Flexible chain automatic assembly equipment and assembly method thereof

Abstract

The present invention relates to an automatic assembly device for a flexible chain and an assembly method thereof. A first loading assembly, a second loading assembly and a third loading assembly load a chain plate, a second pin and a first pin respectively; a first gripping mechanism moves the chain plate to a slideway, a pushing cylinder pushes the chain plate to a positioning puller, the positioning puller clamps and positions the chain plate, a third gripping mechanism inserts the first pin into a plate hole of the chain plate, and a second gripping mechanism places the second pin in a pushing device; the pushing device pushes the second pin into the chain plate and the first pin in sequence. The purpose of the present invention is to accurately and efficiently complete the production and assembly process of a flexible chain through automated equipment, including operations such as loading, positioning, clamping, rotating and inserting the chain plate of a flexible chain and the first and second pins.

Description

Technical Field

[0001] The invention relates to a flexible chain automatic assembly device and an assembly method thereof, belonging to the technical field of chain assembly. Background Art

[0002] With the expansion of the application scope of flexible chains, especially in the fields of machinery, automobiles, electronics, etc., the demand for flexible chains has increased significantly. Traditional flexible chain assembly usually requires manual operation, which is labor-intensive for workers, prone to human errors, and easily leads to low production efficiency and unstable product quality. Summary of the invention

[0003] The present invention proposes an automatic assembly device for a flexible chain and an assembly method thereof, and its purpose is to provide an automatic assembly device for a flexible chain, which can accurately and efficiently complete the production and assembly process of the flexible chain through automated equipment, including the loading, positioning, clamping, rotation and insertion of the flexible chain chain plate and the first pin shaft and the second pin shaft.

[0004] The technical solution adopted by the present invention is a flexible chain automatic assembly equipment, including a first loading component, a second loading component, a third loading component, a slide, a positioning puller, a PLC control panel, a pushing device, a first grasping mechanism, a second grasping mechanism, and a third grasping mechanism installed on a frame, wherein the slide is provided with a pushing cylinder for pushing the flexible chain; the first grasping mechanism, the second grasping mechanism, and the third grasping mechanism are respectively provided with a first position sensor, a second position sensor, and a third position sensor.

[0005] The PLC control panel is electrically connected to the first feeding assembly, the second feeding assembly, the third feeding assembly, the positioning puller, the ejecting device, the first grabbing mechanism, the second grabbing mechanism, the third grabbing mechanism, the first position sensor, the second position sensor, the third position sensor, and the opposing photoelectric switch respectively;

[0006] A first loading assembly, used for loading the chain plate;

[0007] A second loading assembly, used for loading the second pin shaft;

[0008] A third loading assembly, used for loading the first pin shaft;

[0009] The first grabbing mechanism is used to grab and move the chain plate that has completed loading;

[0010] A second grabbing mechanism is used to grab and move the second pin shaft that has completed the loading;

[0011] A third grasping mechanism is used to grasp and move the first pin shaft that has completed the loading;

[0012] Positioning puller, used to clamp and position the chain plate and push the flexible chain to move;

[0013] A through-beam photoelectric switch is used to detect the position and placement angle of the pin hole of the first pin shaft;

[0014] The lifting device is used to assemble the second pin shaft, the chain plate and the first pin shaft into a flexible chain.

[0015] Furthermore, the first grasping mechanism includes a first two-axis robot, a first finger cylinder, a first connecting piece and a first clamp, wherein the first two-axis robot is connected to the first finger cylinder through the first connecting piece, and the first finger cylinder is connected to the first clamp.

[0016] Furthermore, the second grasping mechanism includes a second two-axis robot, a second finger cylinder, a second connecting piece and a second clamp, wherein the second two-axis robot is connected to the second finger cylinder through the second connecting piece, and the second finger cylinder is connected to the second clamp.

[0017] Furthermore, the third grasping mechanism includes a three-axis robot, a rotating motor, a third finger cylinder, a third connecting piece and a third clamp, wherein the three-axis robot is connected to the rotating motor through the third connecting piece, the rotating motor is connected to the third finger cylinder, and the third finger cylinder is connected to the third clamp.

[0018] Furthermore, the positioning puller includes a base, a pulling cylinder, a pulling guide rail, a cylinder connecting piece, a positioning cylinder, a positioning guide rail, an upper positioning piece, and a lower positioning piece; wherein the lower positioning piece is fixed to the bottom of the base, the pulling cylinder is fixed to the inner side of the top of the base, the cylinder connecting piece is installed at one end of the pulling guide rail, and the pulling cylinder controls the extension and retraction of the pulling guide rail in the horizontal direction; the positioning cylinder is fixed below the cylinder connecting piece, the upper positioning piece is installed below the positioning cylinder, and the positioning cylinder controls the extension and retraction of the positioning guide rail in the vertical direction.

[0019] Furthermore, the ejecting device includes a ejecting cylinder, a push rod, a fixed seat, a fixing part, and a guide; wherein the push rod is fixed to the ejecting cylinder by the fixing part, the fixing seat and the guide are arranged on the frame at intervals, the guide is provided with a guide hole and a guide groove for accommodating a second pin shaft, the guide groove is connected with the guide hole, and the push rod passes through the fixed seat, wherein the ejecting cylinder, the guide groove, the push rod and the guide hole are in a colinear line, when the ejecting cylinder drives the push rod to extend, the push rod pushes the second pin shaft in the guide groove to pass through the guide hole; when the ejecting cylinder drives the push rod to contract, the push rod is pulled out of the guide.

[0020] On this basis, a coiling device is also installed on the frame.

[0021] Furthermore, the winding device includes a winding disc and a driving system, the driving system is electrically connected to the PLC control panel, the driving system can control the rotation of the winding disc, and the winding disc is provided with a pin hole for plugging and cooperating with the second pin shaft.

[0022] Furthermore, the opposing photoelectric switch is arranged on the upper positioning member.

[0023] On this basis, it also includes a lubrication pump for lubricating the component equipment.

[0024] Furthermore, the first feeding component includes a first vibrating loader and a first material receiving platform, and the outlet of the first vibrating loader is connected to the first material receiving platform; the second feeding component includes a second vibrating loader and a second material receiving platform, and the second vibrating loader is connected to the second material receiving platform; the third feeding component includes a third vibrating loader and a third material receiving platform, and the third vibrating loader is connected to the third material receiving platform.

[0025] The present invention also provides a flexible chain automatic assembly method, specifically:

[0026] Step 1: The first loading assembly, the second loading assembly and the third loading assembly load the chain plate, the second pin shaft and the first pin shaft respectively;

[0027] Step 2: The first grabbing mechanism moves the chain plate to the slideway through the monitoring and signal feedback of the first position sensor, and the pushing cylinder pushes the chain plate to the positioning puller, which clamps and positions the chain plate. At the same time, the third grabbing mechanism inserts the first pin shaft into the plate hole of the chain plate through the monitoring and signal feedback of the third position sensor and the signal feedback of the corresponding photoelectric switch. At the same time, the second grabbing mechanism places the second pin shaft in the ejecting device through the monitoring and signal feedback of the second position sensor;

[0028] Step 3: The ejecting device pushes the second pin into the chain plate and the first pin in sequence; then the first grabbing mechanism, the pushing cylinder, the positioning puller, the third grabbing mechanism, the second grabbing mechanism, and the ejecting device are all moved and reset.

[0029] The invention discloses a flexible chain automatic assembly device and an assembly method thereof, which have the beneficial effect that, compared with the prior art, the production and assembly process of the flexible chain can be completed accurately and efficiently through the automated equipment, thereby improving production efficiency and production quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 The figure is a schematic diagram of the front view of the structure of embodiment 1 of the present invention;

[0032] Figure 2 Shown Figure 1 Schematic diagram of the flexible chain structure;

[0033] Figure 3 Shown Figure 1 Schematic diagram of the structure of the first grabbing mechanism;

[0034] Figure 4 Shown Figure 1 Schematic diagram of the structure of the second grabbing mechanism;

[0035] Figure 5 Shown Figure 1 Schematic diagram of the structure of the third grabbing mechanism;

[0036] Figure 6 Shown Figure 1 Schematic diagram of the structure of the middle positioning puller;

[0037] Figure 7 Shown Figure 1 Schematic diagram of the structure of the middle lifting device;

[0038] Figure 8 Shown Figure 1 Schematic diagram of the structure of the middle coil device;

[0039] Fig. 9 Shown Figure 1 A schematic diagram of the partially enlarged structure of the use process of the central positioning puller and the ejector device;

[0040] Fig.10 Shown Figure 1 Schematic diagram of the partial enlarged structure of the middle slide.

[0041] As shown in the figure: 1. First grabbing mechanism; 2. Second grabbing mechanism; 3. Third grabbing mechanism; 4. Pushing cylinder; 5. Frame; 6. Slide; 7. First vibration loader; 8. Ejecting device; 9. Coiling device; 10. First receiving platform; 11. Positioning puller; 12. Opposing photoelectric switch; 13. PLC control panel; 14. First position sensor; 15. Second position sensor; 16. Flexible chain; 17. Chain plate; 18. First pin; 19. Second pin; 20. Third position sensor; 21. Lubricating pump; 22. Second vibration loader; 23. Third vibration loader; 61. Side plate; 81. Ejecting cylinder; 82. Fixing seat; 83. Fixing piece; 84. Guide; 85. Push rod; 86. Guide hole; 87. Guide Slot; 91, coil disk; 92, drive system; 93, pin hole; 100, first two-axis robot; 101, first finger cylinder; 102, first connecting piece; 103, first clamp; 110, base; 111, material pulling cylinder; 112, material pulling guide; 113, cylinder connecting piece; 114, positioning cylinder; 115, positioning guide; 116, upper positioning piece; 117, lower positioning piece; 118, teeth; 119, through hole; 120, stopper; 171, plate hole; 200, second two-axis robot; 201, second finger cylinder; 202, second connecting piece; 203, second clamp; 300, three-axis robot; 301, third finger cylinder; 302, third connecting piece; 303, third clamp; 304, rotating motor. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In order to further understand the content of the present invention, this technical solution is further explained below in conjunction with specific implementation methods.

[0044] Example 1: Figure 2 As shown, the flexible chain 16 includes a chain plate 17, a first pin shaft 18 and a second pin shaft 19. The chain plate 17 has teeth and a plate hole 171 for inserting the first pin shaft 18 and the second pin shaft 19. It should be noted that the flexible chain 16 is an existing structure and will not be described in detail in this embodiment. Figures 1 to 10As shown, this embodiment provides a flexible chain automatic assembly device, including a first feeding assembly, a second feeding assembly, a third feeding assembly, a slide 6, a positioning puller 11, a PLC control panel 13, a material ejection device 8, a first grasping mechanism 1, a second grasping mechanism 2, and a third grasping mechanism 3 installed on a frame 5, wherein the slide 6 is provided with a pushing cylinder 4 for pushing the flexible chain 16, and specifically, the slide 6 has side plates 61 on both sides, and the side plates 61 are used to straighten and guide the chain plate 17. The first grasping mechanism 1, the second grasping mechanism 2, and the third grasping mechanism 3 are respectively provided with and connected with a first position sensor 14, a second position sensor 15, and a third position sensor 20. The PLC control panel 13 is electrically connected to the first feeding component, the second feeding component, the third feeding component, the positioning puller 11, the lifting device 8, the first grabbing mechanism 1, the second grabbing mechanism 2, the third grabbing mechanism 3, the first position sensor 14, the second position sensor 15, the third position sensor 20, and the opposing photoelectric switch 12, respectively. The PLC control panel 13 is used to control the operation of the flexible chain automatic assembly equipment.

[0045] like Figure 1 As shown, the first feeding assembly is used to feed the chain plate 17; the second feeding assembly is used to feed the second pin shaft 19; the third feeding assembly is used to feed the first pin shaft 18; the first feeding assembly includes a first vibrating loader 7 and a first receiving platform 10, and the outlet of the first vibrating loader 7 is connected to the first receiving platform 10; the second feeding assembly includes a second vibrating loader 22 and a second receiving platform, and the second vibrating loader 22 is connected to the second receiving platform; the third feeding assembly includes a third vibrating loader 23 and a third receiving platform, and the third vibrating loader 23 is connected to the third receiving platform. The first vibrating loader 7 is equipped with a plurality of chain plates 17, which are transported to the first material receiving platform 10 in sequence through the vibration of the first vibrating loader 7; the second vibrating loader 22 is equipped with a plurality of second pin shafts 19, which are transported to the second material receiving platform in sequence through the vibration of the second vibrating loader 22; the third vibrating loader 23 is equipped with a plurality of first pin shafts 18, which are transported to the third material receiving platform in sequence through the vibration of the third vibrating loader 23.

[0046] like Figure 1 and 3As shown, the first grasping mechanism 1 is used to grasp and move the chain plate 17 that has completed loading; specifically, the first grasping mechanism 1 includes a first two-axis robot 100, a first finger cylinder 101, a first connecting piece 102 and a first clamp 103, wherein the first two-axis robot 100 is connected to the first finger cylinder 101 through the first connecting piece 102, and the first finger cylinder 101 is connected to the first clamp 103, and the first two-axis robot 100 is controlled to move in the X-axis and Z-axis directions through the PLC control panel 13, and the first clamp 103 is controlled to clamp the chain plate 17 or release the chain plate 17.

[0047] like Figure 1 and 4 As shown, the second grasping mechanism 2 is used to grasp and move the second pin shaft 19 after loading; the second grasping mechanism 2 includes a second double-axis robot 200, a second finger cylinder 201, a second connecting piece 202 and a second clamping claw 203, wherein the second double-axis robot 200 is connected to the second finger cylinder 201 through the second connecting piece 202, and the second finger cylinder 201 is connected to the second clamping claw 203. The second double-axis robot 200 is controlled to move in the X-axis and Z-axis directions through the PLC control panel 13, and the second clamping claw 203 is controlled to clamp the second pin shaft 19 or release the second pin shaft 19.

[0048] like Figure 1 and 5 As shown, the third grasping mechanism 3 is used to grasp and move the first pin shaft 18 that has completed loading; the third grasping mechanism 3 includes a three-axis robot 300, a rotating motor 304, a third finger cylinder 301, a third connecting member 302 and a third clamp 303, wherein the three-axis robot 300 is connected to the rotating motor 304 through the third connecting member 302, the rotating motor 304 is connected to the third finger cylinder 301, and the third finger cylinder 301 is connected to the third clamp 303. The three-axis robot 300 is controlled to move in the X-axis, Y-axis and Z-axis directions through the PLC control panel 13, and the third clamp 303 is controlled to clamp the first pin shaft 18 or release the first pin shaft 18. The X-axis, Y-axis and Z-axis are three-dimensional space coordinate systems.

[0049] like Figure 1 and 6As shown, the positioning puller 11 is used to clamp and position the chain plate 17 and push the flexible chain 16 to move; specifically, the positioning puller 11 includes a base 110, a pulling cylinder 111, a pulling guide rail 112, a cylinder connector 113, a positioning cylinder 114, a positioning guide rail 115, an upper positioning member 116, and a lower positioning member 117; wherein the lower positioning member 117 is fixed to the bottom of the base 110, the pulling cylinder 111 is fixed to the inner side of the top of the base 110, the cylinder connector 113 is installed at one end of the pulling guide rail 112, and the pulling cylinder 111 controls the extension and retraction of the pulling guide rail 112 in the horizontal direction; the positioning cylinder 114 is fixed below the cylinder connector 113, the upper positioning member 116 is installed below the positioning cylinder 114, and the positioning cylinder 114 controls the extension and retraction of the positioning guide rail 115 in the vertical direction. The lower surface of the upper positioning member 116 is provided with teeth 118 that fit with the chain plate 17, and the upper positioning member 116 is also provided with a through hole 119. Stoppers 120 are respectively provided on both sides of the lower positioning member 117, and the stoppers 120 are arranged opposite to each other, and the spacing between the two stoppers 120 fits the width of the chain plate 17. The guide hole 86 is opposite to the plate hole 171 of the chain plate 17 to be inserted with the second pin 19.

[0050] like Figure 1 and 7 As shown, the ejection device 8 is used to assemble the second pin shaft 19, the chain plate 17 and the first pin shaft 18 into a flexible chain 16. The ejection device 8 includes an ejection cylinder 81, a push rod 85, a fixed seat 82, a fixing member 83, and a guide 84; wherein the push rod 85 is fixed on the ejection cylinder 81 through the fixing member 83, the fixed seat 82 and the guide 84 are arranged on the frame 5 at intervals, and the guide 84 is provided with a guide hole 86 and a guide groove 87 for accommodating the second pin shaft 19, the guide groove 87 is connected with the guide hole 86, and the push rod 85 passes through the fixed seat 82, wherein the ejection cylinder 81, the guide groove 87, the push rod 85 and the guide hole 86 are in the same line, when the ejection cylinder 81 drives the push rod 85 to extend, the push rod 85 pushes the second pin shaft 19 in the guide groove 87 to pass through the guide hole 86; when the ejection cylinder 81 drives the push rod 85 to contract, the push rod 85 is pulled out from the guide 84.

[0051] like Figure 1 and 8 As shown, a coiling device 9 is also installed on the frame 5. The coiling device 9 includes a coiling tray 91 and a driving system 92. The driving system 92 is electrically connected to the PLC control panel 13. The driving system 92 can control the rotation of the coiling tray 91. The coiling tray 91 is provided with a pin hole 93 for plugging and cooperating with the second pin shaft 19.

[0052] like Figure 1 and 6 As shown, the through-beam photoelectric switch 12 is used to detect the pin hole position and placement angle of the first pin shaft 18 ; the through-beam photoelectric switch 12 is arranged on the upper positioning member 116 .

[0053] Furthermore, the assembly equipment also includes a lubrication pump 21 for lubricating the component equipment.

[0054] like Figures 1 to 10 As shown, the assembly method of the flexible chain of the present invention is specifically as follows: Step 1: The first loading assembly, the second loading assembly and the third loading assembly respectively load the chain plate 17, the second pin shaft 19 and the first pin shaft 18; specifically, the first vibration loader 7, the second vibration loader 22 and the third vibration loader 23 are controlled by the PLC control panel 13 to respectively transport the chain plate 17, the second pin shaft 19 and the first pin shaft 18 to the first receiving platform 10, the second receiving platform and the third receiving platform to complete the loading of the chain plate 17, the second pin shaft 19 and the first pin shaft 18.

[0055] Step 2: The chain plate 17 is moved to the slideway 6 through the monitoring and signal feedback of the first position sensor 14, and the push cylinder 4 pushes the chain plate 17 to the positioning puller 11, and the positioning puller 11 clamps and positions the chain plate 17. At the same time, the first pin shaft 18 is inserted into the plate hole 171 of the chain plate 17 through the monitoring and signal feedback of the third position sensor 20 and the signal feedback of the corresponding photoelectric switch 12. At the same time, the second grasping mechanism 2 places the second pin shaft 19 in the ejecting device 8 through the monitoring and signal feedback of the second position sensor 15; that is to say The first grasping mechanism 1, the third grasping mechanism 3 and the second grasping mechanism 2 are respectively controlled by the PLC control panel 13 to move the chain plate 17 of the first material receiving platform 10, the first pin shaft 18 of the third material receiving platform and the second pin shaft 19 of the second material receiving platform to the specified positions. During the process, the first position sensor 14, the second position sensor 15 and the third position sensor 20 perform real-time monitoring and transmit the signal to the PLC control panel 13, so that the PLC control panel 13 controls the operation of the first grasping mechanism 1, the third grasping mechanism 3 and the second grasping mechanism 2 according to the set program. Specifically, when each chain plate 17 is placed on the first material receiving table 10, the first dual-axis robot 100 is moved to the top of the first material receiving table 10 through the control of the PLC control panel 13, and then the first clamp 103 grabs the chain plate 17, and as the first dual-axis robot 100 moves to the top of the slide 6, the first clamp 103 releases the chain plate 17, so that the chain plate 17 is located on the slide 6, and then the first grabbing mechanism 1 resets to grab the next chain plate 17, and places the next chain plate 17 under the previous chain plate 17, and the chain plate 17 is pushed along the slide 6 to the positioning puller 11 by the pushing cylinder 4. When the chain plate 17 is pushed to the vicinity of the positioning puller 11, the pulling cylinder 111 controls the pulling guide rail 112 to extend in the horizontal direction, thereby driving the positioning cylinder 114 to move horizontally. The positioning cylinder 114 controls the positioning guide rail 115 to extend in the vertical direction, thereby driving the upper positioning member 116 to move, so that the upper positioning member 116 cooperates with the lower positioning member 117 to clamp and position the chain plate 17. At this time, the teeth 118 of the upper positioning member 116 cooperate with the chain plate 17, and the chain plate 17 is located between the stop blocks 120.At the same time, similarly, when each first pin shaft 18 is placed on the third receiving platform, the three-axis robot 300 is moved to the top of the third receiving platform through the control of the PLC control panel 13, and then the third clamp 303 grabs the first pin shaft 18, and as the three-axis robot 300 passes through the through hole 119, the first pin shaft 18 is made to have the same height as the opposing photoelectric switch 12, and then the rotating motor 304 rotates to drive the first pin shaft 18 to rotate, and the first pin shaft 18 is screwed into the plate hole 171. When the opposing photoelectric switch 12 detects When there is no shading signal, it indicates that the first pin shaft 18 is screwed into place, and the third clamp 303 releases the first pin shaft 18; at the same time, similarly, when a second pin shaft 19 is placed on the second material receiving table, the second dual-axis robot 200 is moved to the top of the second material receiving table through the control of the PLC control panel 13, and then the second clamp 203 grabs the second pin shaft 19, and as the second dual-axis robot 200 moves to the top of the guide groove 87, the second clamp 203 releases the second pin shaft 19 and places it into the guide groove 87;.

[0056] Step three: the ejecting device 8 ejects the second pin 19 into the chain plate 17 and the first pin 18 in sequence; then the first grabbing mechanism 1, the pushing cylinder 4, the positioning puller 11, the third grabbing mechanism 3, the second grabbing mechanism 2, and the ejecting device 8 are all moved and reset; specifically, since the ejecting cylinder 81, the guide groove 87, the push rod 85 and the guide hole 86 are in the same line, that is, the ejecting cylinder 81, the guide groove 87, the push rod 85 and the guide hole 86 are coaxial, the ejecting cylinder 81 controls the push rod 85 to extend into the guide groove 87 and contact the second pin 19, and then the push rod 85 further ejects the second pin 19 from the guide hole 86, and then inserts the second pin 19 into the plate hole 171 of the chain plate 17, until the second pin 19 is inserted into the first pin 18, and the assembly operation of a section of the flexible chain 16 is completed. Then the material pushing device 8, the first grabbing mechanism 1, the pushing cylinder 4, the positioning puller 11, the third grabbing mechanism 3, the second grabbing mechanism 2, and the material pushing device 8 are all moved and reset. When the positioning puller 11 is reset, the specific operation is that the pulling cylinder 111 controls the pulling guide rail 112 to retract, thereby driving the upper positioning member 116 to move horizontally. Because the teeth of the chain plate 17 and the teeth 118 of the upper positioning member 116 fit together, the chain plate 17 moves along, and then the positioning cylinder 114 controls the positioning guide rail 115 to retract, and then reset.

[0057] Steps 1 to 3 are repeated repeatedly so that the flexible chain 16 forms a chain.

[0058] The present invention is provided with a winding device 9, and the operator inserts the second pin shaft 19 assembled into the flexible chain 16 into the pin hole 93, and controls the driving system 92 through the PLC control panel 13 to drive the winding disk 91 to rotate, so that the chain is wound on the driving system 92. After the processing is completed, the operator removes the flexible chain 16 and stores it.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible chain automatic assembly device, characterized in that: The invention comprises a first feeding assembly, a second feeding assembly, a third feeding assembly, a slideway (6), a positioning puller (11), a PLC control panel (13), a material pushing device (8), a first grabbing mechanism (1), a second grabbing mechanism (2), and a third grabbing mechanism (3) installed on a frame (5); wherein the slideway (6) is provided with a material pushing cylinder (4) for pushing a flexible chain (16); the first grabbing mechanism (1), the second grabbing mechanism (2), and the third grabbing mechanism (3) are respectively provided with a first position sensor (14), a second position sensor (15), and a third position sensor (20); and the PLC control panel (13) is respectively electrically connected to the first feeding assembly, the second feeding assembly, the third feeding assembly, the positioning puller (11), the material pushing device (8), the first grabbing mechanism (1), the second grabbing mechanism (2), the third grabbing mechanism (3), the first position sensor (14), the second position sensor (15), the third position sensor (20), and the corresponding photoelectric switch (12); The first loading assembly is used to load the chain plate (17); the second loading assembly is used to load the second pin shaft (19); A third loading assembly, used for loading the first pin shaft (18); A first grabbing mechanism (1) is used to grab and move the chain plate (17) that has completed loading; A second grasping mechanism (2) is used to grasp and move the second pin shaft (19) that has completed the loading; A third grasping mechanism (3) is used to grasp and move the first pin shaft (18) that has completed the loading; The positioning puller (11) is used to clamp and position the chain plate (17) and push the flexible chain (16) to move; the positioning puller (11) includes a base (110), a pulling cylinder (111), a pulling guide rail (112), a cylinder connecting piece (113), a positioning cylinder (114), a positioning guide rail (115), an upper positioning piece (116), and a lower positioning piece (117); wherein the lower positioning piece (117) is fixed at the bottom of the base (110), and the pulling piece (111) is connected to the bottom of the base (110). The material cylinder (111) is fixed on the inner side of the top of the base (110), and a cylinder connecting piece (113) is installed at one end of the material pulling guide rail (112). The material pulling cylinder (111) controls the material pulling guide rail (112) to extend and retract in the horizontal direction; the positioning cylinder (114) is fixed below the cylinder connecting piece (113), and the upper positioning piece (116) is installed below the positioning cylinder (114). The positioning cylinder (114) controls the positioning guide rail (115) to extend and retract in the vertical direction; A photoelectric switch (12) is used to detect the position and placement angle of the pin hole of the first pin shaft (18); the photoelectric switch (12) is arranged on the upper positioning member (116); A material ejection device (8) is used to assemble a second pin shaft (19), a chain plate (17) and a first pin shaft (18) into a flexible chain (16); the material ejection device (8) comprises a material ejection cylinder (81), a push rod (85), a fixing seat (82), a fixing member (83) and a guide (84); wherein the push rod (85) is fixed to the material ejection cylinder (81) through the fixing member (83); the fixing seat (82) and the guide (84) are arranged on the frame (5) at intervals; and the guide (84) is provided with a guide hole (86) and a guide hole (86) for accommodating the second pin shaft. The guide groove (87) of the guide groove (87) is connected with the guide hole (86), and the push rod (85) passes through the fixed seat (82), wherein the ejection cylinder (81), the guide groove (87), the push rod (85) and the guide hole (86) are collinear. When the ejection cylinder (81) drives the push rod (85) to extend, the push rod (85) pushes the second pin shaft (19) in the guide groove (87) to pass through the guide hole (86); when the ejection cylinder (81) drives the push rod (85) to contract, the push rod (85) is pulled out of the guide (84).

2. The flexible chain automatic assembly equipment according to claim 1, characterized in that: The first grasping mechanism (1) comprises a first two-axis robot (100), a first finger cylinder (101), a first connecting piece (102) and a first clamp (103), wherein the first two-axis robot (100) is connected to the first finger cylinder (101) via the first connecting piece (102), and the first finger cylinder (101) is connected to the first clamp (103).

3. The flexible chain automatic assembly equipment according to claim 1 is characterized in that: The second grasping mechanism (2) comprises a second two-axis robot (200), a second finger cylinder (201), a second connecting piece (202) and a second clamp (203), wherein the second two-axis robot (200) is connected to the second finger cylinder (201) via the second connecting piece (202), and the second finger cylinder (201) is connected to the second clamp (203).

4. The flexible chain automatic assembly equipment according to claim 1, characterized in that: The third grasping mechanism (3) comprises a three-axis robot (300), a rotating motor (304), a third finger cylinder (301), a third connecting piece (302) and a third clamp (303), wherein the three-axis robot (300) is connected to the rotating motor (304) via the third connecting piece (302), the rotating motor (304) is connected to the third finger cylinder (301), and the third finger cylinder (301) is connected to the third clamp (303).

5. The flexible chain automatic assembly equipment according to claim 1 is characterized in that: A material coiling device (9) is also installed on the frame (5). The material coiling device (9) includes a material coiling disc (91) and a driving system (92). The driving system (92) is electrically connected to the PLC control panel (13). The driving system (92) can control the rotation of the material coiling disc (91). The material coiling disc (91) is provided with a pin hole (93) for plugging and cooperating with the second pin shaft (19).

6. The flexible chain automatic assembly equipment according to claim 1, characterized in that: The first feeding assembly comprises a first vibrating feeder (7) and a first receiving platform (10), and the outlet of the first vibrating feeder (7) is connected to the first receiving platform (10); the second feeding assembly comprises a second vibrating feeder (22) and a second receiving platform, and the second vibrating feeder (22) is connected to the second receiving platform; the third feeding assembly comprises a third vibrating feeder (23) and a third receiving platform, and the third vibrating feeder (23) is connected to the third receiving platform.

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