Automatic assembly equipment and method for door lock sector gear assembly

Abstract

The present invention discloses an automated assembly device and method for door lock sector gear assemblies. The assembly device includes a loading mechanism, a robotic unloading mechanism, a visually assisted loading mechanism, a primary positioning mechanism, a roller pressing mechanism, a visual recognition mechanism, a flipping mechanism, a secondary positioning mechanism, a lock body positioning mechanism, and a workpiece transfer mechanism. The lock body positioning mechanism includes a lifting assembly and a pressing assembly; the lifting assembly is used to elevate the lock body, while the pressing assembly is used to compress and position the lock body. This invention enables automated assembly of door lock sector gear assemblies, saving labor costs, improving production efficiency, ensuring consistent quality of assembled products, and reducing production costs.

Description

Technical Field

[0001] The invention belongs to the field of automobile door lock assembly, and in particular relates to automatic assembly equipment and an assembly method for a door lock sector tooth component. Background Art

[0002] In recent years, with the advancement of technology, automation has been widely adopted in various factories. Strengthening safety management, ensuring personal safety, and reducing labor costs have become one of the tasks of technological innovation. The original assembly method involved manually assembling the fan teeth and buffer blocks offline, which was difficult. This was mainly due to the buffer blocks' relatively hard material and the three raised areas where the fan teeth' buffer blocks were installed, making installation difficult and inefficient for workers. After the fan teeth and buffer blocks were assembled, they still had to be manually placed into the lock body. This process was time-consuming, reduced the overall line cycle time, and resulted in inconsistent quality. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic assembly device and assembly method for door lock fan tooth components in response to the shortcomings of the background technology, so as to solve the problems of damage, low precision and low efficiency caused by door lock products during the assembly process, and at the same time achieve the problem of safe production.

[0004] The present invention adopts the following technical solutions to solve the above technical problems:

[0005] An automatic assembly device for door lock sector teeth components, comprising:

[0006] The feeding mechanism includes a fan-tooth feeding assembly and a buffer block feeding assembly;

[0007] The robot unloading mechanism includes a four-axis robotic arm, a gripping mechanism is connected below the four-axis robotic arm, and a sector tooth assembly and a buffer block assembly are connected to the bottom of the gripping mechanism;

[0008] The visually assisted loading mechanism is connected to the robot unloading mechanism to help the four-axis robot arm lock the position of the sector teeth and buffer blocks in the loading mechanism, and assist the robot arm in grasping and transferring the sector teeth and buffer blocks;

[0009] A primary positioning mechanism includes a profiling tooling, on which a positioning pin is provided for fixing the sector teeth;

[0010] Rolling mechanism, used to press the buffer block into the sector teeth;

[0011] The visual recognition mechanism is set above the primary positioning mechanism to identify whether the fan teeth and buffer blocks are installed correctly;

[0012] The flipping mechanism is used to grab and flip the fan teeth with the buffer blocks installed to a direction that is convenient for subsequent installation;

[0013] The secondary positioning mechanism is used to receive the flipped sector teeth and wait for the workpiece transfer mechanism to grab them;

[0014] The lock body positioning mechanism includes a lifting component and a pressing positioning component; the lifting component is used to lift the lock body, and the pressing positioning component is used to press and position the lock body;

[0015] The workpiece transfer mechanism is used to grab the sector teeth equipped with the buffer block and install them on the lock body.

[0016] Furthermore, the sector tooth feeding assembly or the buffer block feeding assembly includes a vibrating plate, a silo is provided on one side of the vibrating plate, and vibrators are provided at the bottom of the vibrating plate and the silo.

[0017] Furthermore, a connecting column is provided at the bottom of the robotic arm, and an annular clamping block connected to the connecting column is provided on the upper part of the grasping mechanism, and an elastic limit block is provided in the clamping block; the sector tooth taking assembly is connected to the sector tooth clamp cylinder through a sliding cylinder, and a pair of sector tooth clamps are connected under the sector tooth clamp cylinder; the buffer block taking assembly is connected to the vertical rotating cylinder through a sliding cylinder, and a buffer block clamp cylinder is connected under the vertical rotating cylinder, and a pair of buffer block clamps are connected under the buffer block clamp cylinder.

[0018] Furthermore, the rolling mechanism includes a roller mounting plate, a roller is arranged inside the roller mounting plate, a roller cylinder assembly for driving the roller to move horizontally is connected to one side of the roller mounting plate, and a buffer assembly is arranged under the roller.

[0019] Furthermore, the flipping mechanism includes a vertical moving component, the vertical cylinder is connected to a horizontal moving component, the horizontal cylinder is connected to a flipping cylinder, and the flipping cylinder is connected to a flipping clamp.

[0020] Furthermore, the secondary positioning mechanism includes a cylinder assembly, which is provided with a mounting plate and a support plate. The support plate is used to place the sector teeth, and the cylinder assembly is used to move the sector teeth to the grasping position of the workpiece transfer mechanism.

[0021] Furthermore, the jacking assembly 100 includes a jacking cylinder installation, four guide rods are arranged around the jacking cylinder installation plate, a jacking plate is mounted on the guide rods, and a tooling plate pad and a positioning pin are mounted on the jacking plate; the jacking cylinder installation plate is provided with a jacking cylinder and its cylinder shaft is connected to the jacking plate;

[0022] The downward pressure positioning component includes a downward cylinder and a downward pressure connecting plate; the downward pressure connecting plate is provided with a downward pressure cylinder and is connected to a pressure plate at the bottom, a downward pressure column is provided on the pressure plate, and a spring rod with a built-in compression spring and a pressure rod is also provided under the pressure plate.

[0023] Furthermore, the workpiece transfer mechanism 90 includes a guide rail assembly and a slide assembly. The slide assembly can move horizontally on the guide rail assembly. A clamping claw assembly is provided under the slide assembly. The clamping claw assembly includes a rotating cylinder. The rotating cylinder is connected to the clamping claw assembly.

[0024] Furthermore, it also includes a tooling plate, a lifting assembly is arranged below the tooling plate, a lock body positioning block is arranged on the tooling plate for placing the lock body, and a tooling plate slide rail assembly is arranged below the tooling plate.

[0025] An automatic assembly method for a door lock sector tooth assembly includes the following steps: Step 1, flexible loading: adding sector teeth and buffer blocks into different silos respectively, and causing the sector teeth and buffer blocks to slide into a vibration plate through the vibration of a vibrator to complete the loading;

[0026] Step 2: Posture adjustment: The camera of the visually assisted loading mechanism visually identifies the sector teeth and buffer blocks in the vibration plate. The sector teeth and buffer blocks whose postures meet the assembly conditions are calibrated based on the camera feedback information to complete the visual recognition. If there are no sector teeth and buffer blocks that meet the conditions in the vibration plate, the vibration plate is vibrated by the vibrator until sector teeth and buffer blocks that meet the adjustment conditions appear in the vibration plate.

[0027] Step 3. Grab the workpiece and place the material: Driven by the four-axis robotic arm, the grasping mechanism installed under the robotic arm will respectively grasp the sector gear and buffer block identified by the visual-assisted loading mechanism for transfer; first, the sector gear is stably placed on the primary positioning mechanism, and then the four-axis robotic arm grasps the buffer block again and uses the vertical rotating cylinder to tilt the buffer block to a certain angle and then place it on the protrusion of the sector gear. The gripper is released and the four-axis robotic arm is retracted to complete the loading; the left sector gear, buffer block, right sector gear, and buffer block are grasped in sequence;

[0028] Step 4, buffer block installation: the rolling mechanism drives the roller to move horizontally, rolling the buffer block on the sector tooth so that the buffer block can be completely mounted on the protrusion of the sector tooth;

[0029] Step 5: Identify the installation status of the materials: The visual recognition mechanism identifies the three protrusions on the fan teeth and determines whether the buffer block has been installed correctly. Fan teeth and buffer block components that are in good condition will pass the identification and proceed to the next step. Components that do not meet the installation standards will be picked up by the four-axis robot arm and transferred to a waste bin.

[0030] Step 6: Flip: The flip mechanism drives the flip claw to grab the sector gear assembly with the buffer block installed, and then the flip cylinder flips it 180 degrees to place the sector gear assembly on the support plate of the secondary positioning mechanism and release the flip claw; after the action is completed, the flip mechanism resets;

[0031] Step 6, secondary positioning mechanism transfer: the horizontal movement of the slide cylinder drives the sector gear assembly to the specified position, making it easier for the workpiece transfer mechanism to clamp the sector gear assembly;

[0032] Step 7: Workpiece transfer: The workpiece transfer mechanism grabs the sector gear assembly and transfers it horizontally and adjusts the angle, waiting for installation;

[0033] Step 9: When the positioning assembly is pressed down, it is moved above the lock body to be installed. The positioning assembly is pressed down and the lifting assembly is moved up to complete the positioning of the lock body to be installed.

[0034] Step 10: Material installation: The workpiece transfer mechanism moves the sector tooth assembly to the top of the lock body and then moves it downward so that the mounting holes of the sector teeth are fitted over the mounting posts of the lock body, and the sector tooth assembly is installed on the lock body.

[0035] Step 11. Press down the positioning assembly to reset: After installation is complete, press down the positioning assembly to move upwards and use the spring rod to smoothly separate it from the lock body. At the same time, the lock body is stabilized on the tooling plate.

[0036] Step 12: Reset the lifting device: The lifting device is moved down and reset, so that the lock body tooling with the installed sector teeth and buffer block assembly is placed on the tooling plate slide assembly, and the tooling plate slide assembly transfers the installed lock body assembly to the next process.

[0037] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0038] 1. The technical method of the present invention replaces the door lock sector tooth assembly method, greatly improving production efficiency. At the same time, it innovates a more reliable buffer block installation method on the original basis, effectively reducing the safety risks caused by various unstable factors in the human process.

[0039] 2. The technical method of the present invention meets the production requirements, and the entire line automatically loads, detects, positions, and assembles without manual intervention, meeting the needs of fully automated online assembly line operations for automobile door locks;

[0040] 3. The present invention saves labor, reduces production costs, and ensures consistent and stable product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Schematic diagram of the overall structure of this embodiment;

[0042] Figure 2 Schematic diagram of the structure of the fan teeth and buffer block in this embodiment;

[0043] Figure 3 Schematic diagram of the structure of the grabbing mechanism in this embodiment;

[0044] Figure 4 Schematic diagram of the structure of the primary positioning mechanism in this embodiment;

[0045] Figure 5 Schematic diagram of the structure of the rolling mechanism in this embodiment;

[0046] Figure 6 Schematic diagram of the structure of the roller in this embodiment;

[0047] Figure 7 Schematic diagram of the structure of the flip mechanism in this embodiment;

[0048] Figure 8 Schematic diagram of the structure of the secondary positioning mechanism in this embodiment;

[0049] Figure 9 Schematic diagram of the structure of the jacking assembly in this embodiment;

[0050] Figure 10 This is a structural diagram of the downward pressing positioning assembly in this embodiment;

[0051] Figure 11 Schematic diagram of the structure of the workpiece transfer mechanism in this embodiment;

[0052] Figure 12 This is a schematic structural diagram of the transfer clamp assembly in this embodiment;

[0053] Figure 13 Schematic diagram of the structure of the tooling plate in this embodiment;

[0054] Figure 14 This is a schematic diagram of the structure of the lock body after the fan teeth are installed in this embodiment.

[0055] In the figure, 10, feeding mechanism; 101, fan gear feeding assembly; 102, buffer block feeding assembly; 103, vibrating plate; 104, hopper; 105, vibrator; 106, fan gear; 1061, left fan gear; 1062, right fan gear; 1063, protrusion; 1064, protrusion; 1065, tooling plate; 1066, tooling plate slide rail assembly; 1067, lock body positioning block; 107, buffer block;

[0056] 20. Robot unloading mechanism; 201. Four-axis robotic arm; 202. Connecting column; 203. Grasping mechanism; 2031. Clamping block; 2032. Limiting block; 2033. Connecting plate; 204. Sector tooth assembly; 2041. Sector tooth gripper cylinder; 2042. Sector tooth gripper; 2045. Sliding cylinder; 205. Buffer block assembly; 2051. Vertical rotation cylinder; 2052. Buffer block gripper cylinder; 2053. Buffer block gripper; 30. Visually assisted loading mechanism;

[0057] 40. Rolling mechanism; 401. Bottom plate 1; 402. Profile support leg; 403. Connecting plate; 404. Roller cylinder; 405. Floating joint; 408. Roller mounting plate; 409. Roller assembly; 410. Roller fixing plate; 411. Buffer assembly; 412. Guide rail assembly; 409. Roller assembly; 4091. Shaft; 4092. Retaining ring; 4093. Rolling bearing; 4094. Roller; 4095. O-ring;

[0058] 50. One-step positioning mechanism; 501. Bottom plate 2; 502. Splicing plate; 503. Assembly tooling plate; 504. Profiling tooling; 505. Positioning pin;

[0059] 60. Visual recognition mechanism; 70. Flip mechanism; 701. Support leg; 702. Bottom plate 3; 703. Pneumatic assembly; 706. Guide rail assembly; 708. Slide mounting plate;

[0060] 709, pneumatic slide assembly; 710, flip cylinder connecting plate; 711, flip cylinder fixing plate; 712, flip cylinder; 713, flip clamp;

[0061] 80. Secondary positioning mechanism; 801. Backing plate; 802. Guide shaft support; 803. Side bracket support column; 804. Transfer plate; 805. Cylinder assembly; 806. Mounting plate; 807. Support plate;

[0062] 90. Workpiece transfer mechanism; 901. Transfer support leg; 902. Transfer base plate; 903. Transfer clamp assembly; 904. Cylinder mounting plate; 905. Guide rail pad; 906. Drag chain bracket; 907. Drag chain slot; 910. Guide rail assembly; 9031. Slide assembly; 9032. Rotating cylinder connecting plate; 9033. Rotating cylinder; 9034. Cylinder fixing plate; 9035. Clamp assembly;

[0063] 100, jacking assembly; 1001, tooling plate locating pin; 1002, jacking plate; 1003, tooling plate spacer; 1005, jacking cylinder mounting plate; 1006, guide rod; 1007, jacking cylinder;

[0064] 110. Downward pressure positioning assembly; 1190. Downward pressure column; 1191. Downward movement cylinder; 1192. Assembly mounting plate; 1193. Upper mounting plate; 1194. Rib plate; 1195. Lower mounting plate; 1196. Downward pressure connecting plate; 1197. Pressure plate; 1198. Compression spring; 1199. Pressure rod; 001. Mounting column; 002. Mounting hole. DETAILED DESCRIPTION

[0065] The technical solution of the present invention is described in further detail below:

[0066] An automatic assembly device for door lock fan gear components, such as Figure 1 and 2 Shown, including:

[0067] The feeding mechanism 10 includes a fan-tooth feeding assembly 101 and a buffer block feeding assembly 102; the fan-tooth feeding assembly 101 or the buffer block feeding assembly 102 includes a vibrating plate 103, a silo 104 is provided on one side of the vibrating plate 103 (the vibrating plate and the silo are not connected), and a vibrator 105 is provided at the bottom of the silo 104 and the vibrating plate 103.

[0068] Specifically, there are two fan-tooth feeding assemblies, one for feeding the left fan-tooth and the other for feeding the right fan-tooth. There is one buffer block feeding assembly, which is arranged in the middle of the two fan-tooth feeding assemblies, and can provide buffer blocks for the left fan-tooth and the right fan-tooth at the same time. The vibrator causes the silo to vibrate, so that the fan-tooth or buffer blocks in the silo vibrate and move into the vibration disk. When there are enough fan-tooth or buffer blocks in the vibration disk, the vibration disk vibrates to adjust the posture of the fan-tooth or buffer blocks. Assuming that there are about 300 fan-tooths in the silo, about 30 fan-tooths enter the vibration disk through vibration. The postures of the 30 fan-tooths are messy. By adjusting the posture through vibration, 3-5 of the 30 fan-tooths must meet the graspable posture (continuously observed by the visually assisted feeding mechanism). If not, vibration will continue. If the number of fan-tooths in the vibration disk is insufficient, the silo will be vibrated again to replenish them.

[0069] Robot unloading mechanism 20, such as Figure 1 and 3 As shown, it includes a four-axis robot 201 (the four-axis robot in this embodiment is a direct application of the existing technology, which can freely grasp the workpiece at any angle), the bottom of the four-axis robot 201 is connected to a grasping mechanism 203 through a connecting column 202, and the bottom of the grasping mechanism 203 is connected to a sector tooth assembly 204 and a buffer block assembly 205; the upper part of the grasping mechanism 203 is provided with a ring-shaped clamping block 2031 connected to the connecting column, and an elastic limit block 2032 is provided in the clamping block 2031. When the connecting column 202 is inserted into the clamping block 2031, the limit block 2032 clamps the connecting column 202 to achieve a stable connection; the grasping mechanism 203 includes a connecting plate 2033, and the sector tooth assembly 204 and the buffer block assembly 205 are respectively installed on both sides of the connecting plate 2033. The fan tooth assembly 204 is connected to the fan tooth clamp cylinder 2041 through the sliding cylinder 2045, and a pair of fan tooth clamps 2042 are connected below the fan tooth clamp cylinder 2041. The buffer block assembly 205 is connected to the vertical rotating cylinder 2051 through the sliding cylinder 2045, and the vertical rotating cylinder 2051 is connected to the buffer block clamp cylinder 2052, and a pair of buffer block clamps 2053 are connected below the buffer block clamp cylinder 2052.

[0070] Specifically, the sliding cylinder can drive the sector tooth clamp or the buffer block clamp to move up and down so that it is close to the sector tooth or buffer block to be grasped. The clamp cylinder is used to drive the clamp to clamp the sector tooth or buffer block. In view of the fact that the buffer block in the present invention is relatively soft in texture and needs to be interference fit on the bulge in the middle of the sector tooth (three small limiting protrusions are also provided around the protrusion), if the buffer block is normally placed vertically above the sector tooth, its posture is difficult to control (the presence of the limiting protrusion makes it difficult to ensure stable placement), and subsequent press-fitting cannot be performed, and the limiting protrusion is easily crushed. Therefore, the present invention adopts a vertical rotating cylinder to rotate the buffer block to a certain angle in the vertical plane, and uniformly tilt it at a certain angle on the protrusion of the sector tooth to prepare for subsequent rolling.

[0071] Visually assisted feeding mechanism 30, such as Figure 1 As shown, it is arranged above the vibration plate and connected to the robot discharge mechanism 20, and is used to assist the four-axis robot arm 201 in grabbing and transferring the sector teeth 106 and the buffer block 107; it includes a camera, a lens, and a camera controller, which are used to capture and locate the sector teeth 106 and the buffer block 107 that meet the installation conditions in the feeding mechanism.

[0072] Specifically, the visually assisted loading mechanism is a camera with a controller, which is connected to the four-axis robotic arm and used in conjunction with the four-axis robotic arm to achieve precise grasping of the four-axis robotic arm. Like the four-axis robotic arm, it is a direct application of mature existing technologies.

[0073] A positioning mechanism 50, such as Figure 1 and 4 As shown, the support structure is composed of a second bottom plate 501 , a splicing plate 502 , and an assembly tooling plate 503 . The assembly tooling plate 503 is installed with a profiling tool 504 and a positioning pin 505 for placing the sector teeth 106 .

[0074] Specifically, this mechanism serves as the operating position of the rolling mechanism 40 and subsequently as the clamping position of the flipping mechanism 70, playing a supporting role. The primary positioning mechanism 50 fixes the sector teeth 106 through the grooves on the profiling tooling 504 and three positioning pins 505. Then, the buffer block 107 is tilted and placed on the protrusion 1063 of the sector teeth 106.

[0075] Rolling mechanism 40, such as Figure 1 、 56 , it is used to press-fit the buffer block 107 into the sector teeth 106. The horizontal movement structure comprises a base plate 401, profile legs 402, connecting plate 403, roller cylinder 404, floating joint 405, and guide rail assembly 412. The roller structure comprises a roller mounting plate 408, roller assembly 409, roller fixing plate 410, and buffer assembly 411. The floating joint 405 connects to the roller mounting plate 408, which in turn connects to the slider of the guide rail assembly 412. The roller cylinder 404 drives the slider on the guide rail to slide, which in turn drives the roller mounting plate 408 to reciprocate horizontally. This, in turn, drives the roller assembly 409 to reciprocate.

[0076] Roller assembly 409 includes shaft 4091, retaining ring 4092, rolling bearing 4093, roller 4094, and O-ring 4095. Roller 4094 is in rolling connection with shaft 4091 via rolling bearing 4093. O-ring 4095 creates a buffer gap between the buffer block and roller 4094, providing a buffering effect and protecting protrusion 1064 of sector tooth 106. It also serves as a positioning function. Buffer assembly 411 acts as a buffer and limiter. The small cylinder on it sends a return signal when it contacts the main body of primary positioning mechanism 50, allowing roller 4094 to reciprocate.

[0077] Specifically, when the roller cylinder 404 extends, it drives the roller 4094 to move forward and roll. The floating joint assembly 405 transmits power and moves forward and backward in the horizontal direction, allowing the roller 409 to repeatedly roll the buffer block 107 mounted on the sector tooth 106 until the buffer block 107 is completely covered with the protrusion 1063 of the sector tooth 106, finally completing the rolling action.

[0078] Visual identification mechanism 60, such as Figure 1 and 2 As shown, it is consistent with the structure of the visually assisted loading mechanism 30, and is arranged above the one-time positioning mechanism 50, and is used to identify whether the fan teeth 106 and the buffer block 107 are installed correctly; if the installation fails, the visual recognition mechanism 60 issues a discard instruction, and the four-axis robot arm 201 clamps the fan tooth assembly with poor installation and transfers it to the waste bucket.

[0079] The turning mechanism 70, such as Figure 1 and 7 As shown, the vertical movement structure is composed of support legs 701, base plate 702, pneumatic assembly 703, floating joint assembly 704, guide rail assembly 706, and slide mounting plate 708. The horizontal movement structure is composed of pneumatic slide assembly 709 and tilt cylinder connecting plate 710. Tilt cylinder connecting plate 710 is connected to tilt cylinder fixing plate 711, which in turn is connected to tilt cylinder 712 and mounted with tilt clamp 713.

[0080] Specifically, the pneumatic slide assembly 709 moves horizontally to the position of the sector teeth 101, and the flip clamp 713 clamps the sector teeth. Then, the pneumatic assembly 703 connects to the floating joint assembly 704 to drive the guide rail assembly 706 installed on the base plate 702 to move up to the specified position in the vertical direction. The flip cylinder assembly 712 drives the flip clamp and the sector tooth assembly to rotate 180 degrees. The sector tooth clamp in the present invention is Z-shaped, and the clamping end is not on the axis of the flip cylinder. Therefore, after flipping, the sector tooth assembly will flip from one side of the flip cylinder to the support plate 807 of the secondary positioning mechanism 80 on the other side. After flipping, the flip clamp 713 is sent to place the sector tooth assembly on the support plate 807. Finally, the flip cylinder rotates 180 degrees in the opposite direction to reset, and the pneumatic assembly 703 and the pneumatic slide assembly 709 both return to their initial positions to complete the action and realize the flip function.

[0081] Secondary positioning mechanism 80, such as Figure 1 and 8 As shown, the support structure is composed of a pad 801, a guide shaft support 802, a side bracket support column 803, and a transfer unloading plate 804. The transfer unloading plate 804 is installed with a cylinder assembly 805, a mounting plate 806, and a support plate 807.

[0082] Specifically, the secondary positioning mechanism 80 drives the mounting plate 806 and the support plate 807 to move horizontally through the horizontal movement of the secondary positioning cylinder assembly 805, and then drives the fan tooth assembly (fan teeth with buffer blocks installed) on the support plate 807 to move horizontally to the specified position and then stop, thereby achieving positioning and transfer.

[0083] Lock body positioning mechanism, such as Figure 1 and 9 As shown in Figure 10 , it includes a lifting assembly 100 and a downward positioning assembly 110. The lifting assembly 100 includes a lifting cylinder mounting plate 1005, surrounded by four guide rods 1006. A lifting plate 1002 (on which the lock body, on which the sector gear assembly is mounted, is mounted) is mounted on the guide rods. A tooling plate pad 1003 and a tooling plate locating pin 1001 (for positioning the tooling plate) are mounted on the lifting plate 1002. A lifting cylinder 1007 is mounted on the lifting cylinder mounting plate 1005, and its cylinder shaft is connected to the lifting plate 1002.

[0084] The downward positioning assembly 110 comprises a downward movement structure comprising a downward movement cylinder 1191, an assembly mounting plate 1192, an upper mounting plate 1193, a rib plate 1194, a lower mounting plate 1195, and a downward movement connecting plate 1196. The downward movement cylinder is mounted on downward movement connecting plate 1196, and a pressure plate 1197 is connected below. A downward movement column 1190 is mounted on pressure plate 1197. A spring rod with a built-in compression spring 1198 and a pressure rod 1199 is also located below pressure plate 1197.

[0085] Specifically, the lifting cylinder lifts the lifting plate 1002 under the guidance of the guide rod 1006, thereby lifting the lock body to the specified position. The downward cylinder moves the pressure plate close to the lifting plate 1002, and then inserts the pressure column on the pressure plate 1197 into the positioning hole on the lock body, thereby positioning and fixing the lock body through the lifting plate and the pressure plate. After the fan tooth assembly is installed, the downward positioning assembly 110 and the lifting assembly 100 are reset. During the reset process, the small assembly composed of the compression spring 9098 and the pressure rod 9099 stabilizes the lock body on the lower tooling plate through elastic force, ensuring that the lock body is not lifted up by the pressure rod 1190 of the downward positioning assembly 909 during the reset process (there is friction after the pressure rod is inserted into the hole of the lock body, and it may be unable to detach by itself).

[0086] Workpiece transfer mechanism 90, such as Figure 1 、 11 As shown in Figures 12, 13, and 14, a horizontal transfer structure is formed by a transfer support leg 901, a transfer base plate 902, a transfer clamp assembly 903, a cylinder mounting plate 904, a guide rail pad 905, a drag chain bracket 906, a drag chain slot 907, a guide rail assembly 910, and a slide assembly 9031, enabling horizontal movement of the clamp assembly 903. The clamp assembly 903 includes a rotating cylinder connecting plate 9032, a rotating cylinder 9033, a cylinder fixing plate 9034, and a clamp assembly 9035 (the structure is similar to that of the sector tooth removal assembly).

[0087] In addition, guide rail assemblies 910 are provided on both sides of the transfer base plate 902. One side is used to install the slide assembly 9031 to realize the horizontal movement of the clamping claw assembly 903, and the other side is used to install the downward positioning assembly 110, so that the downward positioning assembly 110 can slide back and forth horizontally on the transfer base plate 902.

[0088] The transfer and grabbing assembly 903 is driven by the vertical slide assembly 9031 to rotate the cylinder connecting plate 9032, the rotating cylinder assembly 9033, the cylinder fixing plate 9034, and the clamping claw assembly 9035 to descend in the vertical direction. After the clamping claw assembly 9035 clamps the fan tooth assembly, it is transferred horizontally by the guide rail assembly 910. During the transfer process, the rotating cylinder assembly 9033 drives the assembly to rotate a certain angle and then transfers it to the top of the lock body that has been fixed by the jacking assembly 100 and the downward positioning assembly 110, and then descends to install the fan tooth assembly on the lock body (there is a vertical mounting column 001 on the lock body and a mounting hole 002 on the fan tooth).

[0089] In addition, as shown in Figures 1 and 13, the tooling plate 1065 is driven by the tooling plate slide assembly 1066 at its bottom to move several tooling plates 1065 longitudinally, achieving assembly line operation. Each tooling plate 1065 has two sets of lock body positioning blocks, one of which houses the left lock body and installs the left fan gear assembly, and the other houses the right lock body and installs the right fan gear assembly. Providing two lock body positioning blocks in each set can improve efficiency. Therefore, the downward positioning assembly 110 needs to reciprocate between the two lock body positioning blocks. Similarly, the workpiece transfer mechanism 90 also needs to reciprocate simultaneously with the downward positioning assembly 110 to install the fan gear assembly.

[0090] In addition, the present invention should also include a controller. All the power mechanisms, camera controllers, power components, and power devices mentioned in the present invention are driven by the controller and uniformly coordinated. The structure and connection method of the controller are direct applications of controller technology and are not within the invention and innovation of the present invention, so they are not elaborated.

[0091] Specific implementation methods:

[0092] Step 1: Flexible loading: Add the fan teeth and buffer blocks into different silos respectively. The vibration of the vibrator makes the fan teeth and buffer blocks slide into the vibration plate to complete the loading.

[0093] Step 2: Posture adjustment: The camera of the visually assisted loading mechanism visually identifies the sector teeth and buffer blocks in the vibration plate, and calibrates the sector teeth and buffer blocks whose postures meet the assembly conditions through the camera feedback information to complete the visual recognition; if there are no sector teeth and buffer blocks that meet the conditions in the vibration plate, the vibration plate is vibrated by the vibrator until sector teeth and buffer blocks that meet the adjustment conditions appear in the vibration plate.

[0094] Step 3. Grab the workpiece and place the material: Driven by the four-axis robotic arm, the grasping mechanism installed under the robotic arm will respectively grasp the sector teeth and buffer blocks identified by the visual-assisted loading mechanism for transfer; first place the sector teeth stably on the primary positioning mechanism, and then the four-axis robotic arm will grasp the buffer block again and use the vertical rotating cylinder to tilt the buffer block to a certain angle and place it on the protrusion of the sector teeth. Release the gripper and retract the four-axis robotic arm to complete the loading; the left sector teeth, buffer blocks, right sector teeth, and buffer blocks are grasped in turn.

[0095] Step 4: Install the buffer block: The rolling mechanism drives the roller to move horizontally to roll the buffer block on the sector tooth so that the buffer block can be completely mounted on the protrusion of the sector tooth.

[0096] Step 5: Identification of material installation status: The three protrusions on the fan teeth are identified by a visual recognition mechanism to determine whether the buffer block has been installed accurately. Fan teeth and buffer block components that are in good installation condition will pass the identification and enter the next process. Components that do not meet the installation standards will be picked up by the four-axis robot arm and transferred to a waste bin.

[0097] Step 6. Flip: The flip mechanism drives the flip claw to clamp the sector tooth assembly with the buffer block installed, and then the flip cylinder flips it 180° to place the sector tooth assembly on the support plate of the secondary positioning mechanism and release the flip claw; after the action is completed, the flip mechanism resets.

[0098] Step 6. Secondary positioning mechanism transfer: The horizontal movement of the slide cylinder drives the sector gear assembly to move to the specified position, making it easier for the workpiece transfer mechanism to clamp the sector gear assembly.

[0099] Step 7: Workpiece transfer: The workpiece transfer mechanism grabs the sector gear assembly, transfers it horizontally, adjusts the angle, and waits for installation.

[0100] Step 9: When the positioning assembly is pressed down, the lock body to be installed is positioned by moving the positioning assembly downward and the lifting assembly upward.

[0101] Step 10, material installation: The workpiece transfer mechanism moves the sector tooth assembly to the top of the lock body and then moves it downward so that the mounting holes of the sector teeth are sleeved on the mounting columns of the lock body, and the sector tooth assembly is installed on the lock body.

[0102] Step 11. Press down the positioning assembly to reset: After installation is completed, press down the positioning assembly to move it upward, and use the spring rod to smoothly separate it from the lock body, while the lock body is stabilized on the tooling plate.

[0103] Step 12: Reset the lifting device: The lifting device is moved down and reset, so that the lock body tooling with the installed sector teeth and buffer block assembly is placed on the tooling plate slide assembly, and the tooling plate slide assembly transfers the installed lock body assembly to the next process.

[0104] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art in the art to which this invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and, unless defined as such, will not be interpreted in an idealized or overly formal sense.

[0105] The above embodiments are only for illustrating the technical concept of the present invention and are not intended to limit the scope of protection of the present invention. Any changes made on the basis of the technical solution in accordance with the technical concept proposed by the present invention shall fall within the scope of protection of the present invention. The above embodiments of the present invention are described in detail, but the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. An automatic assembly equipment for door lock sector gear components, characterized by: include, A feeding mechanism (10) comprises a sector tooth feeding assembly (101) and a buffer block feeding assembly (102); The robot discharging mechanism (20) comprises a four-axis mechanical arm (201), a gripping mechanism (203) is connected below the four-axis mechanical arm (201), and a picking sector assembly (204) and a picking buffer block assembly (205) are connected at the bottom of the gripping mechanism (203); A connecting column (202) is provided at the bottom of the four-axis robot arm, and a ring-shaped clamping block (2031) connected to the connecting column (202) is provided on the upper part of the grasping mechanism (203), and an elastic limit block (2032) is provided in the clamping block (2031); the sector tooth taking component (204) is connected to a sector tooth clamping cylinder (2041) through a sliding cylinder (2045), and a pair of sector tooth clamping claws (2042) are connected below the sector tooth clamping cylinder (2041); the buffer block taking component (205) is connected to a vertical rotating cylinder (2051) through a sliding cylinder (2045), and a buffer block clamping cylinder (2052) is connected below the vertical rotating cylinder (2051), and a pair of buffer block clamping claws (2053) are connected below the buffer block clamping cylinder; A visually assisted feeding mechanism (30) is connected to the robot feeding mechanism (20) and is used to help the four-axis robot arm (201) lock the positions of the sector teeth (106) and the buffer block (107) in the feeding mechanism (10), and to assist the four-axis robot arm in grasping and transferring the sector teeth (106) and the buffer block (107); A primary positioning mechanism (50) includes a profiling tool, on which a positioning pin (505) is provided for fixing the sector teeth (106); A rolling mechanism (40) is used for pressing the buffer block (107) into the sector teeth (106); A visual recognition mechanism (60) is provided above the primary positioning mechanism (50) and is used to identify whether the fan teeth (106) and the buffer block (107) are correctly installed; A turning mechanism (70) is used to grab and turn over the fan teeth (106) with the buffer block (107) installed, and turn it to a direction that is convenient for subsequent installation; A secondary positioning mechanism (80) is used to receive the flipped sector teeth (106) and wait for the workpiece transfer mechanism (90) to grab them; The lock body positioning mechanism comprises a lifting assembly (100) and a pressing and positioning assembly (110); the lifting assembly (100) is used to lift the lock body, and the pressing and positioning assembly (110) is used to press and position the lock body; The workpiece transfer mechanism (90) is used for grabbing the sector teeth (106) equipped with the buffer block (107) and installing the sector teeth (106) on the lock body.

2. The automatic assembly equipment for door lock sector gear components according to claim 1, characterized in that: The sector tooth feeding assembly (101) or the buffer block feeding assembly (102) comprises a vibration plate (103), a silo (104) is provided on one side of the vibration plate (103), and a vibrator (105) is provided at the bottom of both the vibration plate (103) and the silo (104).

3. The automatic assembly equipment for door lock sector gear components according to claim 1, characterized in that: The rolling mechanism (40) includes a roller mounting plate (408), a roller (4094) is arranged inside the roller mounting plate (408), a roller cylinder (404) for driving the roller (4094) to move horizontally is connected to one side of the roller mounting plate (408), and a buffer assembly (411) is arranged below the roller (4094).

4. The automatic assembly equipment for door lock sector gear components according to claim 1, characterized in that: The turning mechanism (70) comprises a vertical moving assembly, a vertical cylinder connected to a horizontal moving assembly, a horizontal cylinder connected to a turning cylinder (712), and a turning cylinder (712) connected to a turning clamp (713).

5. The automatic assembly equipment for door lock sector gear components according to claim 1, characterized in that: The secondary positioning mechanism (80) includes a cylinder assembly (805), wherein a mounting plate (806) and a support plate (807) are provided on the cylinder assembly (805), wherein the support plate (807) is used for placing the sector teeth (106), and the cylinder assembly (805) is used for moving the sector teeth (106) to a grasping position of the workpiece transfer mechanism (90).

6. The automatic assembly equipment for door lock sector gear components according to claim 1, characterized in that: The jacking assembly (100) includes a jacking cylinder (1007) installation, four guide rods (1006) are arranged around the jacking cylinder installation plate (1005), a jacking plate (1002) is installed on the guide rods (1006), and a tooling plate pad (1003) and a tooling plate positioning pin (1001) are installed on the jacking plate (1002); the jacking cylinder installation plate (1005) is provided with a jacking cylinder (1007) and its cylinder shaft (4091) is connected to the jacking plate (1002); The downward positioning assembly (110) includes a downward cylinder (1191) and a downward connecting plate (1196); the downward connecting plate (1196) is provided with a downward cylinder and is connected to a pressing plate (1197) below; the pressing plate (1197) is provided with a downward column (1190); and the pressing plate (1197) is further provided with a spring rod with a built-in compression spring (1198) and a pressing rod (1199).

7. The automatic assembly equipment for door lock sector gear components according to claim 1, characterized in that: The workpiece transfer mechanism (90) includes a guide rail assembly (910) and a slide assembly (9031). The slide assembly (9031) can move horizontally on the guide rail assembly (910). A clamping claw assembly (9035) is provided under the slide assembly (9031). The clamping claw assembly (9035) includes a rotating cylinder (9033). The rotating cylinder (9033) is connected to the clamping claw assembly (9035).

8. The automatic assembly equipment for door lock sector gear components according to claim 1, characterized in that: The utility model further comprises a tooling plate (1065), a lifting assembly (100) is arranged below the tooling plate (1065), a lock body positioning block (1067) is arranged on the tooling plate (1065) for placing the lock body, and a tooling plate (1065) slide rail assembly is arranged below the tooling plate (1065).

9. The method for assembling the device according to claim 1, characterized in that: The steps include: Step 1, flexible loading: add the fan teeth (106) and the buffer block (107) into different silos (104) respectively, and make the fan teeth (106) and the buffer block (107) slide into the vibration plate (103) through the vibration of the vibrator (105), thus completing the loading; Step 2, posture adjustment: the camera of the visual auxiliary feeding mechanism (30) performs visual recognition on the sector teeth (106) and the buffer block (107) in the vibration disk (103), and calibrates the sector teeth (106) and the buffer block (107) whose postures meet the assembly conditions through the camera feedback information to complete the visual recognition; if there are no sector teeth (106) and buffer blocks (107) that meet the conditions in the vibration disk (103), the vibration disk (103) is vibrated by the vibrator (105) until the sector teeth (106) and buffer blocks (107) that meet the adjustment appear in the vibration disk (103); Step 3, grabbing the workpiece and placing the material: under the drive of the four-axis robot arm (201), the grabbing mechanism (203) installed under the four-axis robot arm will respectively grab the fan tooth (106) and the buffer block (107) recognized by the visual auxiliary feeding mechanism (30) to perform the transfer action; first, the fan tooth (106) is stably placed on the primary positioning mechanism (50), and then the four-axis robot arm (201) grabs the buffer block (107) again and uses the vertical rotating cylinder (2051) to tilt the buffer block (107) to a certain angle and then place it on the protrusion (1063) of the fan tooth (106), release the clamping claw and retract the four-axis robot arm (201), and the loading is completed; the left fan tooth (1061), the buffer block (107), the right fan tooth (1062), and the buffer block (107) are grabbed in sequence; Step 4, buffer block installation: the rolling mechanism (40) drives the roller (4094) to move horizontally, and rolls the buffer block (107) on the sector tooth (106) so that the buffer block (107) can be completely mounted on the protrusion (1063) of the sector tooth (106); Step 5, identification of material installation status: the three protrusions (1064) of the fan tooth (106) are identified by the visual recognition mechanism (60), and whether the installation of the buffer block (107) is completed accurately; the fan tooth (106) and the buffer block (107) components with good installation status will pass the identification and enter the next process; the components with non-standard installation status will be picked up by the four-axis robot arm (201) and transferred to the waste bucket; Step 6, flipping: the flip mechanism (70) drives the flipping clamp (713) to clamp the fan tooth (106) assembly installed with the buffer block (107), and then the flip cylinder (712) flips the fan tooth (106) assembly 180 degrees to place the fan tooth (106) assembly on the support plate (807) of the secondary positioning mechanism (80) and releases the flipping clamp (713); after the action is completed, the flip mechanism (70) is reset; Step 6, secondary positioning mechanism transfer: the horizontal movement of the slide cylinder drives the sector gear (106) component to move to the designated position, so that the workpiece transfer mechanism (90) can easily clamp the sector gear (106) component; Step 7, workpiece transfer: the workpiece transfer mechanism (90) grabs the fan gear (106) assembly and transfers it horizontally and adjusts the angle, waiting for installation; Step 9: When the positioning assembly (110) is pressed down and moved, the lock body to be installed is positioned by moving the positioning assembly (110) downward and the lifting assembly (100) upward; Step 10, material installation: the workpiece transfer mechanism (90) moves the sector tooth (106) assembly to the top of the lock body and then moves it downward so that the mounting hole of the sector tooth (106) is sleeved on the mounting column (001) of the lock body, and the sector tooth (106) assembly is installed on the lock body; Step 11, press down the positioning assembly (110) to reset: After the installation is completed, press down the positioning assembly (110) to move upward, and use the spring rod to smoothly separate it from the lock body, while the lock body is stabilized on the tooling plate (1065); Step 12, resetting the lifting device: the lifting device is moved downward and reset, so that the lock body tooling with the installed sector teeth (106) and buffer block (107) assembly is placed on the tooling plate (1065) slide rail assembly, and the tooling plate (1065) slide rail assembly transfers the installed lock body assembly to the next process.

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