom plate, on which positioning seats are arranged symmetrically on both sides, and the positioning seats are provided with semicircular grooves, and the semicircular grooves on the positioning seats on both sides are used to position and place the two rear wheels of the rear wheel assembly;

[0036] The rear wheel conveyor line includes a rear wheel material guide conveyor line and a rear wheel detection conveyor line. Both the rear wheel material guide conveyor line and the rear wheel detection conveyor line adopt belt conveyors. Guide plates are connected to both sides of the frame at the output end of the rear wheel material guide conveyor line to form a guide groove. The front end width of the guide groove matches the diameter of the rear wheel for rear wheel positioning, and the rear end is set to be a cone with the large mouth facing backwards. The input end of the rear wheel detection conveyor line is aligned with the output end of the rear wheel guide positioning groove. A CCD visual detection system is arranged in the middle of the rear wheel detection conveyor line.

[0037] Beneficial effects of the present invention:

[0038] Except for the manual work of feeding and assembling the safety hook, the other processes of the present invention are all automatically completed by the equipment, which effectively improves the production efficiency, reduces the labor cost and improves the product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of the present invention;

[0040] Figure 2 for Figure 1 Enlarged view of part A in the middle;

[0041] Figure 3 for Figure 1 A partial schematic diagram of the middle B section;

[0042] Figure 4 for Figure 3 A schematic diagram of the structure in which the top plate and the mounting plate are removed;

[0043] Figure 5 for Figure 1 A partial schematic diagram of the middle C section;

[0044] Figure 6 for Figure 1 A partial schematic diagram of the middle D section;

[0045] Figure 7 for Figure 6 Enlarged view of the middle F part;

[0046] Figure 8 for Figure 6 A partial schematic diagram of the middle E section;

[0047] Fig. 9 It is a partial schematic diagram of the rear frame main body conveying line;

[0048] Fig.10 It is a cross-sectional view of the rear axle feeding device;

[0049] Fig.11 It is a structural schematic diagram of the front frame main body grabbing mechanical arm;

[0050] Fig.12 It is a structural schematic diagram of the rear frame main body grabbing mechanical arm;

[0051] Fig.13 It is a schematic diagram of the structure of the rear wheel assembly and the rear wheel axle grabbing mechanical arm;

[0052] Fig.14 This is a schematic diagram of the structure of the rear wheel assembly grabbing robot arm;

[0053] Fig.15 It is a structural schematic diagram of the feeding mechanism at the output end of the hexagonal cap conveying guide rail;

[0054] Fig.16 It is a structural schematic diagram of a cylindrical positioning fixture;

[0055] Fig.17 It is a structural schematic diagram of the rear wheel assembly positioning fixture;

[0056] Fig.18 It is a structural schematic diagram of the rear frame assembly in assembled state;

[0057] Fig.19 A schematic diagram of the structure of a rear wheel end cover jig supporting the rear wheel end cover;

[0058] Fig. 20 A schematic diagram of the structure of the finished product for assembling a baby carriage;

[0059] Fig.21 is a cross-sectional view of the rear wheel assembly;

[0060] Fig. 22It is a structural diagram of the front frame. DETAILED DESCRIPTION

[0061] like Figure 20-22 As shown, the present invention includes a front frame main body conveyor line 27, a rear frame main body conveyor line 28, and a rear wheel output line 29 which are arranged side by side at intervals. The front frame main body conveyor line 27, the rear frame main body conveyor line 28, and the rear wheel output line 29 are all conveyed from right to left. A first press 30 and a second press 31 which are arranged relatively at intervals are provided on one side of the output ends of the front frame main body conveyor line 27, the rear frame main body conveyor line 28, and the rear wheel output line 29, wherein the second press 31 can be a manual press or an automatic riveting machine.

[0062] The front frame main body conveyor line 27 adopts a chain conveyor and is arranged on a side close to the first press 30. A front frame semi-finished product conveyor line 32 is arranged at the output end of the front frame main body conveyor line 27. A front frame main body grabbing mechanical arm 33 is arranged between the front frame main body conveyor line 27 and the front frame semi-finished product conveyor line 32.

[0063] The free end of the front frame body grabbing mechanical arm 33 is connected to the front frame body clamp 34, and the front frame body clamp includes a connecting seat 35 connected to the front frame body grabbing mechanical arm 33, one end of the connecting seat 35 is connected to a fixed backer 36 for positioning the rear end of the front frame 1, and the other end is connected to a first clamping cylinder 37, and a clamping groove 38 for clamping the frame pipe is arranged between the clamping ends of the first clamping cylinder 37.

[0064] A front frame main body positioning fixture 39 is provided on the front frame main body conveying line 27, and the front frame main body positioning fixture 39 includes a head pipe positioning seat 40 and a rear connecting seat positioning block 41 arranged along the width direction of the front frame conveying line 27, and the head pipe positioning seat 40 is provided with a positioning boss 42 that cooperates with the lower end of the head pipe 6, and the upper end of the positioning boss 42 is a spherical surface, and the rear connecting seat positioning seat 41 is provided with an open groove 43 for positioning the rear connecting seat 10 along the width direction.

[0065] The output end of the front frame main body conveyor line 27 is equipped with a lower pipe plug vibration plate 44, an upper pipe plug vibration plate 45, a frame tube inner plug vibration plate 46 and a first workbench 47 longitudinally arranged above the output end of the front frame main body conveyor line 27 through a bracket. The lower pipe plug vibration plate 44, the upper pipe plug vibration plate 45, and the frame tube inner plug vibration plate 46 are respectively arranged on the right side of the first workbench 47, and the output ends of the lower pipe plug vibration plate 44, the upper pipe plug vibration plate 45, and the frame tube inner plug vibration plate 46 are all facing the first workbench 47. A supporting top plate 49 installed on the first workbench 47 is arranged above one side of the first workbench 47, and a mounting plate 66 installed on the first workbench 47 is arranged above the other side.

[0066] The output end of the lower pipe plug vibration plate 44 is connected to a transversely arranged lower pipe plug conveying guide rail 48, the end of the lower pipe plug conveying guide rail 48 is closed and extends to the first workbench 47 below the top plate 49, and the ends of the lower pipe plug conveying guide rail 48 are provided with openings on both sides to form a lower pipe plug discharge trough 50, one end of the lower pipe plug discharge trough 50 is provided with a first push cylinder 51, the output end of the first push cylinder 51 is connected to a first push plate 52, the other end of the lower pipe plug discharge trough 50 is provided with a first top plate 53, and the lower part of the first top plate 53 is provided There is a lower tube plug lifting driving cylinder 171 for driving the first top plate 53 to lift and lower. The lower tube plug lifting driving cylinder 171 is installed on the first workbench 47. A lower tube plug positioning groove 54 that matches the lower tube plug discharge groove 50 is provided on the side of the upper end surface of the first top plate 53 close to the lower tube plug discharge groove 50. The lower tube plug 8 includes a cover plate 8.1 and a plug body 8.2 connected to the cover plate 8.1. The cover plate 8.1 of the lower tube plug 8 is supported and positioned in the lower tube plug positioning groove 54, and the plug body 8.2 of the lower tube plug 8 protrudes upward from the lower tube plug positioning groove 54.

[0067] The output end of the upper pipe plug vibration plate 45 is connected to an upper pipe plug conveying guide rail 55, the end of which is closed and extends to the first workbench 47 below the top plate 49, and openings are provided on both sides of the end of the upper pipe plug conveying guide rail 55 to form an upper pipe plug discharge trough 56, one end of the upper pipe plug discharge trough 56 is provided with a second pushing cylinder 57, the output end of the second pushing cylinder 57 is connected to a second pushing plate 61, and the other end of the upper pipe plug discharge trough 56 is provided with a second top plate 58, and the second An upper tube plug lifting driving cylinder 59 for driving the second top plate 58 to lift is provided below the top plate 58. The upper tube plug lifting driving cylinder 59 is installed on the first workbench 27. An upper tube plug positioning groove 60 corresponding to the upper tube plug discharge groove 56 is provided on one side of the upper end surface of the second top plate 58 close to the upper tube plug discharge groove 61. The lower tube plug 8 and the upper tube plug 7 have the same structure. The cover plate support of the upper tube plug 7 is positioned in the upper tube plug positioning groove 60, and the plug body of the upper tube plug 7 protrudes upward from the upper tube plug positioning groove 60.

[0068] The output end of the frame tube plug vibration plate 46 is connected to a transversely arranged frame tube plug conveying guide rail 62, the end of the frame tube plug conveying guide rail 62 is closed and extends to the first workbench 47, a rear frame tube plug loading station 180 is arranged in front of the output end of the frame tube plug conveying guide rail 62, and a first telescopic cylinder 63 installed on the first workbench is arranged just above the end of the frame tube plug conveying guide rail 62, the telescopic end of the first telescopic cylinder 63 is connected to the first lifting cylinder 64, the telescopic end of the first lifting cylinder 64 faces downward and is connected to a vacuum suction cup 65, the vacuum suction cup 65 is used to suck the frame tube plug 9 at the end of the frame tube plug conveying guide rail 62, and the first telescopic cylinder 63 is used to push the frame tube plug 9 sucked by the vacuum suction cup 65 forward along the conveying direction of the frame tube plug conveying guide rail 62 to the rear frame tube plug loading station 180.

[0069] A front frame support positioning fixture 67 located below the mounting plate 66 is also fixed on the first workbench 47. The front frame support positioning fixture 67 is provided with an arc groove 68 that cooperates with the head pipe 6. One end of the arc groove 68 is open and the other end is closed. The head pipe 6 of the front frame 1 is positioned downward and supported in the arc groove 68. One end of the front frame 1 is provided with a rear connecting seat 10 vertically upward. A downward pressure cylinder 69 is installed on the mounting plate 66 directly above the front frame support positioning fixture 67. The telescopic end of the downward pressure cylinder 69 passes downward through the mounting plate 68 and is arranged coaxially with the upper end of the frame tube 5 of the front frame 1 supported on the front frame support positioning fixture 67.

[0070] A front frame finished product conveying line 70 is arranged between the first press 30 and the second press 31. The front frame finished product conveying line 70 adopts a chain plate conveyor. A front frame finished product positioning fixture 72 is arranged on the front frame finished product conveying line 70. The front frame finished product positioning fixture 72 has the same structure as the front frame main body positioning fixture 39. A finished product front frame grabbing manipulator 71 is arranged between the front frame finished product conveying line 70 and the second press 31. The free end of the finished product front frame grabbing manipulator 71 is connected to a finished product front frame grabbing fixture 73. The finished product front frame grabbing fixture 73 has the same structure as the front frame main body fixture 34.

[0071] The rear frame main body conveying line 28 adopts a chain conveyor, and a rear frame positioning fixture 74 is installed on the rear frame main body conveying line 28. The rear frame positioning fixture 74 includes three first positioning blocks 75 arranged in an isosceles triangle, wherein the two first positioning blocks 75 located at the bottom corners are provided with first positioning grooves 76 for supporting the horizontal section of the D-shaped frame 15, and the first positioning block 75 located at the top corner is provided with a second positioning groove 77 for supporting the rear frame tube 14.

[0072] A rear frame limiting fixture 87 is installed on one side of the output end of the rear frame main body conveyor line 28 through a support platform 86. The front end of the rear frame main body 3 is positioned downward on the rear frame limiting fixture 87. The rear frame limiting fixture 87 includes a vertical bracket 88. Both sides of the upper end of the vertical bracket 88 are provided with symmetrically arranged limiting positioning blocks 89. The limiting positioning blocks 89 are provided with positioning grooves 90 with openings facing downward and cooperating with the horizontal section of the D-shaped frame 15.

[0073] A rear frame tube plug vibration plate 91 is installed on the support platform 86 on one side of the rear frame limit fixture 89, and the output end of the rear frame tube plug vibration plate 91 is connected to a rear frame tube plug conveying guide rail 92, and the end of the rear frame tube plug conveying guide rail 92 is closed and extends to the lower part of the rear frame 3 positioned on the rear frame limit fixture 87. Openings are provided on both sides of the end of the rear frame tube plug conveying guide rail 92 to form a rear frame tube plug discharge guide groove 93, and a third top plate 96 is provided at one end of the rear frame tube plug discharge guide groove 93. A rear frame tube plug positioning groove 97 that matches the rear frame tube plug discharge guide groove 93 is provided on one side of the upper end surface of the third top plate 96 close to the rear frame tube plug discharge guide groove 93, and a third pushing cylinder 94 is provided at the other end of the inner plug discharge guide groove 93. The output end of the three-pushing cylinder 94 is connected to the third pushing plate 95, and the third pushing cylinder 94 is used to push a rear frame tube plug 16 at the end of the rear frame tube plug conveying guide rail 92 into the rear frame tube plug positioning groove 97. A rear frame tube plug discharging cylinder 181 for driving the third pushing plate 95 to discharge upward is installed on the supporting platform 86 below the third pushing plate 95. The rear frame tube 14 of the rear frame body 3 positioned on the rear frame limiting fixture 87 is coaxially arranged with the rear frame tube plug 16 in the rear frame tube plug positioning groove 97. The structure of the rear frame tube plug 16 is the same as that of the upper tube plug 7. The cover plate support of the rear frame tube plug 16 is positioned in the rear frame tube plug positioning groove 97, and the plug body of the rear frame tube plug 16 protrudes upward from the rear frame tube plug positioning groove 97.

[0074] A second workbench 78 is provided between the rear frame body conveyor line 28 and the rear wheel conveyor line 29, a rear frame body grabbing mechanical arm 79 is provided between the output end of the rear frame body conveyor line 28 and the second workbench 78, a rear frame body grabbing mechanical arm 79 is connected to the free end of the rear frame body grabbing mechanical arm 79 with a rear frame body grabbing fixture 80, the rear frame body grabbing fixture 80 comprises a fixed mounting plate 81, one end of the fixed mounting plate 81 is connected to a positioning seat 82 for positioning the horizontal section of the D-shaped frame 15, the positioning seat 82 is provided with a groove 83 matching the horizontal section of the D-shaped frame 15, the other end of the fixed mounting plate 81 is connected to a second clamping cylinder 84, and a clamping groove 85 for clamping the rear frame tube 14 is provided between the clamping ends of the second clamping cylinder 84.

[0075] On the left side of the second workbench 78, there is a rear-wheel assembly and a rear-wheel axle gripping robot arm 98. The free end of the rear-wheel assembly and the rear-wheel axle gripping robot arm 98 is connected to a rear-wheel assembly and a rear-wheel axle fixture 99. The rear-wheel assembly and the rear-wheel axle fixture 99 include a fixed connection plate 100. One end of the fixed connection plate 100 is connected to a fixed seat 101 for positioning the horizontal section of the D-shaped frame 15. The outside of the fixed seat 101 is connected to a U-shaped frame 102. On both opposite sides of the U-shaped frame 102, there are second clamping cylinders 103 for gripping the rear-wheel axle 24. On the inner side of the fixed seat 101, there is a groove 104 that cooperates with the horizontal section of the D-shaped frame 15. The other end of the fixed connection plate 100 is connected to a third clamping cylinder 105. The clamping end of the third clamping cylinder 105 is provided with a clamping groove for clamping the rear frame tube 14.

[0076] On one side of the rear-wheel assembly and the rear-wheel axle gripping robot arm 98, there is a rear-wheel axle feeding device 106. The rear-wheel axle feeding device 106 includes a support frame 107. A square feeding box 108 is installed on the support frame 107. An inclined downward guide plate 109 is arranged in the square feeding box 108. The guide plate 109 divides the square feeding box 108 into a storage bin 110 located above and a discharge bin 111 located below. The rear-wheel axle 24 is arranged in the storage bin 110. A vertical discharge slot 112 is arranged at the low end of the storage bin 110. The discharge slot 112 extends downward into the discharge bin 111. Two spaced positioning support blocks 116 are arranged directly below the discharge slot 112. An opening slot 117 for supporting and placing the rear-wheel axle 24 is arranged on the positioning support blocks 116. A discharge cylinder 113 is installed in the discharge bin 111. The output end of the discharge cylinder 113 is connected to a push plate 114. The push plate 114 is installed in the discharge bin 111 through a linear guide rail 115. The two positioning support blocks 116 are connected to the front end of the push plate 114. A side discharge port 118 for facilitating the forward discharge of the rear-wheel axle 24 supported on the positioning support blocks 116 is arranged on the outer wall of the discharge bin 111 in front of the two positioning support blocks 116.

[0077] As a further description of this embodiment, the gap between the lower end face of the discharge slot 112 and the positioning support block 116 is smaller than the diameter of the rear-wheel axle 24, ensuring that only one rear-wheel axle 24 is discharged each time.

[0078] A left gasket shell feeding mechanism 182 and a right gasket shell feeding mechanism 183 are installed on one side of the second workbench 118 close to the rear frame main body conveyor line 28, and the right gasket shell feeding mechanism 183 includes a right gasket shell vibrating plate 120, and the output end of the right gasket shell vibrating plate 120 is connected to a right gasket shell conveying guide rail 121 for conveying to the left side, and the end of the right gasket shell conveying guide rail 121 is closed, and openings are provided on both sides of the end to form a right gasket shell discharge trough 122, and a fourth top plate 124 is provided at one end of the right gasket shell discharge trough 122, and the upper end surface of the fourth top plate 124 is close to the right gasket One side of the shell discharge trough 122 is provided with a right gasket shell positioning groove 126 which is matched with the right gasket shell discharge trough 124, and the other end of the right gasket shell discharge trough 122 is provided with a fourth pushing cylinder 123 for pushing a right gasket shell 19 at the end of the right gasket shell conveying guide rail 121 into the right gasket shell positioning groove 126. The right gasket shell 19 includes a circular gasket 127, and the circular gasket 127 is circumferentially connected with an arc shell 128. The circular gasket 127 of the right gasket shell 19 is supported and positioned in the right gasket shell positioning groove 126, and the arc shell of the right gasket shell 19 protrudes upward from the right gasket shell positioning groove 126.

[0079] The left gasket feeding shell mechanism 182 includes a left gasket shell vibrating plate 119, the output end of the left gasket shell vibrating plate 119 is connected to a left gasket shell conveying guide rail 129 for conveying to the left, the end of the left gasket shell conveying guide rail 129 is closed, and openings are provided on both sides of the end to form a left gasket shell discharge trough 130, one end of the left gasket shell discharge trough 130 is provided with a fifth top plate 132, and the side of the fifth top plate 132 close to the left gasket shell discharge trough 130 is provided with a left gasket shell discharge trough 130. The groove 130 corresponds to the left gasket shell positioning groove 134, and the other end of the left gasket shell discharge groove 134 is provided with a fifth pushing cylinder 131 for pushing a left gasket shell 18 at the end of the left gasket shell conveying guide rail 129 into the left gasket shell positioning groove 134; the left gasket shell 18 has the same structure as the right gasket shell 19, the circular gasket support of the left gasket shell 18 is positioned in the left gasket shell positioning groove 134, and the arc-shaped shell of the left gasket shell 18 protrudes upward from the left gasket shell positioning groove 134.

[0080] A rear axle positioning ring feeding mechanism 185 and an axle clamp feeding mechanism 186 are arranged on the second workbench 118 near the rear wheel conveyor line 29, and a rear wheel end cover feeding mechanism 187 is arranged in the middle of the second workbench 118, wherein the rear axle positioning ring feeding mechanism 185 comprises a rear axle positioning ring vibrating disk 135, and the output end of the rear axle positioning ring vibrating disk 135 is connected to a rear axle positioning ring guide rail 138 which is closed at the end and conveyed to the left side, and the axle clamp feeding mechanism 186 comprises an axle clamp vibrating disk 136, and the output end of the axle clamp vibrating disk 136 is connected to an axle clamp conveying guide rail 139 which is closed at the end and conveyed to the left side, and the rear wheel end cover feeding mechanism 187 comprises a rear wheel end cover vibrating disk 136, and the output end of the rear wheel end cover vibrating disk 136 is connected to a rear wheel end cover conveying guide rail 140 which is closed at the end and conveyed to the left side, and the rear axle positioning ring protrudes upward from the rear axle positioning ring guide rail 138, and the rear wheel end cover protrudes upward from the rear wheel end cover conveying guide rail 140.

[0081] A rear wheel assembly grasping mechanical arm 141, a cylindrical positioning fixture 142, and a rear wheel end cover fixture 175 are also installed on the second workbench 118 near the rear frame and the rear wheel axle grasping mechanical arm 98. The rear wheel end cover fixture 175 is provided with an arc groove that matches the outer end surface of the rear wheel end cover 26. The free end of the rear wheel assembly grasping mechanical arm 141 is connected to a vertically outward connecting plate 172. One side of the connecting plate 172 is connected to a third clamping cylinder 143, and the other side is connected to an electromagnet column 173 arranged vertically relative to the connecting plate 172. A first clamping groove 144 for clamping the rear wheel end cover 26 and a second clamping groove 176 for clamping the rear axle positioning ring are provided between the clamping ends of the third clamping cylinder 143; the cylindrical positioning fixture 1 A center hole 145 for passing the rear wheel axle 24 is provided at the center of 42, and a positioning groove 146 for accommodating the axle clamp 25 and concentric with the center hole 145 is provided at the upper end of the center hole 145. A downward pressure cylinder 147 is provided just above the cylindrical positioning fixture 142, and the telescopic end of the downward pressure cylinder 147 faces downward and is connected to a sleeve 174 for being sleeved on the upper end of the rear wheel axle 24. The sleeve 174 is arranged coaxially with the cylindrical positioning fixture 142. A second telescopic cylinder 148 is provided on one side above the cylindrical positioning fixture 142, and the telescopic end of the second telescopic cylinder 148 is connected to a rear wheel axle clamping cylinder 177 for supporting the rear wheel axle 24, and the clamping end of the rear wheel axle clamping cylinder 177 is provided with a clamping groove that is clearance-matched with the rear wheel axle 24.

[0082] A rear wheel assembly positioning jig 149 is arranged between the rear frame and rear wheel axle grasping mechanical arm 98 and the second press 31, and a rear wheel assembly grasping mechanical arm 150 is arranged between the rear wheel assembly positioning jig 149 and the second press 31. The rear wheel assembly positioning jig 149 includes a base plate 151, and a positioning seat 152 arranged in a left-right symmetrical manner is arranged on the base plate 151. The positioning seat 152 is provided with a semicircular groove 153 for positioning the two rear wheels 4 of the frame assembly 2.

[0083] The free end of the rear wheel assembly grabbing mechanical arm 150 is connected to a rear frame finished product fixture 154 , and the rear frame finished product fixture 154 has the same structure as the rear frame main body fixture 80 .

[0084] The rear wheel conveyor line 29 includes a rear wheel material guide conveyor line 166 and a rear wheel detection conveyor line 167. Both the rear wheel material guide conveyor line 166 and the rear wheel detection conveyor line 167 adopt belt conveyors. Guide plates 188 are connected to both sides of the frame at the output end of the rear wheel material guide conveyor line 166 to form a guide groove 168. The front end width of the guide groove 168 matches the diameter of the rear wheel 4 for positioning the rear wheel 4, and the rear end is set to be a cone with the large mouth facing backwards. The input end of the rear wheel detection conveyor line 167 is aligned with the output end of the guide groove 168, and a CCD visual detection system 170 is set in the middle of the rear wheel detection conveyor line 167.

[0085] The output end of the rear wheel conveyor line 29 is provided with a rear wheel grabbing mechanical arm 155, and the rear wheel grabbing mechanical arm 155 is also located at the front side of the second workbench 118. The free end of the rear wheel grabbing mechanical arm 155 is connected to the rear wheel clamping cylinder 156, and a clamping groove 157 for clamping the rear wheel 4 is provided between the clamping ends of the rear wheel clamping cylinder 156. A third workbench 158 is also provided on the side of the rear wheel grabbing mechanical arm 155 away from the second workbench 118. A hexagonal cover feeding mechanism 189 is installed on the third workbench 158. The hexagonal cover feeding mechanism 189 includes a hexagonal cover vibrating plate 159, and the output end of the hexagonal cover vibrating plate 159 is connected to the hexagonal cover feeding mechanism 189. The end of the hexagonal cover conveying guide rail 160 is connected to a discharge seat 161, and a hexagonal cover positioning groove 162 corresponding to the guide groove end of the hexagonal cover conveying guide rail 160 is provided on the upper end surface of the discharge seat 161 close to the hexagonal cover conveying guide rail 160. The third workbench 158 is also equipped with a hexagonal cover discharge driving cylinder 163 for driving the discharge seat 161 to discharge upward. The hexagonal cover 23 includes a circular bottom plate 164 and a hexagonal nut 165 connected to the circular bottom plate 164. The circular bottom plate 164 of the hexagonal cover 23 is positioned in the hexagonal cover positioning groove 162, and the hexagonal nut 165 protrudes upward from the hexagonal cover positioning groove 162.

[0086] The working process of the present invention is:

[0087] The front frame body 1.1 is manually loaded onto the front frame body positioning fixture 39 of the front frame body conveyor line 27, the rear frame body 3 is manually loaded onto the rear frame positioning fixture 74 of the rear frame body conveyor line 28, and the rear wheel 4 is manually loaded onto the rear wheel conveyor line 29.

[0088] The front frame body grabbing mechanical arm 33 grabs a front frame body 1.1 from the output end of the front frame body conveying line 27 through the front frame body clamp 34, and then sets the lower end of the head pipe 6 of the front frame body 1.1 downwardly just above the lower pipe plug 8 positioned and supported on the first top plate 53, and the upper end of the head pipe 6 abuts against the supporting top plate 49, and then the lower pipe plug lifting driving cylinder 171 drives the lower pipe plug 8 to be pushed into the lower end of the head pipe 6; the front frame body grabbing mechanical arm 33 then sets the upper end of the head pipe 6 of the front frame body 1.1 downwardly just above the upper pipe plug 7 positioned and supported on the second top plate 58, and the lower end of the head pipe 6 abuts against the supporting top plate 49, and then the upper pipe plug lifting driving cylinder 59 drives the upper pipe plug 7 to be pushed into the upper end of the head pipe; The front frame body grabbing robot arm 33 then moves the front frame body 1.1 to the rear frame tube plug loading station 180, and makes one end of the head tube rear connecting seat 10 face upwards, and the lifting cylinder 64 drives the vacuum suction cup 65 to suck a frame tube plug 9 located at the end of the frame tube plug conveying guide rail 62. After sucking, the lifting cylinder 64 returns upward, and then the first telescopic cylinder 63 moves forward and cooperates with the lifting cylinder 64 to push the sucked frame tube plug 9 to the rear frame tube plug loading station 180, and place it in the upper port of the frame tube 5. Finally, the front frame body grabbing robot arm 33 supports the head tube 6 of the front frame body 1.1 downward on the front frame support positioning fixture 67, and then drives the pressing cylinder 69 downward to press the frame tube plug 9 into the upper port of the frame tube 5.

[0089] The front frame main body grabbing mechanical arm 33 places the assembled front frame with the upper pipe plug 7, the lower pipe plug 8 and the frame pipe inner plug 9 on the front frame semi-finished product conveyor line 32, and then manually assembles the safety hook 11 on the rear connecting seat 10 of the front frame through the tension spring 13, and keeps the first rivet hole 12 between the safety hook 11 and the rear connecting seat 10 coaxial, and then manually puts it on the first press 30 to rivet and press riveting, and finally places the assembled front frame on the front frame finished product conveyor line 70.

[0090] While the front frame is being assembled, the rear frame body grabbing mechanical arm 79 grabs a rear frame body 3 from the output end of the rear frame body conveying line 28 through the rear frame body grabbing fixture 80, and then the horizontal section of the D-shaped frame 15 is positioned upwardly in the positioning groove 90 of the limit positioning block 89, and the rear frame tube plug discharging cylinder 181 presses the rear frame tube plug 16 in the rear frame tube plug positioning groove 97 upwardly into the front end of the rear frame tube 14; and then the front connecting seat 17 of the rear frame body 3 is moved to the right washer shell 19 positioned and supported on the fourth top plate 124 and the left washer shell 18 positioned and supported on the fifth top plate 132 by the frame body grabbing mechanical arm 79, and the front ends of the front connecting seat 17 are driven to align the right washer shell 19 and the left washer shell 18 with each other and press down, so that the left washer shell 18 and the right washer shell 19 are pressed onto the front ends of the front connecting seat 17.

[0091] At the same time, the rear wheel assembly grabbing robot arm 141 absorbs an axle clamp 25 from the output end of the axle clamp conveying guide rail 139 through the electromagnet column 173 and places it in the positioning groove 146 of the cylindrical positioning fixture 142. The rear frame and rear wheel axle grabbing robot arm 98 grabs a rear wheel axle 24 from the side discharge port 118 of the rear wheel axle feeding device 106 and places the lower end in the center hole 145 of the cylindrical positioning fixture 142. The second telescopic cylinder 148 drives the rear wheel axle clamping cylinder 177 forward and supports the rear wheel axle 24 through the rear wheel axle clamping cylinder 177. The pressing cylinder 147 drives the sleeve 174 to press the rear wheel axle 24 into the axle clamp 25. Then the rear wheel axle clamping cylinder 177 releases the rear wheel axle, and the second telescopic cylinder 148 drives the rear wheel axle clamping cylinder 177 to return backward.

[0092] The rear wheel grabbing robot arm 155 grabs the rear wheel whose direction has been identified by the CCD visual detection system 170 from the output end of the rear wheel detection conveyor line 167, and aligns the center holes at both ends of the rear wheel 4 concentrically with the hexagonal cover 23 positioned and supported on the discharge seat 161, and then drives the lifting cylinder 163 to press the hexagonal cover 23 into the center holes at both ends of the rear wheel.

[0093] The rear wheel 4 with the hexagonal cover 23 pressed into it is mounted on the rear wheel axle 24 of the cylindrical positioning fixture 142. The rear wheel assembly grasping mechanical arm 141 then grasps a rear axle positioning ring through the third clamping cylinder 143 and mounts it on the rear wheel axle 24. The assembled rear frame body 3 is mounted on the rear wheel axle 24 through the rear frame body grasping mechanical arm 79. The rear wheel assembly grasping mechanical arm 141 then grasps a rear axle positioning ring 21 through the third clamping cylinder 143 and mounts it on the rear wheel axle 24. After that, the rear wheel grasping mechanical arm 155 grasps a rear wheel 4 and presses hexagonal nuts 165 at both ends of the front side and then mounts it on the rear wheel axle 24. , drive the sleeve end of the downward pressure cylinder 147 downward to press the upper rear wheel 4, the upper rear axle positioning ring 21, the D-shaped frame 15, and the lower rear axle positioning ring 21 into place, and then use the rear wheel assembly grasping mechanical arm 141 to absorb an axle clamp 25 from the output end of the axle clamp conveying guide rail 139 through the magnet column 173 and sleeve it on the uppermost end of the rear wheel axle 24, and then use the downward pressure cylinder 147 to drive the sleeve 174 to press the axle clamp 25 onto the upper end of the rear wheel axle 24, and finally use the rear wheel assembly grasping mechanical arm 141 to clamp a rear wheel end cover 26 through the third clamping cylinder 143 and cover it in the center hole located at the outer end of the upper rear wheel 4.

[0094] The rear wheel assembly grasping robot arm 141 grasps a rear wheel end cover 26 through the third clamping cylinder 143 and places it on the rear wheel end cover fixture 175. The rear wheel assembly and rear wheel axle grasping robot arm 98 grasps the rear wheel assembly assembled on the cylindrical positioning fixture 142, and aligns the center of the rear wheel 4 without the rear wheel end cover with the rear wheel end cover 26 of the rear wheel end cover fixture 175 and presses down, thereby completing the overall assembly of the rear wheel assembly to form a finished rear wheel assembly, and at the same time placing the finished rear wheel assembly on the rear wheel assembly positioning fixture 149.

[0095] The finished front frame grabbing robot 71 grabs the transferred front frame product from the conveying end of the front frame finished product conveying line 70 through the finished front frame grabbing fixture 73 and puts it on the second press 31. The rear wheel assembly grabbing robot arm 150 grabs the assembled rear wheel assembly product from the rear wheel assembly positioning fixture 149 and puts it on the second press, and assembles it with the front frame product as a whole, so that one end of the front connecting seat 17 with the washer sleeve is matched and set in the rear connecting seat 10, and the second pin hole 20 between them is concentric, and finally the second press 31 is used to complete the riveting.

[0096] Repeat the above process.

Claims

1. A baby carriage front frame and rear wheel assembly assembly device, characterized in that: It includes a front frame main body conveying line, a rear frame main body conveying line, and a rear wheel output line arranged side by side at intervals, the front frame main body conveying line, the rear frame main body conveying line, and the rear wheel output line are all conveyed from right to left, and a first press and a second press arranged relatively at intervals are arranged on one side of the output ends of the front frame main body conveying line, the rear frame main body conveying line, and the rear wheel output line; The front frame main body conveying line is arranged on a side close to the first press, a front frame semi-finished product conveying line is arranged at the output end of the front frame main body conveying line, and a front frame main body grabbing mechanical arm for grabbing the front frame main body is arranged between the front frame main body conveying line and the front frame semi-finished product conveying line; The output end of the front frame main body conveyor line is provided with a lower pipe plug vibration plate, an upper pipe plug vibration plate, a frame pipe inner plug vibration plate and a first workbench arranged longitudinally above the output end of the front frame main body conveyor line, a supporting top plate arranged at intervals from the first workbench is arranged above one side of the first workbench, and a mounting plate is arranged above the other side; The output end of the lower pipe plug vibration plate is connected to a transversely arranged lower pipe plug conveying guide rail, the end of the lower pipe plug conveying guide rail is closed and extends to the first workbench below the top plate, and openings are arranged on both sides of the end of the lower pipe plug conveying guide rail to form a lower pipe plug discharge trough, a first top plate is arranged at one end of the lower pipe plug discharge trough, a lower pipe plug lifting driving cylinder for driving the first top plate to lift is arranged below the first top plate, a lower pipe plug positioning groove matched with the lower pipe plug discharge trough is arranged on the side of the upper end surface of the first top plate close to the lower pipe plug discharge trough, and a first pushing cylinder for pushing a lower pipe plug at the end of the lower pipe plug conveying guide rail into the lower pipe plug positioning groove is arranged at the other end of the lower pipe plug discharge trough; The output end of the upper pipe plug vibration plate is connected to a transversely arranged upper pipe plug conveying guide rail, the end of the upper pipe plug conveying guide rail is closed and extends to the first workbench below the top plate, and openings are arranged on both sides of the end of the upper pipe plug conveying guide rail to form an upper pipe plug discharge trough, a second top plate is arranged at one end of the upper pipe plug discharge trough, an upper pipe plug lifting and lowering driving cylinder for driving the second top plate to lift is arranged below the second top plate, an upper pipe plug positioning groove matched with the upper pipe plug discharge trough is arranged on one side of the upper end surface of the second top plate close to the upper pipe plug discharge trough, and a second pushing cylinder for pushing an upper pipe plug at the end of the upper pipe plug conveying guide rail into the upper pipe plug positioning groove is arranged at the other end of the upper pipe plug discharge trough; The output end of the frame tube plug vibration plate is connected to a transversely arranged frame tube plug conveying guide rail, the end of the frame tube plug conveying guide rail is closed and extends to the first workbench, a first telescopic cylinder is arranged just above the end of the frame tube plug conveying guide rail, the telescopic end of the first telescopic cylinder is connected to the first lifting cylinder, the telescopic end of the first lifting cylinder faces downward and is connected to a vacuum suction cup, the vacuum suction cup is used to suck the frame tube plug at the end of the frame tube plug conveying guide rail, and a rear frame tube plug loading tool is arranged in front of the output end of the frame tube plug conveying guide rail. The first telescopic cylinder is used to push the frame tube plug sucked by the vacuum suction cup forward along the conveying direction of the frame tube plug conveying guide rail to the rear frame tube plug loading station; the first workbench is also provided with a front frame support positioning fixture located below the mounting plate, the rear end of the front frame is positioned upward on the front frame support positioning fixture, and a downward pressure cylinder is installed on the mounting plate directly above the front frame support positioning fixture, and the telescopic end of the downward pressure cylinder passes through the mounting plate downward and is coaxially arranged with the upper end of the frame tube of the front frame supported on the front frame support positioning fixture; A front frame finished product conveyor line is provided between the first press and the second press, and a finished front frame grabbing manipulator is provided between the front frame finished product conveyor line and the second press; a second workbench is provided between the rear frame main body conveyor line and the rear wheel conveyor line, and a rear frame main body grabbing manipulator is provided between the output end of the rear frame main body conveyor line and the second workbench; A rear frame limiting fixture is installed on one side of the output end of the rear frame main body conveying line through a supporting platform, and the front end of the rear frame is positioned downwardly and arranged on the rear frame limiting fixture; a rear frame tube plug vibration plate is arranged on the supporting platform on one side of the rear frame limiting fixture, and the output end of the rear frame tube plug vibration plate is connected to a rear frame tube plug conveying guide rail, and the end of the rear frame tube plug conveying guide rail is closed and extends to the bottom of the rear frame positioned on the rear frame limiting fixture, and openings are arranged on both sides of the end of the rear frame tube plug conveying guide rail to form a rear frame tube plug discharge guide groove, and a third top is arranged at one end of the rear frame tube plug discharge guide groove. A rear frame tube inner plug discharging guide groove is provided on one side of the upper end surface of the third top plate close to the rear frame tube inner plug discharging guide groove, and a rear frame tube inner plug positioning groove is matched with the rear frame tube inner plug discharging guide groove, and the other end of the inner plug discharging guide groove is provided with a third pushing cylinder for pushing a rear frame tube inner plug in the rear frame tube inner plug discharging guide groove into the rear frame tube inner plug positioning groove, and a rear frame tube inner plug discharging cylinder for driving the third pushing plate to discharge upward is installed on the supporting platform below the third pushing plate, and the rear frame tube of the rear frame main body positioned on the rear frame limiting fixture is vertically downward and arranged coaxially with the rear frame tube inner plug in the rear frame tube inner plug positioning groove; A rear wheel assembly and rear wheel axle grabbing mechanical arm for grabbing the rear wheel assembly and the rear wheel axle is arranged on the left side of the second workbench, and a rear wheel axle feeding device for outputting the rear wheel axle is arranged on one side of the rear wheel assembly and rear wheel axle grabbing mechanical arm; The second workbench on the side close to the rear frame main body conveyor line is provided with a left washer shell feeding mechanism and a right washer shell feeding mechanism, the second workbench on the side close to the rear wheel conveyor line is provided with a rear axle positioning ring feeding mechanism and an axle clamp feeding mechanism, and the middle part of the second workbench is provided with a rear wheel end cover feeding mechanism; A cylindrical positioning fixture for positioning and supporting the rear wheel assembly, a rear wheel end cover fixture for positioning and supporting the rear wheel end cover, and a rear wheel assembly grasping mechanical arm for grasping the rear axle positioning ring, the axle clamp and the rear wheel end cover are also installed on the second workbench near the rear frame and the rear wheel axle grasping mechanical arm. A downward pressure cylinder is arranged directly above the cylindrical positioning fixture. The telescopic end of the downward pressure cylinder faces downward and is connected to a sleeve for being sleeved on the upper end of the rear wheel axle. The sleeve is arranged coaxially with the cylindrical positioning fixture. A second telescopic cylinder is arranged on one side above the cylindrical positioning fixture. The telescopic end of the second telescopic cylinder is connected to a rear wheel axle clamping cylinder connected to a telescopic end for holding the rear wheel axle. The clamping end of the rear wheel axle clamping cylinder is provided with a clamping groove that matches the clearance of the rear wheel axle. A rear wheel assembly positioning fixture is arranged between the rear frame and the rear wheel axle grabbing mechanical arm and the second press, and a rear wheel assembly grabbing mechanical arm is arranged between the rear wheel assembly positioning fixture and the second press; The output end of the rear wheel conveyor line is provided with a rear wheel grabbing mechanical arm, and a third workbench is also provided on the side of the rear wheel grabbing mechanical arm away from the second workbench, and a hexagonal cover feeding mechanism is installed on the third workbench; The rear wheel axle feeding device comprises a support frame, a square feeding box is installed on the support frame, a guide plate arranged obliquely downward is arranged in the square feeding box, the guide plate divides the square feeding box into a storage bin located at the top and a discharge bin located at the bottom, a vertical discharge trough is arranged at the lower end of the storage bin, the discharge trough extends downward into the discharge bin, two spaced positioning support blocks are arranged directly below the discharge trough, an opening groove for supporting and placing the rear wheel axle is arranged on the positioning support block, and a gap between the lower end surface of the discharge trough and the positioning support block is smaller than the diameter of the rear wheel axle; A discharging cylinder is installed in the discharging bin, and a push plate is connected to the output end of the discharging cylinder. The push plate is installed in the discharging bin through a linear guide rail. Two positioning support blocks are connected to the front end of the push plate. A side discharging port is provided on the outer wall of the discharging bin in front of the two positioning support blocks to facilitate the forward discharging of the rear wheel shaft supported by the positioning support blocks; The hexagonal cap feeding mechanism comprises a hexagonal cap vibrating plate, the output end of the hexagonal cap vibrating plate is connected to a hexagonal cap conveying guide rail, the end of the hexagonal cap conveying guide rail is butted with a discharging seat, a side of the upper end surface of the discharging seat close to the hexagonal cap conveying guide rail is provided with a hexagonal cap positioning groove corresponding to the end of the guide groove of the hexagonal cap conveying guide rail, and a hexagonal cap discharging driving cylinder for driving the discharging seat to discharge upward is also installed on the third workbench; The free end of the rear wheel grabbing mechanical arm is connected to a rear wheel clamping cylinder; The rear wheel assembly positioning fixture comprises a bottom plate, on which positioning seats are arranged symmetrically on both sides, and the positioning seats are provided with semicircular grooves, and the semicircular grooves on the positioning seats on both sides are used to position and place the two rear wheels of the rear wheel assembly; The rear wheel conveyor line includes a rear wheel material guide conveyor line and a rear wheel detection conveyor line. Both the rear wheel material guide conveyor line and the rear wheel detection conveyor line adopt belt conveyors. Guide plates are connected to both sides of the frame at the output end of the rear wheel material guide conveyor line to form a guide groove. The front end width of the guide groove matches the diameter of the rear wheel for rear wheel positioning, and the rear end is set to be a cone with the large mouth facing backwards. The input end of the rear wheel detection conveyor line is aligned with the output end of the rear wheel guide positioning groove. A CCD visual detection system is arranged in the middle of the rear wheel detection conveyor line.

2. The front frame and rear wheel assembly assembly equipment for a baby carriage according to claim 1, characterized in that: The front frame support positioning fixture is provided with an arc groove matched with the head pipe of the front frame body, one end of the arc groove is open and the other end is closed; The rear frame limiting fixture comprises a vertical bracket, and symmetrically arranged limiting positioning blocks are connected to both sides of the upper end of the vertical bracket. The limiting positioning blocks are provided with positioning grooves with downward openings and matched with the horizontal sections of the D-shaped frame.

3. The front frame and rear wheel assembly assembly equipment for a baby carriage according to claim 1, characterized in that: The left gasket feeding shell mechanism comprises a left gasket shell vibrating plate, the output end of the left gasket shell vibrating plate is connected to a left gasket shell conveying guide rail for conveying to the left, the end of the left gasket shell conveying guide rail is closed, and openings are arranged on both sides of the end to form a left gasket shell discharging trough, a fifth top plate is arranged at one end of the left gasket shell discharging trough, a left gasket shell positioning groove matched with the left gasket shell discharging trough is arranged on one side of the fifth top plate close to the left gasket shell discharging trough, and a fifth pushing cylinder for pushing a left gasket shell at the end of the left gasket shell conveying guide rail into the left gasket shell positioning groove is arranged at the other end of the left gasket shell discharging trough; The right gasket shell feeding mechanism comprises a right gasket shell vibrating plate, the output end of the right gasket shell vibrating plate is connected to a right gasket shell conveying guide rail for conveying to the left side, the end of the right gasket shell conveying guide rail is closed, and openings are arranged on both sides of the end to form a right gasket shell discharging trough, a fourth top plate is arranged at one end of the right gasket shell discharging trough, a right gasket shell positioning groove matched with the right gasket shell discharging trough is arranged on one side of the upper end surface of the fourth top plate close to the right gasket shell discharging trough, and a fourth pushing cylinder for pushing a right gasket shell at the end of the right gasket shell conveying guide rail into the right gasket shell positioning groove is arranged at the other end of the right gasket shell discharging trough; The rear axle positioning ring feeding mechanism includes a rear axle positioning ring vibrating plate, the output end of the rear axle positioning ring vibrating plate is connected to a rear axle positioning ring guide rail with a closed end and conveying to the left side, the axle clamp feeding mechanism includes an axle clamp vibrating plate, the output end of the axle clamp vibrating plate is connected to an axle clamp conveying guide rail with a closed end and conveying to the left side, and the rear wheel end cover feeding mechanism includes a rear wheel end cover vibrating plate, the output end of the rear wheel end cover vibrating plate is connected to a rear wheel end cover conveying guide rail with a closed end and conveying to the left side.

4. The front frame and rear wheel assembly assembly equipment for a baby carriage according to claim 1, characterized in that: The free end of the front frame main body grabbing mechanical arm is connected to the front frame main body clamp, and the front frame main body clamp includes a connecting seat connected to the front frame main body grabbing mechanical arm, one end of the connecting seat is connected to a fixed backer for positioning the rear end of the front frame, and the other end is connected to a first clamping cylinder for clamping the frame tube; The free end of the finished product front frame grabbing manipulator is connected with a finished product front frame grabbing fixture, and the finished product front frame grabbing fixture has the same structure as the front frame main body fixture.

5. The front frame and rear wheel assembly assembly equipment for a baby carriage according to claim 1, characterized in that: The free end of the rear frame main body gripping robotic arm is connected to a rear frame main body gripping fixture. The rear frame main body gripping fixture includes a fixed mounting plate connected to the free end of the rear frame main body gripping robotic arm. One end of the fixed mounting plate is connected to a positioning seat for positioning the horizontal section of the D-shaped frame. A groove matching the horizontal section of the D-shaped frame is provided on the positioning seat. The other end of the fixed mounting plate is connected to a second clamping cylinder for clamping the rear frame tube. The free end of the rear wheel assembly gripping robotic arm is connected to a rear wheel assembly gripping fixture, and the structure of the rear wheel assembly gripping fixture is the same as that of the rear frame main body gripping fixture.

6. The front frame and rear wheel assembly assembly equipment for a baby carriage according to claim 1, characterized in that: The free end of the rear wheel assembly part gripping robotic arm is connected to a vertically outward connecting plate. On one side of the connecting plate, a fourth clamping cylinder is connected, and on the other side, an electromagnet column perpendicular to the opposite connecting plate is connected. Between the clamping ends of the fourth clamping cylinder, there is a first clamping groove for clamping the rear wheel end cap and a second clamping groove for clamping the rear axle positioning ring. A central hole for passing the rear wheel axle is provided in the center of the cylindrical positioning jig, and a positioning groove for accommodating the shaft clip and arranged coaxially with the central hole is provided at the upper end of the central hole.

7. The front frame and rear wheel assembly assembly equipment for a baby carriage according to claim 1, characterized in that: The free end of the rear wheel assembly and rear axle gripping robotic arm is connected to a rear wheel assembly and rear axle fixture. The rear wheel assembly and rear axle fixture includes a fixed connecting plate. One end of the fixed connecting plate is connected to a fixed seat for positioning the horizontal section of the D-shaped frame. A U-shaped frame is connected to the outside of the fixed seat. Second clamping cylinders for clamping the rear axle are arranged on both opposite sides of the U-shaped frame. A groove matching the horizontal section of the D-shaped frame is provided on the inner side of the fixed seat. The other end of the fixed connecting plate is connected to a third clamping cylinder for clamping the rear frame tube.

8. The front frame and rear wheel assembly assembly equipment for a baby carriage according to claim 1, characterized in that: On the front frame main body conveying line, there is a front frame main body positioning jig. The front frame main body positioning jig includes a head tube positioning seat and a rear connecting seat positioning block arranged along the width direction of the front frame conveying line. A positioning boss matching the lower port of the head tube is provided on the head tube positioning seat, and the upper end of the positioning boss is spherical. An open groove for positioning the rear connecting seat along the width direction is provided on the rear connecting seat positioning seat. The rear frame main body conveying line uses a chain plate conveyor. On the rear frame main body conveying line, there is a rear frame positioning fixture. The rear frame positioning fixture includes three first positioning blocks arranged in an isosceles triangle. Among them, on the two first positioning blocks at the base angles, there are first positioning grooves for supporting the horizontal section of the D-shaped frame, and on the first positioning block at the apex angle position, there is a second positioning groove for supporting the rear frame tube. The front frame finished product conveying line uses a chain plate conveyor. On the front frame finished product conveying line, there is a front frame finished product positioning jig, and the structure of the front frame finished product positioning jig is the same as that of the front frame main body positioning jig.

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