Assembly equipment

Abstract

The invention discloses assembling equipment, and relates to the technical field of electronic product assembly.The assembling equipment comprises a machine base, a feeding mechanism, a conveying mechanism and an assembling mechanism, and the conveying mechanism comprises a fixing tool used for fixing a handle; the assembling mechanism comprises a material taking part which is movably arranged; the hanging rope is automatically conveyed to the feeding station through the feeding mechanism, the fixing tool for fixing the handle is conveyed to the assembling station through the conveying mechanism, the hanging rope located at the feeding station is conveyed to the assembling station through the material taking part, the hanging rope and the handle are assembled on the assembling station, and the position of the fixing tool in the first direction is adjustable. The material taking part is arranged on the base, can rotate around the rotating axis in the first direction and the rotating axis in the second direction, is automatically matched with the material taking part, can efficiently and automatically complete the assembly task between the hanging rope and the handle, improves the production efficiency, guarantees the consistent product quality, and solves the problems that when the hanging rope is installed on the handle, the operation efficiency is low, and the production cost is low. And manpower is consumed.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic product assembly, and in particular to an assembly device. Background Art

[0002] In order to prevent the handle from slipping out of the hand during use, a hanging rope is generally provided on the handle, so the hanging rope is an indispensable component for protecting the handle. However, since the hanging rope is a flexible material, it is difficult to position and clamp, and the posture of the hanging rope assembled on the handle requires tilting at multiple angles, which makes assembly difficult. Most of the assembly in the industry is done manually, which not only has low efficiency, but also consumes manpower. Summary of the invention

[0003] The main purpose of the present invention is to provide an assembly device, which aims to solve the problems of low working efficiency and labor consumption when installing a lanyard to a handle.

[0004] To achieve the above object, the assembly equipment proposed by the present invention includes:

[0005] A machine base, on which a plurality of workstations are arranged, including a loading station and an assembly station;

[0006] A feeding mechanism, used for conveying the hanging rope to the feeding station;

[0007] A conveying mechanism, comprising a fixing fixture for fixing a handle, wherein the fixing fixture is movably arranged so as to reach the assembly station during its moving stroke; and

[0008] The assembly mechanism comprises a movably arranged material taking part, wherein the material taking part can reach the material loading station and the assembly station during its moving stroke, and is used to transport the hanging rope transported to the material loading station to the assembly station, and assemble the hanging rope with the handle at the assembly station;

[0009] The position of the fixing fixture is adjustable in the first direction, and the fixing fixture can be rotatably arranged around a rotation axis in the first direction and a rotation axis in the second direction.

[0010] In one embodiment, the assembly device further comprises an adjustment mechanism, wherein the adjustment mechanism comprises:

[0011] A first driving device, mounted on the base, comprising a first driving portion movably arranged along the first direction;

[0012] A second driving device, fixedly connected to the first driving portion, the second driving device having a second driving portion rotating around a rotation axis in the first direction;

[0013] A mounting seat connected to the second driving part, the fixing tool having a connecting end and a free end in the first direction, the connecting end of the fixing tool being rotatably mounted on the mounting seat around a rotation axis in the second direction; and

[0014] The third driving device is used to drive the free end of the fixing tool to rotate around its free end.

[0015] In one embodiment, the adjustment mechanism further includes a transmission structure connecting the second driving part and the mounting seat, the transmission structure includes a connecting member, and a first connecting part and a second connecting part spaced apart in the first direction, the first connecting part is fixed to the second driving part, and the second connecting part is fixed to the mounting seat;

[0016] The first connection part has a first connection hole at one end facing the second connection part, the second connection part has a second connection hole at one end facing the first connection part, and both ends of the connection member are respectively passed through the corresponding first connection hole and second connection hole.

[0017] In one embodiment, the connecting member is transitionally matched with the first connecting hole and the second connecting hole.

[0018] In one embodiment, the first driving device includes a first motor, the first motor includes a mover, and the first driving unit includes the mover; and / or,

[0019] The second driving device includes a second motor and a reducer, the second motor includes a rotor, the reducer has an input shaft and an output shaft, the input shaft is connected to the rotor, and the second driving unit includes the output shaft; and / or,

[0020] The third driving device includes a cylinder, and the cylinder includes a cylinder rod movably arranged along a third direction. The cylinder rod is used to drive the free end of the fixing tool to rotate around its connecting end.

[0021] In one embodiment, the plurality of workstations further include a feeding workstation and a unloading workstation, and the feeding workstation, the assembly workstation and the unloading workstation are sequentially arranged in intervals in the first direction;

[0022] The conveying mechanism includes two conveying components spaced apart in the first direction, one conveying component extends between the feeding station and the assembly station, and the other conveying component extends between the assembly station and the unloading station, and the adjustment mechanism is arranged between the two conveying components.

[0023] In one embodiment, the assembly device further comprises:

[0024] The position monitoring device comprises a first image acquisition system and a second image acquisition system, wherein the first image acquisition system is used to acquire an image of the handle at the assembly station, and the second image acquisition system is used to acquire an image of the lanyard at the assembly station;

[0025] A control device is electrically connected to the first image acquisition system, the second image acquisition system and the adjustment mechanism, and is used to control the operation of the adjustment mechanism according to the images acquired by the first image acquisition system and the second image acquisition system.

[0026] In one embodiment, the loading station and the assembly station are arranged at intervals in the second direction, and the assembly mechanism includes:

[0027] A fourth driving device, comprising a fourth driving portion movably arranged along the second direction;

[0028] A fixing seat connected to the fourth driving part;

[0029] The material picking mechanism includes the material picking part and the pressing part connected to the fixed seat, the material picking part is movably arranged along the third direction and rotatably arranged around the rotation axis of the third direction, and the pressing part is movably arranged along the third direction to press the hanging rope picked up by the material picking part into the installation groove of the handle.

[0030] In one embodiment, the material taking mechanism further includes:

[0031] a fifth driving device, mounted on the fixing seat, wherein the fifth driving device comprises a fifth driving portion movably arranged along the third direction;

[0032] A guide rail assembly, comprising a slide rail and a slider, wherein the slide rail is mounted on a fixed seat and extends along the third direction, and the slider is slidably matched with the slide rail;

[0033] an elastic connecting member, connected between the fifth driving part and the slider, and used for driving the slider to slide when the fifth driving part moves along the third direction;

[0034] A connecting seat, rotatably connected to the sliding block around a rotation axis along the third direction, and the material taking part and the pressing part are installed on the connecting seat;

[0035] The sixth driving device is used to drive the connecting seat to move.

[0036] In one embodiment, the connecting seat has a first end and a second end which are arranged opposite to each other in the second direction, and the first end of the connecting seat is rotatably connected to the sliding block around a rotation axis in the third direction;

[0037] The sixth driving device is connected to the second end of the connecting seat, and has a sixth driving part movably arranged along the first direction. The sixth driving part is movably arranged in the direction approaching and moving away from the slider, and is used to support the slider during the stroke approaching the slider to drive the second end of the connecting seat to rotate around the first end of the connecting seat.

[0038] In one embodiment, a plurality of the material taking mechanisms are provided, and the plurality of the material taking mechanisms are installed on the fixing seat at intervals in the second direction.

[0039] In one embodiment, the plurality of stations further include an adjustment station, the loading station, the adjustment station and the assembly station are sequentially arranged in intervals in the second direction, and the material taking part can also reach the adjustment station during its moving stroke;

[0040] The assembly equipment further comprises an adjustment mechanism, wherein the adjustment mechanism comprises a picking portion, and the picking portion is movably arranged around a rotation axis in the first direction, and is used for turning over the hanging rope transported to the adjustment station.

[0041] In one embodiment, the plurality of workstations further include a feeding workstation, a transfer workstation and a recycling workstation, and the feeding mechanism includes:

[0042] A loading rack, arranged corresponding to the loading station, the feeding station, the transfer station and the recycling station;

[0043] A first pick-and-place mechanism, installed on the loading rack, for picking up the material tray located at the feeding station and transporting the material tray to the loading station;

[0044] A first conveying mechanism, installed on the loading rack, for conveying the empty tray at the loading station to the transfer station;

[0045] The second pick-and-place mechanism is installed on the loading rack and is used to pick up the empty tray located at the transfer station and transport the empty tray to the recycling station.

[0046] In one embodiment, the feeding mechanism further comprises:

[0047] A bearing part, movably disposed on the loading rack, for bearing a material tray;

[0048] Two first limiting parts are installed on the loading rack at intervals in the first direction, and at least one of the first limiting parts is movably arranged in a direction close to and away from another first limiting part;

[0049] A first driving mechanism, installed on the loading rack, for driving the movable first limiting part to move;

[0050] Two second limiting parts are installed on the loading rack at intervals in the second direction, and at least one of the second limiting parts is movably arranged in a direction approaching and away from another second limiting part; and

[0051] The second driving mechanism is installed on the loading rack and is used to drive the movable second limiting part to move.

[0052] In the technical solution of the present invention, the hanging rope is automatically conveyed to the loading station by the feeding mechanism, and the fixing tool for fixing the handle is conveyed to the assembly station by the conveying mechanism. After the picking part transports the hanging rope located at the loading station to the assembly station, the hanging rope and the handle are assembled at the assembly station. The fixing tool is positionally adjustable in a first direction and can be rotatably arranged around a rotation axis in the first direction and a second direction, and automatically cooperates with the picking part to efficiently and automatically complete the assembly task between the hanging rope and the handle, thereby improving production efficiency while ensuring consistent product quality, so as to solve the problems of low operating efficiency and manpower consumption when installing the hanging rope to the handle. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0054] Figure 1 A schematic structural diagram of an embodiment of an assembly device provided by the present invention;

[0055] Figure 2 A structural schematic diagram of another perspective of an embodiment of an assembly device provided by the present invention;

[0056] Figure 3 for Figure 1 Schematic diagram of the structure of the middle adjustment mechanism;

[0057] Figure 4 and Figure 5 for Figure 3 An exploded schematic diagram of the structure of part of the middle regulating mechanism;

[0058] Figure 6 for Figure 3 A schematic structural diagram of the second driving device;

[0059] Figure 7 for Figure 3 A partial structural diagram of the middle regulating mechanism;

[0060] Figure 8 for Figure 2 A schematic diagram of a part of the structure of the assembly mechanism;

[0061] Fig. 9 for Figure 8 Structural diagram of the middle material taking mechanism;

[0062] Fig.10 for Figure 2 Schematic diagram of the structure of the feeding mechanism.

[0063] Description of Figure Numbers:

[0064] 1000, assembly equipment; 10, machine base; a, loading station; b, assembly station; c, feeding station; d, unloading station; e, adjustment station; f, feeding station; g, transfer station; h, recovery station; 20, loading mechanism; 201, loading rack; 202, first pick-and-place mechanism; 203, first conveying mechanism; 204, second pick-and-place mechanism; 205, bearing part; 206, first limiting part; 207, first driving mechanism; 208, second limiting part; 209, second driving mechanism; 30, conveying mechanism ;3, fixed tooling;302, conveying assembly;40, assembly mechanism;400, material taking mechanism;401, material taking part;402, fourth driving device;4021, fourth driving part;403, fixed seat;404, pressing part;405, fifth driving device;4051, fifth driving part;406, slide rail;407, slider;408, elastic connector;409, connecting seat;410, sixth driving device;501, first image acquisition system;502, second image acquisition system;60, adjustment mechanism;

[0065] 100. Adjustment mechanism; 1. Second drive device; 11. Second drive part; 12. Second motor; 13. Reducer; 2. Mounting seat; 4. First connecting part; 4a. First connecting hole; 4b. Mounting hole; 41. Connecting body; 42. Clamping arm; 42a. Adjustment hole; 5. Second connecting part; 5a. Second connecting hole; 6. Connector; 7. Third drive device; 8. First drive device.

[0066] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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. 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.

[0068] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0069] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0070] In order to prevent the handle from slipping out of the hand during use, a hanging rope is generally provided on the handle, so the hanging rope is an indispensable component for protecting the handle. However, since the hanging rope is a flexible material, it is difficult to position and clamp, and the posture of the hanging rope assembled on the handle requires tilting at multiple angles, which makes assembly difficult. Most of the assembly in the industry is done manually, which not only has low efficiency, but also consumes manpower.

[0071] The present invention provides an assembly device, aiming to solve the problems of low working efficiency and labor consumption when installing a lanyard to a handle.

[0072] See also Figures 1 to 3In one embodiment of the present invention, the assembly equipment 1000 includes a machine base 10, a loading mechanism 20, a conveying mechanism 30 and an assembly mechanism 40, wherein the machine base 10 is provided with a plurality of workstations, including a loading station a and an assembly station b; the loading mechanism 20 is used to convey the hanging rope to the loading station a; the conveying mechanism 30 includes a fixed tool 3 for fixing the handle, and the fixed tool 3 is movably arranged so as to reach the assembly station b during its movable stroke; the assembly mechanism 40 includes a movably arranged picking part 401, and the picking part 401 can reach the loading station a and the assembly station b during its movable stroke, and is used to convey the hanging rope transported to the loading station a to the assembly station b, and assemble the hanging rope with the handle at the assembly station b; wherein the fixed tool 3 is adjustable in position in the first direction, and can be rotatably arranged around the rotation axis of the first direction and the second direction.

[0073] It can be understood that the base 10 serves as a basic platform for the entire device, and a plurality of working positions (stations) for performing different tasks are arranged thereon.

[0074] The plurality of workstations include a loading station a and an assembly station b, wherein the loading station a is a position for receiving the hanging rope, and the assembly station b is a position for actually assembling the hanging rope and the handle.

[0075] The feeding mechanism 20 is a functional unit for automatically conveying the hanging rope to be processed to the feeding station a. It should be noted that the feeding mechanism 20 can be a belt conveyor that uses a continuously moving belt to convey items, a manipulator / robot arm that can perform complex grasping and handling tasks, or a vacuum suction cup that relies on negative pressure adsorption to pick up and release materials. Of course, other possible forms can also be used, which can be determined according to actual conditions, and the embodiments of this specification are not limited to this.

[0076] The conveying mechanism 30 includes a "fixing tool 3" that can fix the handle. The fixing tool 3 is movable so that the fixing tool 3 can carry the handle from the current position to the assembly station b.

[0077] It is particularly noted that the fixing fixture 3 can adjust its position in at least two dimensions (translation adjustment in a first direction and rotation capability around two different axes), and its flexibility helps to more accurately position the handle to facilitate subsequent assembly operations.

[0078] The assembly mechanism 40 has a freely movable "material taking part 401", which can move back and forth between the loading station a and the assembly station b. The material taking part 401 first moves the hanging rope located at the loading station a to the assembly station b. After arriving at the assembly station b, the material taking part 401 will also participate in completing the assembly process between the hanging rope and the handle.

[0079] It should also be noted that the first direction generally refers to a reference direction, which can be an axial direction in the horizontal plane (such as the X axis) or a direction perpendicular to the working plane (such as the Z axis). In the present invention, the "first direction" refers to a horizontal direction parallel to the long side of the base 10.

[0080] The second direction is usually orthogonal to the first direction, that is, perpendicular to the first direction. It can be another horizontal axis (such as the Y axis), or a rotation axis relative to the first direction. In the present invention, the "second direction" refers to a lateral direction perpendicular to the long side of the base 10 and located in the same horizontal plane.

[0081] The third direction refers to a direction perpendicular to the first two directions, usually a vertical direction (Z axis), or a rotation axis. In the present invention, the "third direction" refers to an up-down direction perpendicular to the horizontal plane.

[0082] In the technical solution of the present invention, the hanging rope is automatically conveyed to the loading station a by the loading mechanism 20, and the fixing tool 3 for fixing the handle is conveyed to the assembly station b by the conveying mechanism 30. After the picking part 401 transports the hanging rope located at the loading station a to the assembly station b, the hanging rope is assembled with the handle at the assembly station b. The fixing tool 3 is positionally adjustable in a first direction and can be rotatably arranged around a rotation axis in the first direction and a second direction. It automatically cooperates with the picking part 401, and can efficiently and automatically complete the assembly task between the hanging rope and the handle, thereby improving production efficiency while ensuring consistent product quality, so as to solve the problems of low operating efficiency and manpower consumption when installing the hanging rope to the handle.

[0083] Specifically, see Figures 2 to 5In this embodiment, the assembly equipment 1000 also includes an adjustment mechanism 100, and the adjustment mechanism 100 includes a first drive device 8, a second drive device 1, a mounting seat 2 and a third drive device 7. The first drive device 8 is installed on the machine base 10, and includes a first drive part that is movably arranged along the first direction; the second drive device 1 is fixedly connected to the first drive part, and the second drive device 1 has a second drive part 11 that rotates around a rotation axis in the first direction; the mounting seat 2 is connected to the second drive part 11, and the fixed tool 3 has a connecting end and a free end in the first direction, and the connecting end of the fixed tool 3 is rotatably installed on the mounting seat 2 around the rotation axis in the second direction; the third drive device 7 is used to drive the free end of the fixed tool 3 to rotate around its free end.

[0084] It can be understood that the adjustment mechanism 100 is a part of the entire assembly device 1000 , which includes a plurality of driving devices and the mounting seat 2 , and is used to control the position and posture of the fixing tool 3 .

[0085] The first driving device 8 is mounted on the base 10 and includes a first driving portion that can move in the first direction (eg, horizontal X axis). The first driving portion can move linearly along the first direction to provide basic translation capability for subsequent components.

[0086] The second driving device 1 is fixedly connected to the first driving part of the first driving device 8. The second driving device 1 has a second driving part 11 that can rotate around the rotation axis in the first direction. In this way, after completing the translation in the first direction, the fixing fixture 3 can also be rotated and adjusted around the axis.

[0087] The mounting seat 2 is connected to the second driving part 11 of the second driving device 1. As a mounting platform of the fixing tool 3, the mounting seat 2 can also rotate with the rotation of the second driving part 11, thereby driving the fixing tool 3 to change its angle.

[0088] The fixing fixture 3 has a connection end and a free end. The connection end is located in the first direction and can rotate relative to the mounting seat 2 around the rotation axis in the second direction (such as the Y axis). The free end can rotate around the free end of the fixing fixture 3, so that the fixing fixture 3 can be rotated around the second direction.

[0089] The third driving device 7 is used to drive the free end of the fixing fixture 3 to rotate around its own rotation axis.

[0090] The combination of the second driving device 1 and the third driving device 7 can realize the adjustment of the fixing tool 3 in multiple directions, providing greater flexibility and adaptability. The third driving device 7 can provide precise driving to ensure that the fixing tool 3 can be adjusted according to a predetermined angle and position.

[0091] In this arrangement, the first drive device 8 is responsible for the linear motion along the first direction (such as the X-axis), the second drive device 1 allows rotation around the axis of the first direction (such as the X-axis), and the third drive device 7 further provides the ability for the free end of the fixed tool 3 to rotate around its own axis (such as the Y-axis). The movement of the fixed tool 3 in the first direction and the rotational freedom in the first and second directions enable the fixed tool 3 to more accurately adjust the posture of the handle to ensure that the hanging rope can be accurately combined with the handle to improve the assembly accuracy and efficiency. This form has a compact structure and can realize complex multi-axis adjustment in a limited space, and is suitable for applications with limited space.

[0092] See also Figures 4 to 6 In this embodiment, the adjustment mechanism 100 also includes a transmission structure connecting the second driving part 11 and the mounting seat 2, the transmission structure includes a connecting member 6, and a first connecting part 4 and a second connecting part 5 spaced apart in the first direction, the first connecting part 4 is fixed to the second driving part 11, and the second connecting part 5 is fixed to the mounting seat 2; wherein, a first connecting hole 4a is formed at one end of the first connecting part 4 toward the second connecting part 5, and a second connecting hole 5a is formed at one end of the second connecting part 5 toward the first connecting part 4, and both ends of the connecting member 6 are respectively penetrated through the corresponding first connecting hole 4a and the second connecting hole 5a.

[0093] The first connection portion 4 is fixedly connected to the second driving portion 11 , and a first connection hole 4 a is formed at one end of the first connection portion 5 .

[0094] The second connection portion 5 is fixedly connected to the mounting seat 2 , and has a second connection hole 5 a formed at one end thereof facing the first connection portion 4 .

[0095] The connecting member 6 connects the first connecting portion 4 and the second connecting portion 5 to achieve power transmission.

[0096] At the same time, the fixing device 3 fixed on the mounting seat 2 can rotate around the rotation axis in the second direction, so as to adjust the angle of the material product in multiple directions.

[0097] In the technical solution of the present invention, the mass of the fixing tool 3 is very large. When the second driving device 1 needs to start and stop suddenly, the inertia of the fixing tool 3 is also relatively large. The connecting member 6 can be fine-tuned with the first connecting hole 4a and the second connecting hole 5a. While absorbing part of the inertial force, sufficient rigidity is ensured to transmit the required torque to ensure the accuracy of torque transmission, so as to provide an adjustment mechanism 100 with high rotation accuracy, large load, and more suitable for high torque, high precision, and high-speed start and stop scenarios.

[0098] For further information, see Figure 4 and Figure 6 In this embodiment, the connecting member 6 is transitionally matched with the first connecting hole 4a and the second connecting hole 5a.

[0099] Both ends of each of the connecting members 6 pass through the corresponding first connecting hole 4a and the second connecting hole 5a respectively, and are transition fit, which means that the connecting member 6 can have a certain movable space in the hole but will not be loose enough to affect the overall stability.

[0100] When the second driving part 11 rotates around the rotation axis in the first direction, the torque is transmitted to the mounting seat 2 through the connecting member 6 in the transmission structure. Due to the transition fit between the connecting member 6 and the first connecting hole 4a and the second connecting hole 5a, this connection mode allows a certain amount of fine adjustment, while also ensuring sufficient rigidity to transmit the required torque.

[0101] For further information, see Figure 4 and Figure 6 In this embodiment, the connecting member 6 is non-rotatably engaged with the first connecting hole 4a and / or the second connecting hole 5a.

[0102] A "lock fit" is a mechanical fit that prevents relative rotation between two parts. This fit is often used in applications where it is necessary to ensure that the two parts remain in a fixed position after assembly. Lock fits can be achieved in a variety of ways, including form fit, keyway fit, pin fixation, etc.

[0103] In a specific embodiment, the connecting member 6 and the first connecting hole 4a have mutually matching anti-rotation surfaces; and / or the connecting member 6 and the second connecting hole 5a have mutually matching anti-rotation surfaces.

[0104] More specifically, the first connection hole 4a is configured as a semicircular hole or a square hole; and / or the second connection hole 5a is configured as a semicircular hole or a square hole.

[0105] It should be noted that one side of the semicircular hole is straight and the other side is semicircular. This shape does not allow the connecting member 6 (such as a pin, a shaft, etc.) to rotate within a certain range to provide sufficient supporting force to transmit torque.

[0106] The shape of the square hole is a square or a rectangle. This shape does not allow the connector 6 to rotate in the hole, thereby ensuring a more stable connection.

[0107] Different hole shapes affect the contact area between the connector 6 and the hole wall, thereby affecting the stress distribution. The semicircular hole may provide better stress dispersion in some applications due to its arc portion, while the square hole may provide stronger support in a specific direction.

[0108] By setting the first connection hole 4a and / or the second connection hole 5a as a semicircular hole or a square hole, the most suitable hole shape can be selected according to the requirements of actual application.

[0109] Of course, the first connecting hole 4a and the second connecting hole 5a can be set as hexagonal holes to cooperate with the connecting member 6 with a hexagonal cross-section to prevent rotation.

[0110] Specifically, in order to achieve a stable connection between the first connecting portion 4 and the first driving portion, please refer to Figure 5 and Figure 6 In this embodiment, a mounting hole 4b is provided on the first connecting part 4, and the first connecting part 4 is sleeved on the periphery of the first driving part; the first connecting part 4 includes a connecting body 41, and two clamping arms provided at one end of the connecting body 41 in the first direction, and the two clamping arms 42 are respectively provided on both sides of the mounting hole 4b, and each of the clamping arms 42 has a first end and a second end which are located in the circumferential direction of the mounting hole 4b, the first ends of the two clamping arms 42 are connected to the connecting body 41, and the second ends of the two clamping arms 42 can be arranged to approach and move away from each other in the circumferential direction of the mounting hole 4b, and the second end of each of the clamping arms 42 is provided with an adjusting hole 42a, and the second ends of the two clamping arms 42 are connected by a connecting structure which passes through the two adjusting holes 42a.

[0111] It is understandable that the first connecting part 4 is provided with a mounting hole 4b, and the mounting hole 4b is used to sleeve the first connecting part 4 on the periphery of the first driving part. The first connecting part 4 is a ring-shaped or similar shaped component, which can be installed around the first driving part (i.e., the output shaft of the reducer 13).

[0112] In addition to the mounting hole 4b, two adjustment holes 42a are further provided on the first connecting portion 4. The two adjustment holes 42a are used to adjust the distance between the second ends of the two clamping arms through the connecting member 6, thereby adjusting the clamping force of clamping the first driving portion, so as to fix the first connecting portion 4 and the first driving portion together.

[0113] Since the rigid connection has high rigidity and stability, it is suitable for high-precision and high-load applications. This connection method not only provides mechanical fixation, but also ensures the effective transmission of torque, so that the rotational movement of the second drive part 11 can be accurately transmitted to the first connection part 4, and then to the adjustment component.

[0114] It is understandable that if a certain component needs to be replaced or maintained, it can be done by removing the connecting member 6 without completely disassembling the entire system.

[0115] For further information, see Figure 5 In this embodiment, the second driving part 11 is anti-rotationally matched with the mounting hole 4b. The anti-rotational match can be achieved in many ways, including shape matching, keyway matching, pin fixing, etc.

[0116] In a specific embodiment, the second driving part 11 and the mounting hole 4b have mutually matching anti-rotation surfaces. More specifically, the mounting hole 4b is set as a semicircular hole or a square hole, and correspondingly, the cross section of the second driving part 11 is set as a semicircular or square. In this way, because at least one side of the semicircular hole and the square hole is set as a straight side surface, strict positioning is provided to prevent any rotation, which is suitable for applications requiring high precision and stability.

[0117] Further, in order to fix the adjustment assembly on the second connecting portion 5, please refer to Figure 7 In this embodiment, a socket (not shown) is provided on the second connecting portion 5; a connecting shaft is provided on the mounting seat 2, and the connecting shaft is inserted into the socket, and the connecting shaft and the socket are anti-rotationally engaged.

[0118] It can be understood that at least one socket is provided on the second connecting portion 5. The socket is used to receive the connecting shaft from the mounting seat 2. The socket ensures that the connecting shaft can be inserted accurately and firmly.

[0119] One or more connecting shafts are arranged on the mounting seat 2. The connecting shafts can be inserted into the sockets on the second connecting portion 5. The shape, size and position of the connecting shafts should match the sockets to ensure that the two can fit tightly.

[0120] By inserting the connecting shaft into the jack on the second connecting part 5, the second connecting part 5 is fixed to the mounting seat 2, and the connection has high rigidity and stability, which is suitable for high-precision and high-load applications. Such installation provides mechanical fixation and ensures effective transmission of torque.

[0121] If a component needs to be replaced or maintained, it can be done by disassembling the connecting shaft without completely disassembling the entire system. At the same time, different types of connecting shafts and sockets can be selected according to the needs of actual applications to meet different working conditions and performance requirements.

[0122] Further, in this embodiment, the insertion hole is configured as a square hole, and the connecting shaft is adapted to the square hole.

[0123] The insertion hole provided on the second connecting portion 5 is a square hole, and the connecting shaft on the mounting seat 2 is in a shape matching the square hole. Therefore, the cross section of the connecting shaft is also square or rectangular to ensure that it can be tightly inserted into the square hole.

[0124] The square hole and the square of the connecting shaft provide strict positioning, preventing any rotation, suitable for applications requiring high precision and stability. Due to the tight fit between the square hole and the connecting shaft, torque can be effectively transmitted, reducing energy loss and vibration.

[0125] Further, in this embodiment, the connecting shaft and the square hole are interference fit.

[0126] It is understood that interference fit means that the dimensions of the two parts (the connecting shaft and the square hole) are designed so that when they are assembled together, the outer diameter of the connecting shaft is slightly larger than the inner diameter of the square hole. In this way, a certain amount of interference will be generated during the assembly process, so that the two are tightly combined.

[0127] The interference fit can provide extremely high rigidity and stability, reducing the relative movement between the components. Since there is interference between the connecting shaft and the square hole, it is not easy to loosen or fall off during use. The interference fit can effectively transmit torque and reduce energy loss and vibration.

[0128] See also Figure 7 In a specific embodiment, the first driving device 8 includes a first motor, the first motor includes a mover, and the first driving unit includes the mover.

[0129] It is understandable that the first drive device 8 uses a first motor as a power source. The first motor is an electric motor that converts rotational motion into linear motion. The first motor generates linear motion through electromagnetic interaction between a stator (fixed part) and a mover (moving part). When current passes through the stator winding, a magnetic field is generated, which interacts with the permanent magnet on the mover to push the mover to move along the linear guide. By changing the direction and magnitude of the current, the moving direction, speed and position of the mover can be accurately controlled, which can provide high-precision position control and fast response.

[0130] The first motor can be set as a linear servo motor. By adopting a linear servo motor, because of its very high position control accuracy, it can usually achieve micron-level or even sub-micron-level positioning accuracy, so that fine adjustment of the fixed tooling 3 in the first direction can be achieved. At the same time, the linear servo motor has a fast response speed and can adjust the position quickly, which is suitable for applications that require fast response. Since there are no intermediate links such as gears and belts in the mechanical transmission chain, the linear servo motor can provide very smooth and stable linear motion.

[0131] In a specific embodiment, the second driving device 1 includes a second motor 12 and a reducer 13, the second motor 12 includes a rotor, the reducer 13 has an input shaft and an output shaft, the input shaft is connected to the rotor, and the second driving unit 11 includes the output shaft.

[0132] The second motor 12 is configured as a rotary servo motor, which is an electric motor capable of precisely controlling position, speed and acceleration. The rotor is a rotating component inside a rotary servo motor, usually consisting of a permanent magnet or windings. When current passes through the windings, a magnetic field is generated, which interacts with the magnetic field of the stator (fixed part) to rotate the rotor. It monitors the actual position through a feedback system (such as an encoder) and compares it with the set value to achieve precise position control.

[0133] The reducer 13 is used to reduce the output speed of the servo motor and increase the output torque. The input shaft is a part of the reducer 13 and is directly connected to the rotor of the servo motor. The input shaft receives power from the servo motor. The output shaft is another part of the reducer 13, which transmits power to an external load after gear ratio conversion. The output shaft forms the second drive unit 11, which is the part that is ultimately used to drive the adjustment component.

[0134] It should be noted that servo motors are usually equipped with built-in or external feedback devices (such as encoders) to detect the actual position and speed of the motor. The control system adjusts the current of the servo motor according to the set target value and feedback information to ensure that the output shaft moves in the predetermined manner.

[0135] By setting the rotary servo motor in combination with the reducer 13, very high positioning accuracy and repeatability can be achieved, and motion parameters such as speed, acceleration and stop position can be easily changed through programming. The servo motor has the characteristics of fast response and is suitable for application scenarios that require frequent start and stop or rapid changes. The reducer 13 improves the overall stability of the system and reduces wear caused by high-speed operation. Such a setting improves the stability and carrying capacity of the system, allowing the servo motor to provide greater torque at a lower speed, which is suitable for applications requiring high precision and high torque.

[0136] See also Figure 3 In a specific embodiment, the third driving device 7 includes a cylinder, and the cylinder includes a cylinder rod movably arranged along a third direction, and the cylinder rod is used to drive the free end of the fixing tool 3 to rotate around its connecting end.

[0137] It is understandable that the third driving device 7 uses a cylinder as a power source. A cylinder is an actuator that uses compressed air or gas to generate linear motion. There is a retractable rod inside the cylinder, called a cylinder rod. The cylinder rod can reciprocate along its axis in the cylinder.

[0138] One end of the cylinder rod is connected to the free end of the fixing fixture 3. When the cylinder rod is extended or retracted, it pushes or pulls the free end of the fixing fixture 3, so that the fixing fixture 3 rotates around its connection end. Since the connection end of the fixing fixture 3 is mounted on the mounting seat 2 around the rotation axis in the second direction, the telescopic movement of the cylinder rod is converted into an angle change of the fixing fixture 3.

[0139] By accurately controlling the extension and retraction amount of the cylinder rod, the angle of the fixing fixture 3 can be accurately adjusted, so that the fixing fixture 3 can be adjusted according to a predetermined angle and position.

[0140] For further information, see Figure 1 and Figure 2 In this embodiment, the multiple workstations also include a feeding station c and a unloading station d, and the feeding station c, the assembly station b and the unloading station d are arranged in sequence in the first direction; the conveying mechanism 30 includes two conveying components 302 arranged in the first direction, one conveying component 302 extends between the feeding station c and the assembly station b, and the other conveying component 302 extends between the assembly station b and the unloading station d, and the adjustment mechanism 100 is arranged between the two conveying components 302.

[0141] It is understood that the feeding station c is the first position for feeding the handle or other components to be processed into the production line. The unloading station d is the position where the finished product after assembly is removed from the production line or quality checked or further packaged.

[0142] The feeding station c, the assembly station b and the unloading station d are arranged in sequence in a first direction (e.g., horizontal X axis) to form a continuous production line. Such a layout helps to ensure that the materials flow in a predetermined order and each station has enough space to perform its own operations.

[0143] The first conveying assembly 302 connects the feeding station c and the assembly station b, and conveys the handle from the feeding station c to the assembly station b. The conveying assembly 302 includes a belt, a chain or other forms of transmission devices, depending on the requirements of the production line. The second conveying assembly 302 connects the assembly station b and the unloading station d, and after the assembly is completed, the finished product is conveyed from the assembly station b to the unloading station d.

[0144] By dividing the assembly line portion that should be formed into two parts, the adjusting mechanism 100 is arranged between the two conveying components 302, thereby avoiding the adjusting mechanism 100 located below the assembly line from interfering with the assembly line when turning over the fixed tooling 3.

[0145] For further information, see Figure 1 and Figure 2 In this embodiment, the assembly equipment 1000 also includes a position monitoring device and a control device. The position monitoring device includes a first image acquisition system 501 and a second image acquisition system 502. The first image acquisition system 501 is used to acquire an image of the handle at the assembly station b, and the second image acquisition system 502 is used to acquire an image of the hanging rope at the assembly station b; the control device is electrically connected to the first image acquisition system 501, the second image acquisition system 502 and the adjustment mechanism 100, and is used to control the adjustment mechanism 100 to work according to the images acquired by the first image acquisition system 501 and the second image acquisition system 502.

[0146] The first image acquisition system 501 is used to acquire an image of the handle at the assembly station b, so as to obtain the precise position and posture information of the handle so as to perform accurate assembly operations later.

[0147] The second image acquisition system 502 is used to acquire the image of the hanging rope at the assembly station b. By acquiring the accurate position and state information of the hanging rope, it is ensured that it can be correctly assembled with the handle.

[0148] The first image acquisition system 501 and the second image acquisition system 502 may both use image sensors such as cameras and industrial cameras, and may be combined with lighting systems to improve image quality.

[0149] The handle and the lanyard are accurately positioned respectively by two independent image acquisition systems, and the control device controls the adjustment mechanism 100 to make precise adjustments based on the image data through complex image processing and control algorithms. The integrated visual control system greatly improves the accuracy and reliability of the assembly process to ensure a high-quality assembly process.

[0150] For further information, see Figure 1 , Figure 2 , Figure 8 and Fig. 9 In the present embodiment, the loading station a and the assembly station b are arranged at intervals in the second direction, the assembly mechanism 40 comprises a fourth driving device 402, a fixed seat 403 and a picking mechanism 400, the fourth driving device 402 comprises a fourth driving part 4021 movably arranged along the second direction; the fixed seat 403 is connected to the fourth driving part 4021; the picking mechanism 400 comprises the picking part 401 and the pressing part 404 connected to the fixed seat 403, the picking part 401 is movably arranged along the third direction and rotatably arranged around the rotation axis of the third direction, the pressing part 404 is movably arranged along the third direction to press the hanging rope picked up by the picking part 401 into the mounting groove of the handle.

[0151] The fourth driving device 402 has the fourth driving part 4021 moving in the second direction (Y axis). The movement of the fourth driving part 4021 drives the entire fixed seat 403 and the material taking mechanism 400 connected thereto to translate in the second direction, thereby realizing the conversion between different workstations.

[0152] The fixing seat 403 is connected to the fourth driving part 4021 of the fourth driving device 402 and serves as a basic installation platform of the material taking mechanism 400 , and moves along with the movement of the fourth driving part 4021 .

[0153] The material picking mechanism 400 includes the material picking portion 401 and the pressing portion 404. The material picking portion 401 is connected to a fixing seat 403, and is movably arranged along a third direction (Z axis), and can move up and down to pick up and place the hanging rope.

[0154] The material taking portion 401 can also rotate around the rotation axis of the third direction (Z axis) so that it can operate at different angles.

[0155] The pressing portion 404 is disposed on one side of the picking portion 401 and is movably disposed along the third direction (Z axis). It is mainly used to press the hanging rope picked up by the picking portion 401 into the installation groove of the handle to ensure that the hanging rope is firmly combined with the handle to complete the final assembly action.

[0156] Such a configuration improves the automation degree of the assembly process, and through the multi-degree-of-freedom adjustment capability, ensures that the lanyard and the handle can be accurately combined together, thereby ensuring the quality of the product. In addition, the material taking part 401 can rotate around the rotation axis of the third direction (Z axis), and the assembly matching angle with the fixed tool 3 and the assembly flexibility bring greater convenience.

[0157] For further information, see Fig. 9 In this embodiment, the material taking mechanism 400 further includes a fifth driving device 405, a guide rail assembly, an elastic connector 408, a connecting seat 409 and a sixth driving device 410. The fifth driving device 405 is installed on the fixed seat 403, and the fifth driving device 405 has a fifth driving portion 4051 that can be movably arranged along the third direction; the guide rail assembly includes a slide rail 406 and a slider 407. The slide rail 406 is installed on the fixed seat 403 and extends along the third direction. The slider 40 7 is slidably matched with the slide rail 406; the elastic connecting member 408 is connected between the fifth driving part 4051 and the slider 407, and is used to drive the slider 407 to slide when the fifth driving part 4051 moves along the third direction; the connecting seat 409 is rotatably connected to the slider 407 around a rotation axis along the third direction, and the material picking part 401 and the pressing part 404 are installed on the connecting seat 409; the sixth driving device 410 is used to drive the connecting seat 409 to move.

[0158] The fifth driving device 405 is installed on the fixing seat 403, and has the fifth driving part 4051 that can move in the third direction (Z axis). The fifth driving part 4051 moves up and down, driving the slider 407 connected thereto to slide on the guide rail.

[0159] The guide rail assembly includes the slide rail 406 and the slider 407 .

[0160] The slide rail 406 is installed on the fixing base 403 and extends along the third direction (Z axis).

[0161] The slider 407 is slidably matched with the slide rail 406 and can move along the third direction on the slide rail 406 , so that the slider 407 can move accurately along a predetermined path.

[0162] The elastic connector 408 is connected between the fifth driving part 4051 and the slider 407. When the fifth driving part 4051 moves along the third direction, the elastic connector 408 can absorb the impact and transmit the force to drive the slider 407 to slide smoothly. The elastic connector 408 can reduce vibration and impact and improve the stability and accuracy of the system.

[0163] The connecting seat 409 is rotatably connected to the slider 407 around the rotation axis along the third direction (Z axis), serving as a mounting platform for the material taking part 401 and the pressing part 404, so that the material taking part 401 and the pressing part 404 can rotate in the third direction, thereby driving the material taking part 401 to move, and adapting to different assembly angle requirements.

[0164] The sixth driving device 410 is used to drive the connecting seat 409 to move, and control the connecting seat 409 to rotate around the rotation axis of the third direction, so that the material taking part 401 and the pressing part 404 can adjust the angles as needed.

[0165] Such a configuration combines multi-dimensional movement capabilities and precise control, so that the material-retrieving mechanism 400 can efficiently and accurately complete the task of assembling the lanyard and the handle.

[0166] There are many ways to realize the rotation of the connecting seat 409, please refer to Fig. 9 Specifically, the connecting seat 409 has a first end and a second end which are arranged opposite to each other in the second direction, and the first end of the connecting seat 409 is rotatably connected to the slider 407 around the rotation axis of the third direction; the sixth driving device 410 is connected to the second end of the connecting seat 409, and has a sixth driving part which is movably arranged along the first direction, and the sixth driving part is movably arranged in the direction approaching and moving away from the slider 407, and is used for supporting the slider 407 in the stroke approaching the slider 407, so as to drive the second end of the connecting seat 409 to rotate around the first end of the connecting seat 409.

[0167] The first end of the connecting seat 409 is located at one side of the connecting seat 409 and is rotatably connected to the slider 407 around a rotation axis in a third direction (Z axis), thereby driving the material taking part 401 and the pressing part 404 to adjust their angles.

[0168] The second end of the connecting base 409 is located at the other side of the connecting base 409 , opposite to the first end of the connecting base 409 , and is connected to the sixth driving device 410 for controlling the rotation of the connecting base 409 .

[0169] The sixth driving device 410 is used to drive the second end of the connecting seat 409 to rotate around the first end. When the sixth driving device is close to the slider 407, it can resist the slider 407, thereby driving the second end of the connecting seat 409 to rotate around the first end.

[0170] It is understandable that, in the initial state, the first end of the connecting seat 409 is fixed to the slider 407 via the rotation axis and can rotate freely. The sixth driving part of the sixth driving device 410 is in a certain initial position and does not contact the slider 407 .

[0171] When the angle of the material taking part 401 or the pressing part 404 needs to be adjusted, the sixth driving device 410 is started. The sixth driving part approaches the slider 407 along the first direction. As the sixth driving part gradually approaches and finally abuts against the slider 407, it applies a force to the second end of the connecting seat 409. Since the first end of the connecting seat 409 is fixed, the second end of the connecting seat 409 rotates around the first end, so that the material taking part 401 and the pressing part 404 can change their postures to adapt to different assembly requirements.

[0172] After completing the required rotational movement, the sixth driving device 410 can move the sixth driving part back to the initial position and no longer abut the slider 407. The connecting seat 409 remains in the new posture until it needs to be adjusted again next time.

[0173] Such an arrangement enables the material taking mechanism 400 to not only move on a plane but also to make fine angle adjustments in a vertical direction, ensuring that the hanging rope can be accurately combined with the handle. This improves the flexibility and accuracy of the assembly process and is suitable for applications with high requirements on assembly quality.

[0174] For further information, see Figure 8 In the present embodiment, a plurality of the material picking mechanisms 400 are provided, and the plurality of the material picking mechanisms 400 are installed on the fixing seat 403 at intervals in the second direction.

[0175] There are multiple material-retrieving mechanisms 400, and each material-retrieving mechanism 400 has the same function, including picking up the hanging rope, moving to the assembly station b, and pressing the hanging rope into the installation groove of the handle. By configuring multiple material-retrieving mechanisms 400, parallel processing can be achieved, that is, multiple hanging ropes can be operated at the same time.

[0176] With this arrangement, each of the pick-up mechanisms 400 can be independently controlled, allowing them to perform different tasks or start at different time points. For example, when one pick-up mechanism 400 is picking up a lanyard, another pick-up mechanism 400 is already performing an assembly operation, which significantly improves the throughput and work efficiency of the production line.

[0177] If one of the material taking mechanisms 400 fails, the other material taking mechanisms 400 can still continue to work, reducing downtime and the risk of production interruption.

[0178] It should be noted that the multiple material-retrieving mechanisms 400 can be configured with different parameters to adapt to handles and lanyards of different sizes or types, thereby increasing the versatility and adaptability of the equipment.

[0179] For further information, see Figure 1 and Figure 2 In this embodiment, the multiple stations also include an adjustment station e, the loading station a, the adjustment station e and the assembly station b are arranged in sequence in the second direction, and the picking part 401 can also reach the adjustment station e during its active stroke; the assembly equipment 1000 also includes an adjustment mechanism 60, and the adjustment mechanism 60 includes a picking part, which is movably arranged around the rotation axis of the first direction, and is used to flip the hanging rope transported to the adjustment station e.

[0180] The adjustment mechanism 60 is used to flip or otherwise adjust the hanging rope to ensure that it is in a correct posture before entering the assembly station b.

[0181] It should be noted that the adjustment process is as follows: the picking part 401 moves the hanging rope to the adjustment station e, the picking part of the adjustment mechanism 60 picks up the hanging rope from the adjustment station e, and the picking part rotates around the rotation axis of the first direction to flip the hanging rope or make other necessary adjustments. After the adjustment is completed, the picking part puts the hanging rope back to the adjustment station e, or directly transfers it to the picking part 401. The picking part 401 picks up the adjusted hanging rope from the adjustment station e and moves the hanging rope to the assembly station b. The picking part 401 cooperates with the pressing part 404 to accurately press the hanging rope into the mounting groove of the handle to complete the assembly.

[0182] By setting the adjustment station e between the loading station a and the assembly station b, the lanyard is flipped or otherwise adjusted, thereby improving the accuracy and reliability of the assembly process, especially when the lanyard is required to be combined with the handle in a specific posture. By introducing the adjustment station e and the corresponding adjustment mechanism 60, the device can better adapt to complex assembly requirements and improve product quality.

[0183] For further information, see Figure 1 , Figure 2 and Fig.10 In this embodiment, the multiple stations also include a feeding station f, a transfer station g and a recycling station h. The loading mechanism 20 includes a loading rack 201, a first pick-and-place mechanism 202, a first conveying mechanism 203 and a second pick-and-place mechanism 204. The loading rack 201 is arranged corresponding to the loading station a, the feeding station f, the transfer station g and the recycling station h; the first pick-and-place mechanism 202 is installed on the loading rack 201, and is used to pick up the material tray located at the feeding station f, and transport the material tray to the loading station a; the first conveying mechanism 203 is installed on the loading rack 201, and is used to transport the empty material tray at the loading station a to the transfer station g; the second pick-and-place mechanism 204 is installed on the loading rack 201, and is used to pick up the empty material tray located at the transfer station g, and transport the empty material tray to the recycling station h.

[0184] It should be noted that the feeding station f is used to store the trays of hanging ropes to be processed. The loading station a is used to pick up the trays from the feeding station f and deliver the materials therein to the production line. The transfer station g is used to temporarily store the empty trays transported from the loading station a. The recycling station h is used to store the used empty trays for subsequent processing or refilling. The multiple stations are interrelated in layout, forming a complete material circulation system.

[0185] The loading rack 201 is arranged corresponding to the loading station a, the feeding station f, the transfer station g and the recycling station h, so as to provide a structural frame for installing other components and providing support for material handling between various stations.

[0186] The first pick-and-place mechanism 202 is installed on the loading rack 201, and is used to pick up the tray containing materials from the feeding station f and transport it to the loading station a, ensuring that the materials can smoothly enter the production line from the storage position.

[0187] The first conveying mechanism 203 is installed on the loading rack 201, and is used to transport the empty tray (i.e. the tray after the material has been taken out) at the loading station a to the transfer station g, emptying the loading station a to make room for a new full tray.

[0188] The second pick-and-place mechanism 204 is installed on the loading rack 201, and is used to pick up the empty trays from the transfer station g and transport them to the recycling station h. This ensures that the empty trays are removed from the production line in time to avoid accumulation, and are prepared for subsequent reuse or processing.

[0189] It should also be noted that the working process of the loading mechanism 20 is as follows: a tray fully loaded with materials is placed at the feeding station f. The first pick-and-place mechanism 202 picks up the tray fully loaded with materials from the feeding station f and transports it to the loading station a. At the loading station a, the materials are taken out and sent to the production line. When all the materials in the tray are taken out, the first transport mechanism 203 transports the empty tray from the loading station a to the transfer station g. The second pick-and-place mechanism 204 picks up the empty tray from the transfer station g and transports it to the recycling station h. The empty tray waits for further processing at the recycling station h, such as cleaning, inspection or refilling.

[0190] Through coordinated operations among various workstations, materials can smoothly enter the production line and empty trays can be processed and recycled in a timely manner. This not only improves production efficiency, but also enhances the degree of automation of material management, reduces manual intervention, and ensures the continuity and reliability of production.

[0191] For further information, see Fig.10 In the present embodiment, the feeding mechanism 20 further comprises a bearing part 205, two first limiting parts 206, a first driving mechanism 207, two second limiting parts 208, and a second driving mechanism 209, wherein the bearing part 205 is movably arranged on the feeding rack 201 for carrying a material tray; the two first limiting parts 206 are installed on the feeding rack 201 at intervals in the first direction, and at least one of the first limiting parts 206 is movably arranged in a direction approaching and moving away from another first limiting part 206; the first driving mechanism 207 is installed on the feeding rack 201 for driving the movably arranged first limiting part 206 to move; the two second limiting parts 208 are installed on the feeding rack 201 at intervals in the second direction, and at least one of the second limiting parts 208 is movably arranged in a direction approaching and moving away from another second limiting part 208; the second driving mechanism 209 is installed on the feeding rack 201 for driving the movably arranged second limiting part 208 to move.

[0192] The bearing portion 205 can be movably disposed on the loading rack 201 for bearing the material tray, so that the material tray can be transported between different stations of the loading rack 201 .

[0193] The two first limiting portions 206 are installed on the loading rack 201 at intervals in the first direction (e.g., X-axis), and at least one first limiting portion 206 can be movably arranged in a direction close to and away from the other first limiting portion 206. By adjusting the distance between the two first limiting portions 206, trays of different sizes can be accommodated, and accurate positioning of the trays in the first direction can be ensured.

[0194] The first driving mechanism 207 is installed on the loading rack 201, and is used to drive the movable first limiting part 206 to move, control the opening and closing action of the first limiting part 206 to adapt to trays of different sizes, and ensure its stability and correct alignment on the supporting part 205.

[0195] The two second limiting portions 208 are installed on the loading rack 201 at intervals in the second direction (e.g., the Y axis), and at least one second limiting portion 208 can be movably arranged in a direction close to and away from another second limiting portion 208. By adjusting the distance between the two second limiting portions 208, the accurate positioning of the material tray in the second direction can be further ensured.

[0196] The second driving mechanism 209 is installed on the loading rack 201, and is used to drive the movable second limiting part 208 to move, and is used to control the opening and closing action of the second limiting part 208 to adapt to trays of different sizes and ensure its stability and correct alignment on the supporting part 205.

[0197] By movably setting the first limiting part 206 and the second limiting part 208 in the first direction and the second direction, the material tray is accurately fixed on the bearing part 205, ensuring the accurate positioning and stability of the material tray during transportation. The first driving mechanism 207 and the second driving mechanism 209 respectively control the opening and closing actions of the first limiting part 206 and the second limiting part 208 to adapt to material trays of different sizes. In this way, not only the accuracy and stability of the material tray transportation are improved, but also the degree of automation of the entire loading process is enhanced, manual intervention is reduced, and the continuity and reliability of production are ensured. The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly used in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An assembly device, characterized in that: include: A machine base, on which a plurality of workstations are arranged, including a loading station and an assembly station; A feeding mechanism, used for conveying the hanging rope to the feeding station; A conveying mechanism, comprising a fixing fixture for fixing a handle, wherein the fixing fixture is movably arranged so as to reach the assembly station during its moving stroke; and The assembly mechanism comprises a movably arranged material taking part, wherein the material taking part can reach the material loading station and the assembly station during its moving stroke, and is used to transport the hanging rope transported to the material loading station to the assembly station, and assemble the hanging rope with the handle at the assembly station; The position of the fixing fixture is adjustable in the first direction, and the fixing fixture can be rotatably arranged around a rotation axis in the first direction and a rotation axis in the second direction.

2. The assembly device according to claim 1, characterized in that The assembly device also includes an adjustment mechanism, which includes: A first driving device, mounted on the base, comprising a first driving portion movably arranged along the first direction; A second driving device, fixedly connected to the first driving portion, the second driving device having a second driving portion rotating around a rotation axis in the first direction; A mounting seat connected to the second driving part, the fixing tool having a connecting end and a free end in the first direction, the connecting end of the fixing tool being rotatably mounted on the mounting seat around a rotation axis in the second direction; and The third driving device is used to drive the free end of the fixing tool to rotate around its free end.

3. The assembly device according to claim 2, characterized in that: The adjustment mechanism further includes a transmission structure connecting the second driving part and the mounting seat, the transmission structure including a connecting member, and a first connecting part and a second connecting part spaced apart in the first direction, the first connecting part is fixed to the second driving part, and the second connecting part is fixed to the mounting seat; The first connection part has a first connection hole at one end facing the second connection part, the second connection part has a second connection hole at one end facing the first connection part, and both ends of the connection member are respectively passed through the corresponding first connection hole and second connection hole.

4. The assembly device according to claim 3, characterized in that: The connecting member is transitionally matched with the first connecting hole and the second connecting hole.

5. The assembly device according to claim 2, characterized in that: The first driving device includes a first motor, the first motor includes a mover, and the first driving unit includes the mover; and / or, The second driving device includes a second motor and a reducer, the second motor includes a rotor, the reducer has an input shaft and an output shaft, the input shaft is connected to the rotor, and the second driving unit includes the output shaft; and / or, The third driving device includes a cylinder, and the cylinder includes a cylinder rod movably arranged along a third direction. The cylinder rod is used to drive the free end of the fixing tool to rotate around its connecting end.

6. The assembly device according to claim 2, characterized in that: The plurality of workstations further include a feeding workstation and a blanking workstation, wherein the feeding workstation, the assembling workstation and the blanking workstation are sequentially arranged in intervals in the first direction; The conveying mechanism includes two conveying components spaced apart in the first direction, one conveying component extends between the feeding station and the assembly station, and the other conveying component extends between the assembly station and the unloading station, and the adjustment mechanism is arranged between the two conveying components.

7. The assembly device according to claim 2, characterized in that: The assembly equipment also includes: The position monitoring device comprises a first image acquisition system and a second image acquisition system, wherein the first image acquisition system is used to acquire an image of the handle at the assembly station, and the second image acquisition system is used to acquire an image of the lanyard at the assembly station; A control device is electrically connected to the first image acquisition system, the second image acquisition system and the adjustment mechanism, and is used to control the operation of the adjustment mechanism according to the images acquired by the first image acquisition system and the second image acquisition system.

8. The assembly device according to claim 1, characterized in that The loading station and the assembly station are arranged at intervals in the second direction, and the assembly mechanism comprises: A fourth driving device, comprising a fourth driving portion movably arranged along the second direction; A fixing seat connected to the fourth driving part; The material picking mechanism includes the material picking part and the pressing part connected to the fixed seat, the material picking part is movably arranged along the third direction and rotatably arranged around the rotation axis of the third direction, and the pressing part is movably arranged along the third direction to press the hanging rope picked up by the material picking part into the installation groove of the handle.

9. The assembly device according to claim 8, characterized in that The material taking mechanism also includes: a fifth driving device, mounted on the fixing seat, wherein the fifth driving device comprises a fifth driving portion movably arranged along the third direction; A guide rail assembly, comprising a slide rail and a slider, wherein the slide rail is mounted on a fixed seat and extends along the third direction, and the slider is slidably matched with the slide rail; an elastic connecting member, connected between the fifth driving part and the slider, and used for driving the slider to slide when the fifth driving part moves along the third direction; A connecting seat, rotatably connected to the sliding block around a rotation axis along the third direction, and the material taking part and the pressing part are mounted on the connecting seat; The sixth driving device is used to drive the connecting seat to move.

10. The assembly device according to claim 9, characterized in that The connecting seat has a first end and a second end which are arranged opposite to each other in the second direction, and the first end of the connecting seat is rotatably connected to the sliding block around a rotation axis in the third direction; The sixth driving device is connected to the second end of the connecting seat, and has a sixth driving part movably arranged along the first direction. The sixth driving part is movably arranged in the direction approaching and moving away from the slider, and is used to support the slider during the stroke approaching the slider to drive the second end of the connecting seat to rotate around the first end of the connecting seat.

11. The assembly device according to claim 8, characterized in that The material taking mechanisms are provided in plurality, and the plurality of material taking mechanisms are installed on the fixing seat at intervals in the second direction.

12. The assembly device according to claim 1, characterized in that The plurality of workstations further include an adjustment workstation, the loading workstation, the adjustment workstation and the assembly workstation are sequentially arranged in intervals in the second direction, and the material taking part can also reach the adjustment workstation during its moving stroke; The assembly equipment further comprises an adjustment mechanism, wherein the adjustment mechanism comprises a picking portion, and the picking portion is movably arranged around a rotation axis in the first direction, and is used for turning over the hanging rope transported to the adjustment station.

13. The assembly device according to claim 1, characterized in that The plurality of workstations further include a feeding workstation, a transfer workstation and a recycling workstation, and the feeding mechanism includes: A loading rack, arranged corresponding to the loading station, the feeding station, the transfer station and the recycling station; A first pick-and-place mechanism, installed on the loading rack, for picking up the material tray located at the feeding station and transporting the material tray to the loading station; A first conveying mechanism, installed on the loading rack, for conveying the empty tray at the loading station to the transfer station; The second pick-and-place mechanism is installed on the loading rack and is used to pick up the empty tray located at the transfer station and transport the empty tray to the recycling station.

14. The assembly device according to claim 13, characterized in that The feeding mechanism also includes: A bearing part, movably disposed on the loading rack, for bearing a material tray; Two first limiting parts are installed on the loading rack at intervals in the first direction, and at least one of the first limiting parts is movably arranged in a direction close to and away from another first limiting part; A first driving mechanism, installed on the loading rack, for driving the movable first limiting part to move; Two second limiting parts are installed on the loading rack at intervals in the second direction, and at least one of the second limiting parts is movably arranged in a direction approaching and away from another second limiting part; and The second driving mechanism is installed on the loading rack and is used to drive the movable second limiting part to move.

Images