Assembly equipment for circuit breaker triggering device

Abstract

The present invention belongs to the technical field of circuit breaker assembly machines, and specifically relates to an assembly device for a circuit breaker trigger device. The trigger device assembly device provided by the present invention is respectively preset with reference posture information of a handle and a rotating part. During assembly, the feeding module first outputs the handle and the rotating part that conform to the reference posture, and then the transfer module first transfers the handle to the flipping device, so that the flipping device first flips the handle that conforms to the reference posture into an assembly posture. The mounting groove of the handle in the assembly posture faces upward, so that the transfer module can install the rotating part that conforms to the reference posture into the mounting groove, thereby realizing the combination of the handle and the rotating part, and then the transfer module assembles the combined handle and rotating part into the lower shell together, solving the problem in the prior art that it is impossible to realize the automatic combination of the rotating part and the handle, and to assemble the combined rotating part and handle into the lower shell.

Description

Technical Field

[0001] The present invention belongs to the technical field of circuit breaker assembly machines, and in particular relates to assembly equipment for a circuit breaker triggering device. Background Art

[0002] A circuit breaker is a switching device that can close, carry and interrupt the current under normal circuit conditions and can close, carry and interrupt the current under abnormal circuit conditions within a specified time. A circuit breaker generally includes Figure 1 The upper shell 01, lower shell 022, locking device 03, first spring 04, second spring 05, arc extinguishing device 06, electromagnetic release 07, and trigger device 08 shown in the figure need to be installed in a specific posture during assembly. It is currently difficult to use automated equipment to assemble them. Among them, the trigger device includes a handle and a rotating part assembled on the handle. Due to the special shape of the handle, the posture in which it can be stably placed is different from the assembly posture. In addition, the rotating part needs to be installed into the handle when the handle is in the assembly posture. Therefore, the current trigger device is usually assembled manually. This assembly method not only consumes manpower and material resources, but also has low efficiency. It has the defects of unstable assembly quality and high cost, and cannot meet the production needs of enterprises. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art in which a circuit breaker trigger device is assembled manually, and to provide an assembly device that can realize automatic assembly of the trigger device.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A circuit breaker trigger device assembly device involves a trigger device comprising a handle and a rotating member, the handle comprising a rotating portion and a toggle portion, the rotating portion being provided with a mounting groove for mounting the rotating member, the assembly device comprising a control module, two feeding modules, a material channel, a flipping device and a transfer module, the control module storing reference posture information of the handle and the rotating member, the two feeding modules respectively outputting a handle and a rotating member conforming to the reference posture, the material channel being used to convey the circuit breaker lower shell, the flipping device being used to flip the handle from the reference posture to an assembly posture, the transfer module being used to transfer the handle conforming to the reference posture output by the feeding module to the flipping device for flipping, and assembling the rotating member conforming to the reference posture output by the feeding module to the flipping device, and then assembling the assembled handle and rotating member together into the lower shell.

[0006] The trigger device assembly equipment provided by the present invention is respectively preset with reference posture information of the handle and the rotating part. During assembly, the handle and the rotating part that meet the reference posture are first output by the feeding module, and then the transfer module first transfers the handle to the flipping device, so that the flipping device first flips the handle that meets the reference posture into the assembly posture. The mounting groove of the handle in the assembly posture faces upward, so the transfer module can install the rotating part that meets the reference posture into the mounting groove, thereby realizing the combination of the handle and the rotating part, and then the transfer module assembles the combined handle and rotating part together into the lower shell. The assembly equipment of the present invention outputs the handle in the reference posture according to the characteristic that the handle is easy to be stably output in the reference posture, and converts the handle in the reference posture into the assembly posture by setting a flipping device, thereby meeting the conditions for combination with the rotating part and meeting the requirements of subsequent assembly to the lower shell, which perfectly solves the problem in the prior art that it is impossible to realize the automatic combination of the rotating part and the handle, and to assemble the combined rotating part and handle in the lower shell.

[0007] Furthermore, the flipping device includes a rotating seat and a rotating mechanism that drives the rotating seat to flip, the rotating seat is provided with a first mounting post and a second mounting post, the rotating part is provided with a first positioning hole corresponding to the first mounting post, and the toggle part is provided with a second positioning hole corresponding to the second mounting post, the transfer module transfers the handle to the rotating seat so that the first mounting post is inserted into the first positioning hole, and the second mounting post is inserted into the second positioning hole. Before flipping the handle, the orientation of the first mounting post and the second mounting post corresponds to the first positioning hole and the second positioning hole when in the reference posture. Therefore, after the transfer module grabs the handle output by the feeding module, it can directly install the handle into the flipping device by aligning the above-mentioned positioning holes and mounting posts, and the operation is very convenient.

[0008] Furthermore, the transfer module includes a first gripper, which includes a liftable first clamping claw, which includes two clamping arms arranged opposite to each other, and the bottom ends of the clamping arms are respectively provided with hollow structures corresponding to the first positioning holes. When clamping the handle, the clamping arms are clamped on both sides of the rotating part so that the hollow structure is aligned with the first positioning hole, and the toggle part is located outside the clamping arms, thereby assembling the handle on the rotating seat. The above-mentioned first clamping claw is specially provided with a hollow structure for the first positioning hole on the rotating part. Since the handle structure is small, the above-mentioned hollow structure is provided so that the first clamping claw can directly clamp on both sides of the larger rotating part when clamping the handle. Therefore, the tightness during clamping can be further enhanced without affecting the cooperation between the first positioning hole and the first mounting column.

[0009] Furthermore, the first gripper also includes a liftable second gripper, which is used to clamp the handle and rotating part assembled on the rotating seat. By setting the second gripper, the working efficiency of the first gripper can be improved. The first gripper is specifically used to clamp the handle output by the feeding module, and the second gripper is specifically used to clamp the rotating part and handle that have been assembled on the rotating seat, thereby optimizing the working rhythm of the first gripper and reducing unnecessary movements of the transfer module.

[0010] Furthermore, the transfer module also includes a second gripper, which includes a liftable third gripper, and the third gripper is used to clamp the rotating part output by the feeding module that conforms to the reference posture. By setting the second gripper, the working efficiency of the transfer module can be improved. The second gripper is specifically used to clamp the rotating part output by the feeding module, thereby optimizing the working rhythm of the first gripper and reducing unnecessary movements of the transfer module.

[0011] Furthermore, a fixed seat is respectively connected between the first mounting column, the second mounting column and the rotating seat, and the fixed seat leaves a preset gap between the handle mounted on the rotating seat and the rotating seat. The gap is used to allow the first clamping jaw to have enough space to exit from between the mounting column and the rotating seat after transferring the handle.

[0012] Furthermore, both feeding modules include a blanking device, a vibration device and a visual recognition unit, the vibration device includes a vibration plate connected to the blanking device and a vibration mechanism, the blanking device is used to transmit a handle or rotating part to the vibration plate, the vibration plate vibrates the handle or rotating part through the vibration mechanism, the visual recognition unit obtains the posture of the handle or rotating part in the vibration plate, and sends a feedback signal when there are at least n handles or rotating parts in the vibration plate whose current posture is the same as the reference posture, the feedback signal includes coordinate information of the handle or rotating part that conforms to the reference posture, the control module stops the vibration device according to the feedback signal, and drives the transfer module to grab the handle that conforms to the reference posture in the vibration plate. Or rotating parts, by setting a blanking device and a vibration device, the handles and rotating parts are vibrated to a reference posture by the vibration device after being unloaded, and the number of parts that meet the reference posture is monitored by setting a visual recognition unit. When only the handles and rotating parts that meet the conditions meet a certain number, they will be fed back to the control module, and the control module will stop the vibration of the vibration disk and control the transfer module to grab the handles and rotating parts that meet the reference posture. When the visual recognition unit feeds back a signal to the control module, it will also feed back the coordinates of the handles and rotating parts that meet the reference posture to the control module, driving the transfer module to adjust its orientation according to the current coordinate information of the grabbed handles and rotating parts to realize automatic assembly, so as to improve production efficiency, reduce costs and improve assembly quality.

[0013] Furthermore, the unloading device includes a bracket, a hopper mounted on the bracket so as to swing up and down, and a swinging mechanism connected to the hopper. A discharge port is provided at the end of the hopper. The swinging mechanism selectively drives the hopper to swing downward, thereby intermittently transmitting a handle or rotating part to the vibrating disk. The arrangement of the hopper can realize intermittent feeding and prevent the accumulation of parts.

[0014] Furthermore, the unloading device also includes a hopper arranged on the lower side of the silo, the upper and lower ends of the hopper are open, the inner wall of the hopper is provided with a material guide wall that gradually narrows from top to bottom, and the lower end opening of the hopper is connected to a material guide trough extending toward the vibration disk. The hopper and the material guide trough can guide the handle and rotating part to the vibration disk to prevent parts from falling directly from the silo and being damaged.

[0015] Furthermore, the hopper includes a mounting frame, a material tray and a positioning cylinder. Two slots are oppositely provided on the lower side of the mounting frame. The opposite ends of the material tray are respectively provided with flanges corresponding to the slots. The material tray is inserted between the two slots so that the flanges are supported on the slots. There are two positioning cylinders, which are respectively fixed on the two opposite corners of the mounting frame corresponding to the material tray. The output ends of the two positioning cylinders selectively press the flanges downward to fix the material tray on the slot. The arrangement of the hopper is convenient for replenishing handles and rotating parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of the circuit breaker;

[0017] Figure 2 It is a structural diagram of the assembly equipment;

[0018] Figure 3 Schematic diagram of the structure of the first gripper and the second gripper;

[0019] Figure 4 A schematic diagram of the structure in which the first clamping jaw grips the handle and prepares to install the handle into the rotating seat;

[0020] Figure 5 A schematic diagram of the handle being installed in the rotating base in a reference posture and before being flipped over;

[0021] Figure 6 A schematic diagram of the flipping device flipping the handle to the assembly posture;

[0022] Figure 7 This is a schematic diagram of the rotating part after the handle is installed. DETAILED DESCRIPTION

[0023] The specific embodiments of the present invention are described below with reference to the accompanying drawings.

[0024] See also Figure 1 、 Figure 2 and Figure 7 The components of the circuit breaker involved in the present invention include an upper shell 01, a lower shell 02, a locking device 03, a first spring 04, a second spring 05, an arc extinguishing device 06, an electromagnetic release 07 and a trigger device 08. The trigger device 08 includes a handle 081 and a rotating part 082. The handle 081 includes a rotating part 083 and a toggle part 084. The rotating part 083 is provided with a mounting groove 085 for mounting the rotating part 082. The assembly equipment includes a control module, two feeding modules A, a material channel C, a flipping device D and a transfer module B.

[0025] See also Figure 1 and Figure 2 The control module stores the reference posture information of the handle 081 and the rotating part 082. The two feeding modules A are arranged on opposite sides of the transfer module B, respectively used to output the handle 081 and the rotating part 082 that conform to the reference posture. The material channel C is used to transfer the circuit breaker lower shell 02 to the side of the transfer module B. The flipping device D is used to flip the handle 081 from the reference posture to the assembly posture. Figure 5 As shown, the handle 081 is in a reference posture, as shown in FIG. Figure 6 As shown, the handle 081 is in the assembly posture. The transfer module B is used to transfer the handle 081 output by the feeding module A in the reference posture to the flip device D for flipping, and to assemble the rotating member 082 output by the feeding module A in the reference posture into the mounting groove 085 of the flipped handle 081. The assembled handle 081 and rotating member 082 (i.e., the trigger device 08) are then assembled into the lower housing 02.

[0026] See also Figures 2 to 7The transfer module B includes a first gripper B1 and a second gripper B2 that can be raised and lowered. In a specific embodiment, the first gripper B1 and the second gripper B2 are respectively driven to rise and fall by a lifting mechanism, which can be a lifting cylinder. In a specific configuration, the first gripper B1 includes a first clamping jaw B11 and a second clamping jaw B12. The first clamping jaw B11 is used to clamp the handle 081 output by the feeding module A in a reference posture. The second clamping jaw B12 is used to clamp the handle 081 and the rotating member 082 (i.e., the trigger device 08) assembled on the flipping device D. The second gripper B2 includes a third clamping jaw B21. The third clamping jaw B21 is used to clamp the rotating member 082 output by the feeding module A in a reference posture. The above-mentioned clamping jaws can be opened and closed by a cylinder. The first gripper B11, the second gripper B12 and the third gripper B21 are provided to specifically grip corresponding parts, thereby optimizing the working rhythm of the first gripper B1 and the second gripper B2 and reducing unnecessary movements of the transfer module B. In a specific embodiment, the transfer module B adopts a SCARA robot body, and the first gripper B1 and the second gripper B2 are connected to the output end of the SCARA robot. The SCARA robot drives the output end to rotate, thereby driving the first gripper B1 and the second gripper B2 to rotate to achieve the gripping of different parts.

[0027] See also Figures 2 to 7 The flip device D includes a rotating seat D1 and a rotating mechanism D2 for driving the rotating seat D1 to rotate. The rotating mechanism D2 can be an existing motor or a rotary cylinder. A first mounting post D3 and a second mounting post D4 are provided on the rotating seat D1. The rotating portion 083 is located in the mounting groove 085 and is provided with a first positioning hole 086 corresponding to the first mounting post D3. The toggle portion 084 is provided with a second positioning hole 087 corresponding to the second mounting post D4. The transfer module B transfers the handle 081 to the rotating seat D1 so that the first mounting post D3 is inserted into the first positioning hole 086 and the second mounting post D4 is inserted into the second positioning hole 087. In the positioning hole 087, before flipping the handle 081, the orientations of the first mounting column D3 and the second mounting column D4 correspond to the first positioning hole 086 and the second positioning hole 087 when in the reference posture. Therefore, after the transfer module B grabs the handle 081 output by the feeding module A, it can directly install the handle 081 into the flipping device D by aligning the above-mentioned positioning holes and mounting columns. The operation is very convenient. At the same time, since the rotating part 082 is provided with an axial hole, when the rotating part 082 and the handle 081 are combined, they can be positioned and installed through the first mounting column D3, that is, the rotating part 082 is sleeved on the first mounting column D3 through the axial hole.

[0028] See also Figures 2 to 7The first clamping jaw B11 includes two clamping arms B13 arranged opposite to each other, and the bottom ends of the clamping arms B13 are respectively provided with hollow structures B14 corresponding to the first positioning holes 086. When clamping the handle 081, the clamping arms B13 are clamped on both sides of the rotating part 083, so that the hollow structure B14 is aligned with the first positioning hole 086, and the toggle part 084 is located outside the clamping arms B13, thereby assembling the handle 081 on the rotating seat D1. The above-mentioned first clamping jaw B11 is specially provided with a hollow structure B14 for the first positioning hole 086 on the rotating part 083. Since the structure of the handle 081 is relatively small, by providing the above-mentioned hollow structure B14, the first clamping jaw B11 can directly clamp on both sides of the larger rotating part 083 when clamping the handle 081 without blocking the first positioning hole 086. Therefore, the tightness during clamping can be further enhanced without affecting the cooperation between the first positioning hole 086 and the first mounting column D3.

[0029] See also Figure 4 A fixed seat D5 is respectively connected between the first mounting column D3, the second mounting column and the rotating seat D1. The fixed seat D5 leaves a preset gap between the handle 081 mounted on the rotating seat D1 and the rotating seat D1. The gap is used to allow the first clamping jaw B11 to have enough space to exit from between the mounting column and the rotating seat D1 after transferring the handle 081.

[0030] See also Figure 2 In a specific embodiment, the two feeding modules A each include a blanking device 1, a vibration device 2 and a visual recognition unit 3. Each vibration device 2 includes a vibration disk 21 and a vibration mechanism 22 connected to the corresponding blanking device 1. The blanking device 1 transmits the corresponding parts to the vibration disk 21. The parts refer to the above-mentioned handle 081 or rotating part 082. The vibration disk 21 vibrates the parts through the vibration mechanism 22. The visual recognition unit 3 is used to obtain the current posture of the parts in the vibration disk 21. The visual recognition unit 3 includes a camera module 31 for taking images. The camera module 31 is vertically arranged above the vibration disk 21.

[0031] When there are at least n components in the vibration disk 21 whose current posture is the same as the reference posture, the visual recognition unit 3 sends a feedback signal to prompt the control module to stop the vibration device 2 and drive the transfer module B to grab the components in the vibration disk 21 that meet the reference posture. The feedback signal includes the coordinate information of the components that meet the reference posture. The above-mentioned n ranges from 2 to 5, preferably 3. In a specific embodiment, when the number of parts meets the above conditions, the transfer module B transfers all the parts that meet the reference posture, and the control module controls the vibration disk 21 to vibrate again. In another specific embodiment, when the number of parts meets the above conditions, the transfer module B transfers one of the parts that meet the reference posture, and the control module controls the vibration disk 21 to start vibrating again. For example, after the transfer module B grabs the handle 081 output by a feeding module A, the feeding module B immediately vibrates again, and at the same time, the transfer module B transfers to another feeding module A to grab the rotating part 082 output by the feeding module B. When the transfer module B completes the grabbing of the rotating part 082, the corresponding feeding module B immediately vibrates again, and this cycle is repeated to achieve alternating material collection. The data setting range of the above n should not be too large. If only 1 is set for n, although the time of each vibration will be greatly reduced, there is only one component that meets the reference posture, and its distribution is random. The stroke of the transfer module B to grab the component each time will increase. Therefore, 2-5 are set to expand the range of components that meet the reference posture on the vibration disk 21, thereby reducing the stroke of the transfer module B to grab the components on the vibration disk 21 each time, so as to improve the working efficiency of the transfer module B. Therefore, n is set to 2-5, preferably 3.

[0032] The feeding module A provided in this embodiment is provided with a feeding device 1 and a vibration device 2, so that the handle 081 and the rotating part 082 are vibrated to a reference posture by the vibration device 2 after unloading, and the parts that meet the reference posture are monitored by setting a visual recognition unit 3. When only a certain number of parts that meet the conditions are met, the feedback is fed back to the control module, and the control module stops the vibration of the vibration plate 21 and controls the transfer module B to grab the parts that meet the reference posture. The above-mentioned reference posture information is pre-set, and the reference posture information includes the handle 081 and the rotating part 082 when they are allowed to transfer on the vibration plate 21. At this time, it is in the perspective of the visual recognition unit 3 That is to say, as long as the component is vibrated to the designated side facing the camera module 31 and meets the reference posture, it is allowed to be transferred. At this time, the angle of the component in the direction parallel to the vibration disk 21 is not limited. It can be adjusted by the transfer module B when the component is transferred. Specifically, when the visual recognition unit 3 feeds back a signal to the control module, the coordinates of the component that meets the reference posture are fed back to the control module. After processing by the control module, the transfer module B is driven to take corresponding actions to adjust the component to the required angle. The above-mentioned coordinate acquisition and coordinate processing methods are existing technologies and are not described in detail here. In a specific embodiment, the reference posture information of the above-mentioned components can be stored in the control module or in the visual recognition unit 3. After the above-mentioned operation, the transfer module B can immediately grab the corresponding components and transfer the components to the corresponding workstation or directly assemble them in the corresponding installation position according to the information fed back by the visual recognition unit 3, thereby realizing the function of automatic assembly of circuit breakers, improving production efficiency, reducing costs and improving assembly quality.

[0033] See also Figure 2 The unloading device 1 includes a bracket 11, a silo 12 which is swingable up and down on the bracket 11, a swinging mechanism 13 connected to the silo 12, and a hopper 14 provided on the lower side of the silo 12. The front end of the silo 12 is provided with a discharge port, and the upper and lower ends of the hopper 14 are open. The inner wall thereof is provided with a guide wall 141 which gradually narrows from top to bottom. The lower end opening of the hopper 14 is connected to a guide trough 15 extending to the vibrating disk 21. The swinging mechanism 13 selectively drives the silo 12 to swing downward to intermittently convey parts into the hopper 14. The parts move to the lower end opening of the hopper 14 under the guidance of the guide wall 141 and enter the vibrating disk 21 through the guide trough 15. The above-mentioned intermittent unloading can avoid excessive accumulation of parts to block the hopper 14. The provision of the hopper 14 and the guide trough 15 can effectively guide the parts to flow to the vibrating disk 21, thereby avoiding damage to the parts during the falling process.

[0034] See also Figure 2The hopper 122 is then moved back into position to allow the hopper 122 to move forward and backward, and the hopper 122 is then moved back into position to allow the hopper 122 to move forward and backward.

[0035] The trigger device assembly equipment provided by the present invention is respectively preset with reference posture information of the handle 081 and the rotating part 082. During assembly, the handle 081 and the rotating part 082 that meet the reference posture are first output by the feeding module A, and then the transfer module B first transfers the handle 081 to the flipping device D, and the flipping device D first flips the handle 081 that meets the reference posture into the assembly posture. The mounting groove 085 of the handle 081 in the assembly posture faces upward, so the transfer module B can install the rotating part 082 that meets the reference posture into the mounting groove 085, thereby realizing the combination of the handle 081 and the rotating part 082, and then the transfer module B will combine the handle 081 and the rotating part 082. The handle 081 and the rotating part 082 are assembled together into the lower shell. The assembly equipment of the present invention outputs the handle 081 in the reference posture according to the characteristic that the handle 081 is easy to be stably output in the reference posture, and converts the handle 081 in the reference posture into the assembly posture by setting the flip device D, so as to meet the conditions for combination with the rotating part 082 and the requirements for subsequent assembly to the lower shell, which perfectly solves the problem in the prior art that it is impossible to realize the automated combination of the rotating part 082 and the handle 081, and to assemble the combined rotating part 082 and handle 081 (i.e., the trigger device 08) in the lower shell 02.

[0036] Based on the disclosure and teachings of the above description, those skilled in the art may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and modifications and variations of the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although certain specific terms are used in this description, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. An assembly device for a circuit breaker trigger device, wherein the trigger device comprises a handle and a rotating member, wherein the handle comprises a rotating portion and a toggle portion, and the rotating portion is provided with a mounting groove for mounting the rotating member, wherein: The assembly equipment includes: A control module stores reference posture information of the handle and the rotating part; Two feeding modules, outputting handles and rotating parts that conform to the reference posture respectively; A material channel for conveying the lower shell of the circuit breaker; A flipping device for flipping the handle from a reference posture to an assembly posture; A transfer module is used to transfer the handle output by the feeding module that conforms to the reference posture to the flipping device for flipping, and to assemble the rotating part output by the feeding module that conforms to the reference posture to the flipped handle, and then assemble the assembled handle and rotating part together into the lower shell.

2. The assembly equipment according to claim 1, characterized in that The flipping device includes a rotating seat and a rotating mechanism that drives the rotating seat to flip, the rotating seat is provided with a first mounting post and a second mounting post, the rotating part is provided with a first positioning hole corresponding to the first mounting post, and the toggle part is provided with a second positioning hole corresponding to the second mounting post, and the transfer module transfers the handle to the rotating seat so that the first mounting post is inserted into the first positioning hole and the second mounting post is inserted into the second positioning hole.

3. The assembly equipment according to claim 2, characterized in that The transfer module includes a first gripper, which includes a liftable first clamping claw, which includes two clamping arms arranged opposite to each other, and the bottom ends of the clamping arms are respectively provided with hollow structures corresponding to the first positioning holes. When clamping the handle, the clamping arms are clamped on both sides of the rotating part so that the hollow structure is aligned with the first positioning hole and the toggle part is located outside the clamping arms, thereby assembling the handle on the rotating seat.

4. The assembly equipment according to claim 3, characterized in that The first gripper further comprises a second clamping jaw which can be raised and lowered, and the second clamping jaw is used to clamp the handle and the rotating member assembled on the rotating seat.

5. The assembly equipment according to claim 3, characterized in that The transfer module further includes a second gripper, which includes a liftable third gripper, and the third gripper is used to grip the rotating part output by the feeding module and conforming to the reference posture.

6. The assembly equipment according to claim 2, characterized in that A fixing seat is connected between the first mounting post, the second mounting post and the rotating seat respectively, and the fixing seat allows a preset gap to be left between the handle mounted on the rotating seat and the rotating seat.

7. The assembly equipment according to any one of claims 1 to 6, characterized in that: Both feeding modules include a blanking device, a vibration device and a visual recognition unit. The vibration device includes a vibration disk connected to the blanking device and a vibration mechanism. The blanking device is used to transfer a handle or rotating part to the vibration disk. The vibration disk vibrates the handle or rotating part through the vibration mechanism. The visual recognition unit obtains the posture of the handle or rotating part in the vibration disk, and sends a feedback signal when there are at least n handles or rotating parts in the vibration disk whose current posture is the same as the reference posture. The feedback signal includes coordinate information of the handle or rotating part that conforms to the reference posture. The control module stops the vibration device according to the feedback signal and drives the transfer module to grab the handle or rotating part in the vibration disk that conforms to the reference posture.

8. The assembly equipment according to claim 7, characterized in that The unloading device includes a bracket, a hopper mounted on the bracket so as to swing up and down, and a swing mechanism connected to the hopper. A discharge port is provided at the end of the hopper. The swing mechanism selectively drives the hopper to swing downward, thereby intermittently transmitting a handle or rotating part to the vibrating plate.

9. The assembly equipment according to claim 8, characterized in that The unloading device also includes a hopper arranged at the lower side of the silo, the upper and lower ends of the hopper are open, the inner wall of the hopper is provided with a material guide wall that gradually narrows from top to bottom, and the lower end opening of the hopper is connected to a material guide trough extending toward the vibration plate.

10. The assembly equipment according to claim 9, characterized in that The hopper includes a mounting frame, a material tray and a positioning cylinder. Two slots are oppositely provided on the lower side of the mounting frame. The opposite ends of the material tray are respectively provided with flanges corresponding to the slots. The material tray is inserted between the two slots so that the flanges are supported on the slots. There are two positioning cylinders, which are respectively fixed on the two diagonal positions of the mounting frame corresponding to the material tray. The output ends of the two positioning cylinders selectively press the flanges downward to fix the material tray on the slots.

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