Automatic assembly process of a rotating shaft structure

Abstract

The application relates to an automatic assembling process of a rotating shaft structure, and comprises the following steps: S1, core shaft and connecting plate insertion; S2, spring and lower cam piece sleeving; S3, left gear arm, left gear, right gear and right gear arm are sequentially positioned and installed; and S4, upper cam piece and clamping spring assembling. On one hand, the application can realize automatic assembling of each part of the rotating shaft structure, greatly reduces the labor cost, reduces the labor intensity, and effectively improves the production efficiency; on the other hand, the application can realize automatic adjustment and positioning of each part of the rotating shaft structure in the assembling, improves the assembling precision, effectively improves the product yield, avoids the positioning deviation between multiple core shafts, and between upper and lower cam pieces and left and right gear arm end surfaces, so that the rotating shaft structure reaches the required overturning synchronization and torsion value, and in addition, the assembling efficiency and the assembling qualified rate are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of rotating shaft assembly technology, specifically relating to an automatic assembly process for a rotating shaft structure. Background Technology

[0002] A hinge structure is a connecting element that provides mutual conversion functions. It is mainly used between rotating parts and the base, such as for the folding and unfolding of flexible screens in electronic devices.

[0003] Currently, existing shaft structure products are assembled from a spindle, connecting plate, compression spring, lower cam plate, left gear arm, left gear, right gear, right gear arm, upper cam plate, and retaining spring. Because this product is very small (the finished product's approximate dimensions are 20mm*13mm*3mm, with individual products like the spindle having a diameter of only 0.7mm) and requires high assembly precision, the industry generally uses a manual assembly line method, where 8-10 workers manually assemble the components on a single production line.

[0004] However, the following problems frequently arise during the above-mentioned assembly and implementation process:

[0005] 1) The manual assembly method not only requires high operational skills and proficiency from workers, but also requires workers to maintain a high level of concentration for a long time. Therefore, in the actual production process, the above assembly method has high labor costs, high labor intensity, low production efficiency, and is prone to errors in human operation, with a high probability of assembly errors exceeding process requirements, resulting in a low product yield.

[0006] 2) If multiple spindles are used and gear transmission is used to achieve relative rotation of the left and right gear arms, if there is a misalignment in the gear alignment, the resulting flipping synchronization will be poor, the product qualification rate will be low, and the required torque value cannot be achieved.

[0007] 3) During the assembly process, there are also misalignments in the fit between the upper and lower cam plates and the end faces of the left and right gear arms, which further affects the rotation synchronization and the final torque value. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a novel automatic assembly process for a rotating shaft structure.

[0009] To solve the above technical problems, the present invention adopts the following technical solution:

[0010] An automated assembly process for a rotating shaft structure, the rotating shaft structure including a spindle, a connecting plate, a compression spring, a lower cam plate, a left gear arm, a left gear, a right gear, a right gear arm, an upper cam plate, and a retaining spring, the process including the following steps:

[0011] S1, mandrel and connecting plate insertion

[0012] The connecting plate is loaded to the designated position, and the screw feeder supplies the mandrels. The mandrels are fed one by one by lifting, and during the lifting process, the subsequent mandrels are simultaneously blocked from being supplied to the receiving channel. Then, during the lifting and resetting process, the mandrels are kept relatively clamped and evenly spaced before entering the corresponding receiving channel for supply, so as to completely supply the mandrels one by one. Next, each mandrel is inserted downward from the mandrel body through the corresponding insertion hole on the connecting plate, and the mandrel cap is placed on the connecting plate to complete the insertion of each mandrel. Then, the mandrel is flipped up and down and can abut against the end face of the cap to prevent the mandrel from detaching from the connecting plate.

[0013] S2, the set of compression spring and lower cam plate

[0014] The compression spring is sleeved on the corresponding mandrel body, and passes through the corresponding through hole of the lower cam plate from the upper end of the mandrel body;

[0015] S3, left gear arm, left gear, right gear, and right gear arm are installed in sequence and aligned.

[0016] Under visual inspection, the acquired tooth positions drive the left gear arm, left gear, right gear, and right gear arm to rotate around the center line of the corresponding inserted spindle body to align and mesh.

[0017] S4, upper cam plate and snap ring assembly

[0018] A second visual inspection is performed to adjust the angles of the left and right gear arms so that the end faces of the upper and lower cam plates and the left and right gear arms fit together and are aligned and engaged along the length of the spindle. Meanwhile, the upper ends of each spindle are positioned relative to each other using snap rings.

[0019] According to a specific embodiment and preferred aspect of the present invention, the receiving assembly used in S1 includes a receiving base with a receiving channel, a first clamping block and a second clamping block disposed on the receiving base and located on opposite sides of the receiving channel, and a lifting member disposed below the receiving base. The receiving base has through grooves located on the left and right sides of the receiving channel. The first clamping block and the second clamping block are respectively inserted into the through grooves on the left and right sides and can move closer to or further away from each other. A positioning groove matching the mandrel body is formed between the first clamping block and the second clamping block. The mandrel is suspended from its cap in the receiving channel, and the mandrel body is vertically inserted into the positioning groove. The lifting member drives the mandrel upward. The second clamping block is elastically connected to the receiving base and has a tendency to move closer to the first clamping block to prevent the mandrel in the guide channel from entering the receiving channel. When the lifting member moves downward, the second clamping block moves away from the first clamping block, the guide channel and the receiving channel communicate, and the mandrel in the guide channel can enter the receiving channel to complete the sequential supply of mandrels. Here, the cooperation of the first and second clamping blocks ensures the precise positioning of each mandrel, while pushing the mandrel upwards facilitates the robotic arm's material handling.

[0020] Preferably, the lifting component includes a lifting base, a lifting module slidably connected to the lifting base, a lifting power component for driving the lifting module, and an auxiliary module that moves synchronously with the lifting module. The auxiliary module and the second clamping block have mating inclined surfaces. When the lifting module moves upward, the two inclined surfaces gradually separate, the second clamping block approaches the first clamping block, and the second clamping block blocks between the guide channel and the receiving channel to prevent the mandrel in the guide channel from entering the receiving channel. When the lifting module moves downward, the two inclined surfaces gradually abut, the second clamping block moves away from the first clamping block, the guide channel and the receiving channel connect, and the mandrel in the guide channel can enter the receiving channel.

[0021] In some specific embodiments, the inner side of the first clamping block has a plurality of insertion slots spaced apart along the extending direction of the receiving channel, and the inner side of the second clamping block has a plurality of insertion parts, which can be inserted one-to-one into the plurality of insertion slots, and a positioning groove is formed between each two adjacent insertion parts. This ensures that each mandrel is accurately positioned within the receiving channel.

[0022] Here, when the robotic arm picks up materials, the receiving channel and the guiding channel can be automatically separated to prevent the mandrel in the guiding channel from entering the receiving channel and interfering with the robotic arm's material picking. At the same time, the lifting module resets to automatically connect the guiding channel and the receiving channel so that the mandrel in the guiding channel can continue to be fed into the receiving channel.

[0023] According to another specific embodiment and preferred aspect of the present invention, the feeding unit corresponding to the mandrel includes a mandrel feeding vibratory feeder, a guiding component connected to the mandrel feeding vibratory feeder at one end and forming a guiding channel, and a receiving component connected to the other end of the guiding component and forming a receiving channel. Multiple mandrels move sequentially from the mandrel feeding vibratory feeder to the guiding channel and are arranged in order. The guiding component is capable of horizontal vibration and drives the mandrels sequentially from the guiding channel into the receiving channel. The first robotic arm grasps the mandrels from the receiving channel. Here, the mandrels output from the vibratory feeder can adjust their posture under the horizontal vibration of the guiding channel and enter the receiving channel, thereby ensuring that the posture of the mandrels remains consistent each time they are picked up, facilitating precise picking and assembly by the robotic arm.

[0024] Preferably, the material guiding component is equipped with a full-load sensor. When the full-load sensor detects that the number of mandrels on the material guiding channel has reached the design value, the mandrel feeding vibratory feeder stops feeding. Here, the feeding of mandrels can be automatically started or stopped according to the actual assembly speed, ensuring that the feeding speed of the mandrels matches the picking and assembly speed of the robot arm.

[0025] In some specific embodiments, a first robotic arm is located between the feeding section corresponding to the mandrel and the connecting plate.

[0026] According to another specific embodiment and preferred aspect of the invention, in S3, the position and angle of each mating engagement are adjusted by visual inspection and installed sequentially from left to right while maintaining the engagement angle.

[0027] Preferably, in S3, the vision lens used includes a first camera mounted on one side of the conveying mechanism for photographing the parts to be assembled, and a second camera mounted on the second robotic arm for photographing the assembled parts on the assembly carrier. Here, when the robotic arm picks up materials, the first camera photographs the parts to be assembled, and during assembly, the second camera photographs the assembled parts. By analyzing and comparing the results of the two photographs, the second robotic arm adjusts the parts to be assembled and performs the assembly. The operation is simple and easy to implement.

[0028] According to another specific embodiment and preferred aspect of the invention, there are two second robotic arms, one of which is located between the left gear arm and the feeding part corresponding to the left gear, and the other of which is located between the right gear and the feeding part corresponding to the right gear arm.

[0029] Furthermore, the automatic assembly equipment with a rotating shaft structure used in this process includes a frame, a conveying mechanism, and an assembly mechanism. The conveying mechanism is located on the frame and its top surface forms a horizontal transmission surface. The horizontal transmission surface has a forward conveyor belt and a reverse conveyor belt, and multiple assembly carriers are provided on the transmission surface. The assembly mechanism includes multiple assembly parts arranged sequentially along the horizontal transmission surface.

[0030] Preferably, the assembly frame includes a frame body, grippers, and a tilting power component. During assembly, the first robotic arm horizontally places the connecting plate on the grippers and clamps it, then inserts the mandrel from top to bottom onto the connecting plate. The tilting power component drives the grippers to tilt up and down around the horizontal center line. Here, the grippers can quickly clamp and release the connecting plate, making the operation simple.

[0031] Furthermore, the assembly frame also includes a baffle plate. During assembly, the baffle plate is positioned above the connecting plate and vertically avoids it. After assembly, the grippers flip up and down, with the baffle plate positioned directly below the connecting plate to prevent the mandrel from falling. During the flipping process, the baffle plate effectively prevents the mandrel from detaching from the connecting plate due to inertia.

[0032] In addition, the forward and reverse conveyor belts are connected at the ends, and the assembly frame reciprocates between the forward and reverse conveyor belts.

[0033] Finally, the automated assembly process also includes S5 and torque testing, which includes the following:

[0034] T1, Initial Test

[0035] Dynamic image detection is performed in one positioning clamp and the other follow-up clamp of the left gear arm and right gear to measure the synchronization angle of the product in different postures, and to screen products that do not meet the measurement standards.

[0036] T2, Screening

[0037] After the initial test is completed, the shaft structure is lubricated. After the lubrication is complete, the torque is tested using the aforementioned torsion mechanism to screen out shaft structures with torque below the set lower limit.

[0038] T3, break-in period

[0039] Using the same motion as in T1, the left gear arm and the right gear are twisted relative to each other to remove burrs and evenly distribute grease to complete the break-in of the shaft structure;

[0040] T4, Retest

[0041] After the product has been broken in, the torque is retested, and the torsional action is tested in the same motion T1 to obtain the torque performance of the shaft structure. The product is classified as qualified or unqualified based on the torque performance, and the qualified product is further graded according to the torque performance.

[0042] T5, Receiving Materials

[0043] Products of different grades are loaded into the rack to complete the grade-based material collection.

[0044] Due to the implementation of the above technical solutions, the present invention has the following advantages compared with the prior art:

[0045] Existing shaft structures, assembled manually, suffer from high labor costs, high labor intensity, low production efficiency, and low product yield. Furthermore, gear misalignment is prone to occur, resulting in poor rotational synchronization and a low product pass rate, failing to achieve the required torque. This invention, however, cleverly solves these shortcomings by designing an automated assembly process for the shaft structure. The process involves first inserting the mandrel and connecting plate sequentially, then rotating it 180° before installing the compression spring and lower cam plate. Next, the left gear arm, left gear, right gear, and right gear arm are aligned and installed sequentially, with the angle adjusted using a robotic arm and a vision lens. Finally, under the corresponding viewing angle alignment, the cam plate and retaining spring are fitted to ensure the upper and lower cams... The semi-finished product is assembled by engaging and aligning the end faces of the cam plates and the left and right gear arms to achieve the required torque. After each assembly, the semi-finished product is transferred to the assembly carrier and moved to the next assembly section until the shaft structure is assembled into a finished product. Therefore, compared with the prior art, this invention can automatically assemble the various parts of the shaft structure sequentially, significantly reducing labor costs, alleviating labor intensity, and effectively improving production efficiency. On the other hand, it can automatically adjust and align the various components of the shaft structure during assembly, improving assembly accuracy and thus effectively improving the product yield. It avoids alignment deviations between multiple mandrels and between the upper and lower cam plates and the end faces of the left and right gear arms, ensuring that the shaft structure achieves the required rotation synchronization and torque value. In addition, the assembly efficiency and assembly pass rate are significantly improved. Attached Figure Description

[0046] Figure 1 This is an exploded three-dimensional structural diagram of the rotating shaft structure of the present invention;

[0047] Figure 2 This is a three-dimensional structural diagram of the automatic assembly device with the rotating shaft structure of the present invention;

[0048] Figure 3 for Figure 2 Enlarged schematic diagram of the first local structure;

[0049] Figure 4 for Figure 2 Enlarged schematic diagram of the second local structure;

[0050] Figure 5 for Figure 2 Enlarged schematic diagram of the third local structure;

[0051] Figure 6 This is a three-dimensional structural diagram of the feeding section corresponding to the mandrel;

[0052] Figure 7 for Figure 6 Exploded and enlarged structural diagram of the intermediate receiving assembly;

[0053] Figure 8 A schematic diagram of the three-dimensional structure of the assembly frame;

[0054] Figure 9 This is a schematic diagram of the assembly process of the present invention;

[0055] Figure 10 This is a schematic diagram of the torque testing process of the present invention;

[0056] Wherein: A, shaft structure; A0, spindle; A00, shaft cap; A01, spindle body; A1, connecting plate; A2, compression spring; A3, lower cam plate; z, mating part; z1, protrusion; z2, matching groove; A4, left gear arm; A5, left gear; A6, right gear; A7, right gear arm; t0, gear arm body; t1, mounting sleeve; t2, rack; A8, upper cam plate; A9, retaining ring;

[0057] B. Automated assembly equipment; 1. Frame; 2. Conveying mechanism; 20. Forward conveyor belt; 21. Reverse conveyor belt; j. Assembly carrier; 3. Assembly mechanism; 30. Assembly section; 300. Assembly frame; a0. Frame body; a1. Gripper; a2. Tilting power component; a3. Baffle plate; 301. First robotic arm; 302. Second robotic arm; 303. Vision lens; 3031. First camera; 3032. Second... Camera; 304, Third robotic arm; 305, Fourth robotic arm; 31, Feeding unit; 310, Mandrel feeding vibratory feeder; 311, Guide component; b, Full material sensor; 312, Receiving assembly; c0, Receiving base; c00, Receiving channel; c1, First clamping block; c2, Second clamping block; c3, Lifting component; c30, Lifting seat; c31, Lifting module; c32, Lifting power component; c33, Auxiliary module. Detailed Implementation

[0058] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the application will be described in detail below with reference to the accompanying drawings and specific embodiments. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0059] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0061] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0062] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0063] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0064] like Figure 1 As shown, the rotating shaft structure A involved in this embodiment includes a spindle A0, a connecting plate A1, a compression spring A2, a lower cam plate A3, a left gear arm A4, a left gear A5, a right gear A6, a right gear arm A7, an upper cam plate A8, and a retaining spring A9.

[0065] In some specific embodiments, the spindle A0 has a shaft cap A00 and a spindle body A01. Four insertion holes are formed on the connecting plate A1. Therefore, in this application, the shaft structure A is a structure in which the left gear arm A4 and the right gear arm A7, composed of four spindles A0, rotate relative to each other and generate torque. Compression springs A2 are respectively sleeved on the left and right spindle bodies A01, with their lower ends abutting against the connecting plate A1 and their upper ends abutting against the lower cam plate 4 inserted into the spindle body A01. The lower cam plate A3 and the upper cam plate A8 are respectively sleeved on the four spindle bodies A01 and are symmetrically arranged vertically, wherein the lower cam plate A3 and the upper cam plate A8 form mating parts z from both ends. The left gear arm A4, left gear A5, right gear A6, and right gear arm A7 are respectively sleeved on the four spindle bodies A01 and located on the lower cam plate A01. Between 3 and the upper cam plate A8, the left gear arm A4 and the right gear arm A7 are symmetrically arranged and each includes a gear arm body t0, a mounting sleeve t1 formed on one side of the gear arm body t0, and a rack t2 set on the mounting sleeve t1. The left gear arm A4, the left gear A5, the right gear A6, and the right gear arm A7 mesh in sequence. The upper and lower ends of the mounting sleeve t1 mesh with the mating parts z of the lower cam plate A3 and the upper cam plate A8, respectively. The snap ring A9 is respectively snapped at the ends of the four spindle bodies A01 and abuts against the upper cam plate A8.

[0066] In this example, the mating ends of the mating part z and the mounting sleeve t1 form protrusions z1 and mating grooves z2 that are distributed circumferentially around themselves and cooperate with each other.

[0067] like Figures 2 to 10 As shown, the automatic assembly equipment B for assembling the aforementioned rotating shaft structure A includes a frame 1, a conveying mechanism 2, and an assembly mechanism 3.

[0068] Specifically, frame 1 is a horizontally extending machine platform, with the top surface of the machine platform being the assembly area and the bottom surface being the installation area for electrical equipment.

[0069] The conveying mechanism 2 is located on the frame 1 and its top surface forms a horizontal conveying surface, wherein multiple assembly carriers j are provided on the conveying surface. In some specific embodiments, the conveying mechanism 2 includes a forward conveyor belt 20 and a reverse conveyor belt 21 forming a horizontal conveying surface, wherein the forward conveyor belt 20 and the reverse conveyor belt 21 are connected from the ends, and the assembly carriers j reciprocate between the forward conveyor belt 20 and the reverse conveyor belt 21; the assembly carriers j can be clamping devices of any structure, and the rotating shaft structure A is clamped on the assembly carriers j in a vertical posture.

[0070] The assembly mechanism 3 includes a plurality of assembly parts 30 and a plurality of feeding parts 31 arranged sequentially along the horizontal transmission surface.

[0071] In this example, during the assembly of the mandrel A0 and the connecting plate A1, the corresponding assembly part 30 includes an assembly frame 300 and a first robotic arm 301. The connecting plate A1 is transferred to the assembly frame 300 by the first robotic arm 301, and each insertion hole extends vertically. The mandrel A0 is transferred one by one by the first robotic arm 301, so that the mandrel body A01 passes downward through the corresponding insertion hole, and the shaft cap A00 rests on the connecting plate A1. The assembly frame 300 can also be rotated vertically and can abut against the end face of the shaft cap A00 to prevent the mandrel A0 from detaching from the connecting plate A1. The left gear arm A4, left gear A5, right gear A6, and right gear arm A7 are assembled sequentially, and the corresponding assembly part 30 includes a second robotic arm 302 and a vision lens 303. Based on the tooth positions obtained by the vision lens 303, the robotic arm 302 drives the left gear arm A4, left gear A5, right gear A6, and right gear arm A7 to rotate around the center line of the corresponding inserted mandrel body A01 for alignment and meshing. Each assembly part 30 assembles the components of the rotating shaft structure A relative to each other. After completing one assembly, the semi-finished product is transferred to the assembly carrier j and moved to the next assembly part with the transmission. That is to say, the assembly of the mandrel A0 and the connecting plate A1 is carried out on the assembly frame 300. After the mandrel A0 and the connecting plate A1 are assembled and transferred to the assembly carrier j, the remaining components are directly assembled on the assembly carrier j in sequence with the transmission of the assembly carrier j. After all the assembly is completed, the finished product is discharged from one end of the conveying mechanism 2.

[0072] Specifically, the assembly frame 300 includes a frame body a0, grippers a1, a flipping power component a2, and a stop plate a3. During assembly, the stop plate a3 is located above the connecting plate A1 and avoids the connecting plate A1 in the vertical direction. The first robot arm 301 places the connecting plate A1 horizontally on the grippers a1 and clamps it, and inserts the mandrel A0 from top to bottom onto the connecting plate A1. After assembly, the flipping power component a2 drives the grippers a1 to flip up and down around the horizontal center line, and the stop plate a3 is located directly below the connecting plate A1 to prevent the mandrel A0 from falling. The vision lens 303 includes a first camera 3031 located on one side of the conveyor mechanism 2 for photographing the parts to be assembled, and a second camera 3032 located on the second robot arm 302 for photographing the assembled parts on the assembly frame j. In other words, after the assembly carrier j is in place, the second robot arm 302 first grabs and aligns the left gear arm A4 with the lower cam plate A3 from the end face and mounts it onto the corresponding mandrel A0. Secondly, when the second robot arm 302 grabs the left gear A5, the first camera 3031 captures the posture of the left gear A5 at this time. When the second robot arm 302 transfers the left gear A5 to the assembly carrier j, the second camera 3032 captures the posture of the left gear arm A4 on the assembly carrier j. Based on the comparison and analysis of the postures of the two, the second robot arm 302 adjusts the left gear A5 to align with the left gear arm A4 and mounts it onto the corresponding mandrel A0. The assembly of the right gear A6 and the right gear arm A7 follows the same assembly logic.

[0073] Meanwhile, in the assembly of the compression spring A2 and the lower cam plate A3, the corresponding assembly part 30 also includes a third robotic arm 304; in the assembly of the upper cam plate A8 and the retaining spring A9, the corresponding assembly part 30 also includes a fourth robotic arm 305. In some specific embodiments, after the lower cam plate A3 and the upper cam plate A8 are detected in posture by a detection camera mounted on the frame, the corresponding robotic arms are then adjusted, aligned, and assembled.

[0074] In this example, multiple feeding units 31 sequentially supply the spindle A0, connecting plate A1, compression spring A2, lower cam plate A3, left gear arm A4, left gear A5, right gear A6, right gear arm A7, upper cam plate A8, and retaining ring A9. In some specific embodiments, there is one first robot arm 301 located between the feeding units 31 corresponding to the spindle A0 and connecting plate A1; there are two second robot arms 302, with one second robot arm 302 positioned between the feeding units 31 corresponding to the left gear arm A4 and left gear A5, and the other second robot arm 302 positioned between the feeding units 31 corresponding to the right gear A6 and right gear arm A7.

[0075] Specifically, the feeding unit 31 corresponding to the mandrel A0 includes a mandrel feeding vibratory plate 310, a guiding component 311 connected to the mandrel feeding vibratory plate 310 at one end and forming a guiding channel, and a receiving component 312 connected to the other end of the guiding component 311 and forming a receiving channel. Multiple mandrels A0 move one by one from the mandrel feeding vibratory plate 310 to the guiding channel and are arranged sequentially. The guiding component 311 can vibrate horizontally and drive the mandrels A0 one by one from the guiding channel into the receiving channel. The first robot arm 301 grasps the mandrels A0 from the receiving channel. In some specific embodiments, the horizontal vibration of the guiding component 311 is achieved by a vibrator connected to its bottom, which is an existing device.

[0076] For ease of implementation, a full-load sensor b is provided on the material guiding component 311. When the full-load sensor b detects that the number of mandrels on the material guiding channel has reached the design value, the mandrel feeding vibratory plate 310 stops feeding. In some specific embodiments, the full-load sensor b uses an optical fiber.

[0077] The receiving assembly 312 includes a receiving base c0 with a receiving channel c00, a first clamping block c1 and a second clamping block c2 disposed on the receiving base c0 and located on opposite sides of the receiving channel c00, and a lifting member c3 disposed below the receiving base c0. The receiving base c0 has through grooves on the left and right sides of the receiving channel c00. The first clamping block c1 and the second clamping block c2 are respectively inserted into the through grooves on the left and right sides and can move closer to or further away from each other. A positioning groove matching the mandrel body of the mandrel A0 is formed between the first clamping block c1 and the second clamping block c2. The mandrel A0 is suspended from its cap within the receiving channel c00, and the mandrel body is vertically inserted into the positioning groove. During feeding, the lifting member c3 drives the mandrel A0 upward. The second clamping block c2 is elastically connected to the receiving base c0 and has a direction towards the first clamping block c1. The lifting component c3 includes a lifting seat c30, a lifting module c31 slidably connected to the lifting seat c30, a lifting power component c32 for driving the lifting module c31, and an auxiliary module c33 that moves synchronously with the lifting module c31. The auxiliary module c33 and the second clamping block c2 have matching inclined surfaces. When the lifting module c31 moves upward, the two inclined surfaces gradually separate, and the second clamping block c2 moves closer to the first clamping block c1. The second clamping block c2 intercepts the material guide channel and the material receiving channel c00 to prevent the mandrel A0 in the material guide channel from entering the material receiving channel. When the lifting module c31 moves downward, the two inclined surfaces gradually abut, and the second clamping block c2 moves further away from the first clamping block c1. The material guide channel and the material receiving channel are connected, and the mandrel A0 in the material guide channel can enter the material receiving channel c00.

[0078] To further facilitate implementation, the inner side of the first clamping block c1 is provided with a plurality of insertion slots that are spaced apart along the extension direction of the receiving channel c00, and the inner side of the second clamping block c2 is provided with a plurality of insertion parts. The plurality of insertion parts can be inserted into the plurality of insertion slots one by one, and a positioning groove matching the mandrel A0 is formed between each two adjacent insertion parts.

[0079] In addition, the connecting plate A1, compression spring A2, lower cam plate A3, left gear A5, right gear A6, upper cam plate A8, and snap ring A9 are all fed by vibratory feeding using a vibratory feeder; the left gear arm A4 and right gear arm A7 are laid flat on their respective carriers and fed by guide rails, which are conventional technical methods and will not be described in detail here.

[0080] In summary, combining Figure 8 and Figure 9 As shown, the automated assembly process of this application includes the following steps:

[0081] S1, mandrel and connecting plate insertion

[0082] The connecting plate is loaded to the designated position, and the screw feeder supplies the mandrels. The mandrels are fed one by one by lifting, and during the lifting process, the subsequent mandrels are simultaneously blocked from being supplied to the receiving channel. Then, during the lifting and resetting process, the mandrels are kept relatively clamped and evenly spaced before entering the corresponding receiving channel for supply, so as to completely supply the mandrels one by one. Next, each mandrel is inserted downward from the mandrel body through the corresponding insertion hole on the connecting plate, and the mandrel cap is placed on the connecting plate to complete the insertion of each mandrel. Then, the mandrel is flipped up and down and can abut against the end face of the cap to prevent the mandrel from detaching from the connecting plate.

[0083] S2, the set of compression spring and lower cam plate

[0084] The compression spring is sleeved on the corresponding mandrel body, and passes through the corresponding through hole of the lower cam plate from the upper end of the mandrel body;

[0085] S3, left gear arm, left gear, right gear, and right gear arm are installed in sequence and aligned.

[0086] Under visual inspection, the acquired tooth positions drive the left gear arm, left gear, right gear, and right gear arm to rotate around the center line of the corresponding inserted spindle body to align and mesh.

[0087] S4, upper cam plate and snap ring assembly

[0088] A second visual inspection is performed to adjust the angles of the left and right gear arms so that the end faces of the upper and lower cam plates and the left and right gear arms fit together and are aligned and engaged in the length direction of the spindle. Meanwhile, the upper ends of each spindle are positioned relative to each other using snap rings.

[0089] S5, Torque Test

[0090] T1. Initial Measurement: Dynamic image detection is performed in one positioning clamp and the other following clamp of the left gear arm and right gear to measure the synchronous angle of the product in different postures, and to screen out products that do not meet the measurement standards. T2. Screening: The shaft structure after the initial measurement is lubricated. After full lubrication, the torque test is performed using the aforementioned torsion mechanism to screen out shaft structures with torque below the set lower limit. T3. Break-in: Using the same motion as in T1, the left gear arm and right gear are relatively twisted to remove burrs and evenly distribute the grease to complete the break-in of the shaft structure. T4. Retest: The torque of the broken-in product is retested, and the torsion action is detected in the same motion as in T1 to obtain the torque performance of the shaft structure. The product is classified as qualified or unqualified based on the torque performance, and qualified products are graded according to their torque performance. T5. Collection: Products of different grades are loaded into the carrier to complete the collection by grade (high, medium, and low grades).

[0091] In summary, after adopting this assembly equipment and process, the mandrel and connecting plate are first inserted sequentially, and then rotated 180°.

[0092] Next, the compression spring and lower cam plate are installed. Then, the left gear arm, left gear, right gear, and right gear arm are aligned and installed sequentially, with the angle adjusted using a robotic arm and a vision lens. Then, under the corresponding viewing angle alignment, the cam plate and retaining spring are fitted to ensure the upper and lower cam plates and the end faces of the left and right gear arms engage and align, achieving the required torque for assembly. After each assembly, the semi-finished product is transferred to the assembly carrier and moved to the next assembly section until the shaft structure is assembled. Therefore, compared with existing technologies, this invention can achieve automatic sequential assembly of each part of the shaft structure, significantly reducing labor costs, alleviating labor intensity, and effectively improving efficiency. On the one hand, it improves production efficiency; on the other hand, it enables automatic adjustment and alignment of various components of the rotating shaft structure during assembly, improving assembly accuracy and thus effectively increasing product yield. It avoids alignment deviations between multiple spindles, as well as between the upper and lower cam plates and the end faces of the left and right gear arms, ensuring the rotating shaft structure achieves the required rotational synchronization and torque value. Thirdly, the high engagement between the mating parts and the mounting sleeve effectively improves damping smoothness and enhances the rotational feel of the rotating shaft structure during relative rotation. Fourthly, by setting a baffle plate, the baffle plate effectively prevents the spindle from detaching from the connecting plate under inertia during the rotation process. Fifthly, it not only achieves automatic continuous feeding and assembly of various components, but also further enhances automation. This reduces labor costs; moreover, the layout of the robotic arm and various feeding units reduces the robotic arm's travel distance, improving the assembly efficiency and accuracy of each component; sixthly, the mandrel output by the self-vibrating plate can adjust its posture and input into the receiving channel under the flat vibration of the guide channel, thus ensuring that the mandrel's posture remains consistent each time it is picked up, facilitating precise picking and assembly by the robotic arm. Simultaneously, it can automatically start or stop the mandrel feeding according to the actual assembly speed, ensuring that the mandrel feeding speed matches the robotic arm's picking and assembly speed; seventhly, the cooperation of the first and second clamping blocks ensures accurate positioning of each mandrel, and the upward ejection of the mandrel facilitates picking up by the robotic arm; eighthly, the machine... When the robotic arm picks up materials, the receiving channel and the guiding channel can be automatically separated to prevent the mandrel in the guiding channel from entering the receiving channel and interfering with the robotic arm's material picking. At the same time, the lifting module resets to automatically connect the guiding channel and the receiving channel so that the mandrel in the guiding channel can continue to be fed into the receiving channel. Ninthly, it is applicable to the detection of rotating shaft structures with any number of shafts. When performing torque testing, it can automatically adjust and simulate the motion trajectory of the rotating shaft structure under actual working conditions to accurately obtain the required measurement data, such as the number of times, angle, running-in force, and torque curve. Tenthly, the torsion test will not cause damage to the rotating shaft structure, and it effectively improves the testing efficiency. The structure is simple, easy to implement, and low in cost.The eleventh aspect involves first measuring the synchronous angle, then performing torque screening, and with the assistance of lubrication and break-in, not only obtaining accurate test performance based on actual working conditions, but also classifying and collecting data according to the test structure, enhancing practicality and meeting the needs of different performance requirements.

[0093] The present invention has been described in detail above, with the aim of enabling those skilled in the art to understand and implement the invention. However, this description should not be construed as limiting the scope of protection of the invention. All equivalent changes or modifications made in accordance with the spirit and essence of the invention should be included within the scope of protection of the invention.

Claims

1. An automatic assembly process for a rotating shaft structure, the rotating shaft structure comprising a spindle, a connecting plate, a compression spring, a lower cam plate, a left gear arm, a left gear, a right gear, a right gear arm, an upper cam plate, and a retaining spring, characterized in that, The process includes the following steps: S1, mandrel and connecting plate insertion The connecting plate is loaded to the designated position, and the screw feeder supplies the mandrels. The mandrels are fed one by one by lifting. During the lifting process, the subsequent mandrels are simultaneously blocked from being supplied to the receiving channel. Then, during the lifting and resetting process, the mandrels are kept relatively clamped and evenly spaced before entering the corresponding receiving channel for supply, so as to supply the mandrels one by one. Next, each mandrel passes downward from the mandrel body through the corresponding insertion hole on the connecting plate. The mandrel cap is placed on the connecting plate to complete the insertion of each mandrel. Then, the connecting plate with the mandrels inserted is flipped up and down and the mandrel is pressed against the end face of the cap to prevent the mandrel from detaching from the connecting plate. S2, the set of compression spring and lower cam plate The compression spring is sleeved on the corresponding mandrel body, and passes through the corresponding through hole of the lower cam plate from the upper end of the mandrel body; S3, left gear arm, left gear, right gear, and right gear arm are installed in sequence and aligned. Under visual inspection, the acquired tooth positions drive the left gear arm, left gear, right gear, and right gear arm to rotate around the center line of the corresponding inserted spindle body to align and mesh. S4, upper cam plate and snap ring assembly A second visual inspection is performed to adjust the angles of the left and right gear arms so that the end faces of the upper and lower cam plates and the left and right gear arms fit together and are aligned and engaged along the length of the spindle. Meanwhile, the upper ends of each spindle are positioned relative to each other using snap rings.

2. The automatic assembly process of a pivot structure according to claim 1, wherein, The receiving assembly used in S1 includes a receiving base with a receiving channel, a first clamping block and a second clamping block disposed on the receiving base and located on opposite sides of the receiving channel, and a lifting member disposed below the receiving base. The receiving base has through slots on the left and right sides of the receiving channel. The first and second clamping blocks are respectively inserted into the through slots on the left and right sides and can move closer to or further away from each other. A positioning groove matching the mandrel body is formed between the first and second clamping blocks. The mandrel is suspended from its cap in the receiving channel, and the mandrel body is vertically inserted into the positioning groove. The lifting member drives the mandrel upward. The second clamping block is elastically connected to the receiving base and has a tendency to move closer to the first clamping block to prevent the mandrel in the guide channel from entering the receiving channel. When the lifting member moves downward, the second clamping block moves away from the first clamping block, the guide channel and the receiving channel connect, and the mandrel in the guide channel can enter the receiving channel to complete the sequential feeding of mandrels.

3. The automatic assembly process of a pivot structure according to claim 2, wherein, The lifting component includes a lifting base, a lifting module slidably connected to the lifting base, a lifting power component for driving the lifting module, and an auxiliary module that moves synchronously with the lifting module. The auxiliary module and the second clamping block have matching inclined surfaces. When the lifting module moves upward, the two inclined surfaces gradually separate, the second clamping block moves closer to the first clamping block, and the second clamping block blocks between the guide channel and the receiving channel to prevent the mandrel in the guide channel from entering the receiving channel. When the lifting module moves downward, the two inclined surfaces gradually abut, the second clamping block moves further away from the first clamping block, the guide channel and the receiving channel are connected, and the mandrel in the guide channel can enter the receiving channel.

4. The automatic assembly process of a pivot structure according to claim 2 or 3, characterized in that, The inner side of the first clamping block has a plurality of insertion slots spaced apart along the extension direction of the receiving channel, and the inner side of the second clamping block has a plurality of insertion parts, which can be inserted into the plurality of insertion slots one by one, and a positioning groove is formed between each two adjacent insertion parts.

5. The automatic assembly process of a pivot structure according to claim 1, wherein, The feeding unit corresponding to the mandrel includes a mandrel feeding vibratory feeder, a guiding component connected to the mandrel feeding vibratory feeder at one end and forming a guiding channel, and a receiving component connected to the other end of the guiding component and forming a receiving channel. Multiple mandrels move one by one from the mandrel feeding vibratory feeder to the guiding channel and are arranged in sequence. The guiding component can vibrate smoothly and drive the mandrels one by one from the guiding channel into the receiving channel. A first robotic arm grabs the mandrels from the receiving channel. The guiding component is equipped with a full material sensor. When the full material sensor detects that the number of mandrels on the guiding channel has reached the design value, the mandrel feeding vibratory feeder stops feeding.

6. The automatic assembly process of a pivot structure according to claim 1, wherein, In S3, the position and angle of each meshing engagement are adjusted by visual inspection, and the engagement angle is maintained while the parts are inserted into the mandrel body from left to right.

7. The automatic assembly process of a pivot structure according to claim 1, wherein, In S3, the vision lenses used include a first camera mounted on one side of the conveyor mechanism for photographing the parts to be assembled, and a second camera mounted on the second robotic arm for photographing the assembled parts on the assembly carrier.

8. The automatic assembly process of a pivot structure according to claim 7, wherein, There are two second robotic arms. One second robotic arm is located between the left gear arm and the feeding part corresponding to the left gear, and the other second robotic arm is located between the right gear and the feeding part corresponding to the right gear arm.

9. The automatic assembly process of a pivot structure according to claim 1, wherein, The automatic assembly equipment with a rotating shaft structure includes a frame, a conveying mechanism, and an assembly mechanism. The conveying mechanism is located on the frame and its top surface forms a horizontal transmission surface. The horizontal transmission surface has a forward conveyor belt and a reverse conveyor belt. Multiple assembly carriers are provided on the transmission surface. The assembly mechanism includes multiple assembly parts arranged sequentially along the horizontal transmission surface.

10. The automatic assembly process of a pivot structure according to claim 1, wherein, The automated assembly process also includes S5, torque testing, which includes the following: T1, Initial Test Dynamic image detection is performed in one positioning clamp and the other follow-up clamp of the left gear arm and right gear to measure the synchronization angle of the product in different postures, and to screen products that do not meet the measurement standards. T2, Screening After the initial test is completed, the shaft structure is lubricated. After the lubrication is complete, a torsion mechanism is used to test the torque in order to screen out shaft structures with torque below the set lower limit. T3, break-in period Using the same motion as in A1, the left gear arm and the right gear are twisted relative to each other to remove burrs and evenly distribute grease to complete the break-in of the shaft structure; T4, Retest After the product has been broken in, the torque is retested, and the torsional action is tested in the same motion as A1 to obtain the torque performance of the shaft structure. The product is classified as qualified or unqualified based on the torque performance, and the qualified product is further graded according to the torque performance. T5, Receiving Materials Products of different grades are loaded into the rack to complete the grade-based material collection.

Images