Endoscope handle lower piece assembly assembling equipment and assembling method

Abstract

The invention provides endoscope handle lower piece assembly assembling equipment and an assembling method, and belongs to the technical field of endoscope assembling. The endoscope handle lower piece assembly assembling equipment comprises a transmission assembly, a push rod assembling assembly, a handle lower piece assembling assembly, a spring assembling assembly, a spring insert assembling assembly, a working channel insert assembling assembly, a direction control line assembling assembly and a discharging grabbing device. The assembly line has the beneficial effects that under the conveying effect of the conveying assembly, the push rod assembling assembly, the handle lower piece assembling assembly, the spring assembling assembly, the spring insert assembling assembly, the working channel insert assembling assembly, the direction control line assembling assembly and the discharging grabbing device can assemble all the components into a handle lower piece assembly in sequence; manual operation is not needed, automation of a production line is achieved, and the production efficiency and the yield are high.

Description

Technical Field

[0001] The invention belongs to the technical field of endoscope assembly, and relates to an endoscope handle lower piece assembly device and an assembly method. Background Art

[0002] At present, disposable endoscopes mostly use non-standard parts, there is no unified assembly process, and there is no standard automated assembly equipment. Therefore, while manufacturers design and produce the products themselves, they need to independently develop automated and semi-automated assembly equipment to improve assembly efficiency, yield rate and good product rate.

[0003] In the prior art, the endoscope handle lower piece assembly consists of a push rod, a handle lower piece, a spring, a spring insert, a working channel insert and a direction control line. The various components are generally assembled manually, but the efficiency of manual production is poor and the yield rate is low, so there is much room for improvement. Summary of the invention

[0004] The purpose of the present invention is to address the above-mentioned problems existing in the prior art and to propose an endoscope handle lower piece assembly device and an assembly method.

[0005] The object of the present invention can be achieved by the following technical solutions: An endoscope handle lower piece assembly device, comprising:

[0006] A transmission component is provided with a positioning seat, and the transmission component can drive the positioning seat to move to a first assembly position, a second assembly position, a third assembly position, a fourth assembly position, a fifth assembly position, a sixth assembly position, or a material unloading position;

[0007] A push rod assembly assembly, comprising a first feeding device and a first grabbing device, wherein the first grabbing device is used to grab the push rod from the first feeding device to a positioning seat located at the first assembly position;

[0008] A handle lower piece assembly assembly, comprising a second feeding device and a second grabbing device, wherein the second grabbing device is used to grab the handle lower piece from the second feeding device to a positioning seat located at the second assembly position;

[0009] A spring assembly assembly, comprising a third feeding device and a third grabbing device, wherein the third grabbing device is used to grab the spring from the third feeding device to a positioning seat located at the third assembly position;

[0010] A spring insert assembly assembly, comprising a fourth feeding device and a fourth grabbing device, wherein the fourth grabbing device is used to grab the spring insert from the fourth feeding device to a positioning seat located at the fourth assembly position;

[0011] A working channel insert assembly, comprising a fifth feeding device and a fifth grabbing device, wherein the fifth grabbing device is used to grab the working channel insert from the fifth feeding device to a positioning seat located at the fifth assembly position;

[0012] A direction control line assembly assembly, comprising a sixth feeding device and a sixth grabbing device, wherein the sixth grabbing device is used to grab the direction control line from the sixth feeding device to a positioning seat located at the sixth assembly position;

[0013] The unloading grabbing device is used to take out the assembled handle lower piece assembly from the positioning seat located at the unloading position.

[0014] In the above-mentioned endoscope handle lower piece assembly equipment, the transmission component includes a first transmission belt, a second transmission belt, a first steering device and a second steering device. The first transmission belt can drive the positioning seat to move to the first assembly position, the second assembly position, the third assembly position, the fourth assembly position and the first reversing position. The second transmission belt can drive the positioning seat to move to the fifth assembly position, the sixth assembly position, the unloading position and the second reversing position. The first steering device can transfer the positioning seat located at the first steering position to the fifth assembly position. The second transmission belt can transfer the positioning seat located at the second steering position to the first assembly position.

[0015] In the above-mentioned endoscope handle lower piece assembly equipment, the first steering device includes a first connecting channel and a first pushing cylinder, the first connecting channel is located between the first steering position and the fourth assembly position, the first conveyor belt is connected to the second conveyor belt through the first connecting channel, and the first pushing cylinder can push the positioning seat located at the first steering position to the fifth assembly position; the second steering device includes a second connecting channel and a second pushing cylinder, the second connecting channel is located between the second steering position and the first assembly position, the second conveyor belt is connected to the first conveyor belt through the second connecting channel, and the second pushing cylinder can push the positioning seat located at the second steering position to the first assembly position.

[0016] In the above-mentioned endoscope handle lower piece assembly equipment, the first conveyor belt, the second conveyor belt, the first steering device and the second steering device form a "mouth"-shaped structure.

[0017] In the above-mentioned endoscope handle lower piece assembly equipment, it also includes three first positioning cylinders and two second positioning cylinders, the three first positioning cylinders are all connected to one side of the first conveyor belt and can push the positioning seat to press against the other side of the first conveyor belt, the three first positioning cylinders are respectively aligned with the second assembly position, the third assembly position and the fourth assembly position, the two second positioning cylinders are all connected to one side of the second conveyor belt and can push the positioning seat to press against the other side of the second conveyor belt, and the two second positioning cylinders are respectively aligned with the sixth assembly position and the unloading position.

[0018] In the above-mentioned endoscope handle lower piece assembly equipment, it also includes three pressing cylinders, one of which is aligned with the third assembly position and is used to press in the spring, another of which is aligned with the fourth assembly position and is used to press in the spring insert, and another of which is aligned with the sixth assembly position and is used to press in the direction control line.

[0019] In the above-mentioned endoscope handle lower piece assembly equipment, the first grasping device, the second grasping device, the third grasping device, the fourth grasping device, the fifth grasping device, the sixth grasping device and the blanking grasping device are all configured as manipulators.

[0020] In the above-mentioned endoscope handle lower piece assembly equipment, the first feeding device, the third feeding device, the fourth feeding device and the fifth feeding device are all vibration plates, and the second feeding device and the sixth feeding device are both fixed seats.

[0021] Secondly, a method for assembling the lower piece assembly of an endoscope handle includes the steps of:

[0022] S1: The second pushing cylinder pushes the positioning seat at the second turning position to the first assembly position through the second connecting channel, and the first grabbing device grabs the push rod from the first feeding device to the positioning seat at the first assembly position;

[0023] S2: The first conveyor belt drives the positioning seat to move from the first assembly position to the second assembly position, and the second grabbing device grabs the handle lower piece from the second feeding device to the positioning seat at the second assembly position;

[0024] S3: The first conveyor belt drives the positioning seat to move from the second assembly position to the third assembly position, and the third grabbing device grabs the spring from the third feeding device to the positioning seat at the third assembly position;

[0025] S4: the first conveyor belt drives the positioning seat to move from the third assembly position to the fourth assembly position, and the fourth grabbing device grabs the spring insert from the fourth feeding device to the positioning seat at the fourth assembly position;

[0026] S5: the first conveyor belt drives the positioning seat to move from the fourth assembly position to the first turning position, the first pushing cylinder pushes the positioning seat at the first turning position to the fifth assembly position through the first connecting channel, and the fifth grabbing device grabs the spring insert from the fifth feeding device to the positioning seat at the fifth assembly position;

[0027] S6: the second conveyor belt drives the positioning seat to move from the fifth assembly position to the sixth assembly position, and the sixth grabbing device grabs the direction control line from the sixth feeding device to the positioning seat at the sixth assembly position;

[0028] S7: The second conveyor belt drives the positioning seat to move from the sixth assembly position to the unloading position, and the unloading grabbing device takes out the assembled handle lower piece assembly from the positioning seat at the unloading position;

[0029] S8: The second conveyor belt drives the positioning seat to move from the unloading position to the second turning position.

[0030] In the above-mentioned method for assembling the lower piece assembly of an endoscope handle, in step S3, after the third grasping device grasps the spring to the positioning seat located at the third assembly position, the pressing cylinder is aligned with the third assembly position and presses the spring;

[0031] In step S4, after the fourth grasping device grasps the spring insert to the positioning seat located at the fourth assembly position, the pressing cylinder is aligned with the fourth assembly position and presses the spring insert;

[0032] In step S6, after the sixth grasping device grasps the direction control wire to the positioning seat located at the sixth assembly position, the pressing cylinder is aligned with the sixth assembly position and presses the direction control wire.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. Under the transmission action of the transmission component, the push rod assembly component, the handle lower piece assembly component, the spring assembly component, the spring insert assembly component, the working channel insert assembly component, the direction control line assembly component and the blanking grabbing device can assemble each component into the handle lower piece assembly in turn without manual operation, thus realizing the automation of the production line, high production efficiency and high yield rate.

[0035] 2. The transmission components are arranged to form a closed loop of a first transmission belt, a second transmission belt, a first steering device and a second steering device, which can effectively reduce the distribution space of the endoscope handle lower piece assembly equipment in the length direction. At the same time, this circulation structure can simultaneously realize the assembly of multiple endoscope handle lower piece assemblies at various positions.

[0036] 3. The steering device is set as a connecting channel and a pushing cylinder to effectively transfer the positioning seat from one conveyor belt to another. Pushing to the bottom also facilitates the positioning of the positioning seat relative to the conveyor belt. At this position, there is no need to set an additional positioning cylinder for positioning.

[0037] 4. Setting a positioning cylinder at the assembly position where there is no corresponding steering device will help the grabbing device to grab the corresponding assembly position from the feeding device and prevent the assembly position from being offset.

[0038] 5. A pressing cylinder is set at the corresponding assembly position, which can effectively press the parts that need to be pressed and installed into the lower piece of the endoscope handle to prevent the upper piece of the endoscope handle from being unable to be installed due to inadequate installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of the endoscope handle lower piece assembly equipment of the present invention.

[0040] Figure 2 It is a structural schematic diagram of the endoscope handle lower piece assembly equipment of the present invention from another perspective.

[0041] Figure 3 It is a schematic structural diagram of the transmission component, the first positioning cylinder and the second positioning cylinder of the present invention.

[0042] In the figure, 110, the first conveyor belt; 120, the second conveyor belt; 131, the first connecting channel; 132, the first pushing cylinder; 141, the second connecting channel; 142, the second pushing cylinder; 200, the first loading device; 300, the second loading device; 400, the third loading device; 500, the fourth loading device; 600, the fifth loading device; 700, the sixth loading device; 810, the first positioning cylinder; 820, the second positioning cylinder. DETAILED DESCRIPTION

[0043] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0044] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0045] In addition, in the present invention, descriptions such as "first", "second", "one", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0046] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. 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.

[0048] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0049] like Figure 1-Figure 3 As shown, an endoscope handle lower piece assembly device includes: a transmission component, a push rod assembly component, a handle lower piece assembly component, a spring assembly component, a spring insert assembly component, a working channel insert assembly component, a direction control line assembly component and a blanking grabbing device.

[0050] Among them, the transmission component is provided with a positioning seat, and the transmission component can drive the positioning seat to move to the first assembly position, the second assembly position, the third assembly position, the fourth assembly position, the fifth assembly position, the sixth assembly position or the unloading position.

[0051] The push rod assembly assembly includes a first loading device 200 and a first grabbing device (not shown in the figure), and the first grabbing device is used to grab the push rod from the first loading device 200 to the positioning seat located at the first assembly position.

[0052] Specifically, the first loading device 200 is a vibration plate.

[0053] Specifically, the first grasping device is a robot arm.

[0054] The handle lower piece assembly assembly includes a second loading device 300 and a second grabbing device (not shown), and the second grabbing device is used to grab the handle lower piece from the second loading device 300 to the positioning seat located at the second assembly position.

[0055] Specifically, the second loading device 300 is a fixed seat.

[0056] Specifically, the second grasping device is a robot arm.

[0057] The spring assembly assembly includes a third feeding device 400 and a third grabbing device (not shown in the figure), and the third grabbing device is used to grab the spring from the third feeding device 400 to the positioning seat located at the third assembly position.

[0058] Specifically, the third feeding device 400 is a vibration plate.

[0059] Specifically, the third grasping device is a robot arm.

[0060] The spring insert assembly assembly includes a fourth feeding device 500 and a fourth grabbing device (not shown in the figure), and the fourth grabbing device is used to grab the spring insert from the fourth feeding device 500 to the positioning seat located at the fourth assembly position.

[0061] Specifically, the fourth loading device 500 is a vibration plate.

[0062] Specifically, the fourth grasping device is a robot arm.

[0063] The working channel insert assembly includes a fifth loading device 600 and a fifth grabbing device (not shown in the figure), and the fifth grabbing device is used to grab the working channel insert from the fifth loading device 600 to the positioning seat located at the fifth assembly position.

[0064] Specifically, the fifth loading device 600 is a vibration plate.

[0065] Specifically, the fifth grasping device is a robot arm.

[0066] The direction control line assembly assembly includes a sixth feeding device 700 and a sixth grabbing device (not shown in the figure), and the sixth grabbing device is used to grab the direction control line from the sixth feeding device 700 to the positioning seat located at the sixth assembly position.

[0067] Specifically, the sixth loading device 700 is a fixed seat.

[0068] Specifically, the sixth grasping device is a robot arm.

[0069] Among them, the unloading grabbing device (not shown in the figure) is used to take out the assembled handle lower piece assembly from the positioning seat located at the unloading position.

[0070] Specifically, the material removal and grabbing device is a robot.

[0071] In this embodiment, under the transmission action of the transmission component, the push rod assembly component, the handle lower piece assembly component, the spring assembly component, the spring insert assembly component, the working channel insert assembly component, the direction control line assembly component and the blanking grabbing device can successively assemble each component into the handle lower piece assembly without manual operation, thereby realizing production line automation, high production efficiency and high yield rate.

[0072] like Figure 1-Figure 3 As shown, on the basis of the above embodiment, the transmission component includes a first transmission belt 110, a second transmission belt 120, a first steering device and a second steering device, the first transmission belt 110 can drive the positioning seat to move to the first assembly position, the second assembly position, the third assembly position, the fourth assembly position and the first reversing position, the second transmission belt 120 can drive the positioning seat to move to the fifth assembly position, the sixth assembly position, the unloading position and the second reversing position, the first steering device can transfer the positioning seat located at the first steering position to the fifth assembly position, and the second transmission belt 120 can transfer the positioning seat located at the second steering position to the first assembly position.

[0073] Specifically, the first conveyor belt 110, the second conveyor belt 120, the first steering device and the second steering device form a “mouth” shaped structure.

[0074] In this embodiment, the transmission components are arranged to form a closed loop of a first transmission belt 110, a second transmission belt 120, a first steering device and a second steering device, which can effectively reduce the distribution space of the endoscope handle lower piece assembly equipment in the length direction. At the same time, this circulation structure can simultaneously realize the assembly of multiple endoscope handle lower piece assemblies at various positions.

[0075] like Figure 1-Figure 3As shown, on the basis of the above embodiment, the first steering device includes a first connecting channel 131 and a first pushing cylinder 132, the first connecting channel 131 is located between the first steering position and the fourth assembly position, the first conveyor belt 110 is connected to the second conveyor belt 120 through the first connecting channel 131, and the first pushing cylinder 132 can push the positioning seat located at the first steering position to the fifth assembly position; the second steering device includes a second connecting channel 141 and a second pushing cylinder 142, the second connecting channel 141 is located between the second steering position and the first assembly position, the second conveyor belt 120 is connected to the first conveyor belt 110 through the second connecting channel 141, and the second pushing cylinder 142 can push the positioning seat located at the second steering position to the first assembly position.

[0076] In this embodiment, the steering device is configured as a connecting channel and a pushing cylinder to effectively transfer the positioning seat from one conveyor belt to another. Pushing to the bottom also facilitates positioning the positioning seat relative to the conveyor belt. At this position, no additional positioning cylinder is required for positioning.

[0077] like Figure 1-Figure 3 As shown, on the basis of the above embodiment, it also includes three first positioning cylinders 810 and two second positioning cylinders 820, the three first positioning cylinders 810 are all connected to one side of the first conveyor belt 110 and can push the positioning seat to press against the other side of the first conveyor belt 110, the three first positioning cylinders 810 are respectively aligned with the second assembly position, the third assembly position and the fourth assembly position, the two second positioning cylinders 820 are all connected to one side of the second conveyor belt 120 and can push the positioning seat to press against the other side of the second conveyor belt 120, and the two second positioning cylinders 820 are respectively aligned with the sixth assembly position and the unloading position.

[0078] In this embodiment, a positioning cylinder is provided at an assembly position corresponding to no steering device, which helps the grasping device to grasp from the feeding device to the positioning of the corresponding assembly position, thereby preventing the assembly position from being offset.

[0079] like Figure 1-Figure 3 As shown, based on the above embodiment, it also includes three pressing cylinders (not shown in the figure), one of which is aligned with the third assembly position and used to press in the spring, another of which is aligned with the fourth assembly position and used to press in the spring insert, and another of which is aligned with the sixth assembly position and used to press in the direction control line.

[0080] In this embodiment, a pressing cylinder is arranged at the corresponding assembly position, which can effectively press the components that need to be pressed and installed into the lower piece of the endoscope handle to prevent the situation where the upper piece of the endoscope handle cannot be installed due to improper installation.

[0081] like Figure 1-Figure 3 As shown, a method for assembling the lower piece assembly of an endoscope handle includes the following steps:

[0082] S1: The second pushing cylinder 142 pushes the positioning seat at the second turning position to the first assembly position through the second connecting channel 141, and the first grabbing device grabs the push rod from the first feeding device 200 to the positioning seat at the first assembly position, and places the push rod at a designated position of the positioning seat;

[0083] S2: The first conveyor belt 110 drives the positioning seat to move from the first assembly position to the second assembly position, and the second grabbing device grabs the handle lower piece from the second loading device 300 to the positioning seat at the second assembly position, and places the handle lower piece at a designated position of the positioning seat so that the push rod passes through the handle lower piece;

[0084] S3: The first conveyor belt 110 drives the positioning seat to move from the second assembly position to the third assembly position, and the third grabbing device grabs the spring from the third feeding device 400 to the positioning seat at the third assembly position, and places the spring at a designated position of the positioning seat so that the spring is connected to the lower piece of the handle;

[0085] S4: the first conveyor belt 110 drives the positioning seat to move from the third assembly position to the fourth assembly position, the fourth grabbing device grabs the spring insert from the fourth feeding device 500 to the positioning seat at the fourth assembly position, and places the spring insert at a designated position of the positioning seat so that the spring insert is connected to the lower piece of the handle;

[0086] S5: The first conveyor belt 110 drives the positioning seat to move from the fourth assembly position to the first turning position, the first pushing cylinder 132 pushes the positioning seat at the first turning position to the fifth assembly position through the first connecting channel 131, the fifth grabbing device grabs the spring insert from the fifth feeding device 600 to the positioning seat at the fifth assembly position, and places the working channel insert at the designated position of the positioning seat so that the working channel insert is connected to the lower piece of the handle;

[0087] S6: The second conveyor belt 120 drives the positioning seat to move from the fifth assembly position to the sixth assembly position, and the sixth grabbing device grabs the direction control line from the sixth feeding device 700 to the positioning seat at the sixth assembly position, and places the direction control line at a designated position of the positioning seat so that the direction control line is connected to the handle lower piece and the working channel insert;

[0088] S7: The second conveyor belt 120 drives the positioning seat to move from the sixth assembly position to the unloading position, and the unloading grabbing device takes out the assembled handle lower piece assembly from the positioning seat at the unloading position;

[0089] S8: The second conveyor belt 120 drives the positioning seat to move from the unloading position to the second turning position.

[0090] In this embodiment, under the transmission action of the transmission component, the push rod assembly component, the handle lower piece assembly component, the spring assembly component, the spring insert assembly component, the working channel insert assembly component, the direction control line assembly component and the blanking grabbing device can successively assemble each component into the handle lower piece assembly without manual operation, thereby realizing production line automation, high production efficiency and high yield rate.

[0091] like Figure 1-Figure 3 As shown, based on the above embodiment, in step S3, after the third grasping device grasps the spring to the positioning seat located at the third assembly position, the pressing cylinder is aligned with the third assembly position and presses the spring;

[0092] In step S4, after the fourth grasping device grasps the spring insert to the positioning seat located at the fourth assembly position, the pressing cylinder is aligned with the fourth assembly position and presses the spring insert;

[0093] In step S6, after the sixth grasping device grasps the direction control wire to the positioning seat located at the sixth assembly position, the pressing cylinder is aligned with the sixth assembly position and presses the direction control wire.

[0094] In this embodiment, a pressing cylinder is arranged at the corresponding assembly position, which can effectively press the components that need to be pressed and installed into the lower piece of the endoscope handle to prevent the situation where the upper piece of the endoscope handle cannot be installed due to improper installation.

Claims

1. An endoscope handle lower piece assembly device, characterized in that: include: A transmission component is provided with a positioning seat, and the transmission component can drive the positioning seat to move to a first assembly position, a second assembly position, a third assembly position, a fourth assembly position, a fifth assembly position, a sixth assembly position, or a material unloading position; A push rod assembly assembly, comprising a first feeding device and a first grabbing device, wherein the first grabbing device is used to grab the push rod from the first feeding device to a positioning seat located at the first assembly position; A handle lower piece assembly assembly, comprising a second feeding device and a second grabbing device, wherein the second grabbing device is used to grab the handle lower piece from the second feeding device to a positioning seat located at the second assembly position; A spring assembly assembly, comprising a third feeding device and a third grabbing device, wherein the third grabbing device is used to grab the spring from the third feeding device to a positioning seat located at the third assembly position; A spring insert assembly assembly, comprising a fourth feeding device and a fourth grabbing device, wherein the fourth grabbing device is used to grab the spring insert from the fourth feeding device to a positioning seat located at the fourth assembly position; A working channel insert assembly assembly, comprising a fifth feeding device and a fifth grabbing device, wherein the fifth grabbing device is used to grab the working channel insert from the fifth feeding device to a positioning seat located at the fifth assembly position; A direction control line assembly assembly, comprising a sixth feeding device and a sixth grabbing device, wherein the sixth grabbing device is used to grab the direction control line from the sixth feeding device to a positioning seat located at the sixth assembly position; The unloading grabbing device is used to take out the assembled handle lower piece assembly from the positioning seat located at the unloading position.

2. The endoscope handle lower piece assembly device according to claim 1, characterized in that: The transmission component includes a first conveyor belt, a second conveyor belt, a first steering device and a second steering device. The first conveyor belt can drive the positioning seat to move to the first assembly position, the second assembly position, the third assembly position, the fourth assembly position and the first reversing position. The second conveyor belt can drive the positioning seat to move to the fifth assembly position, the sixth assembly position, the unloading position and the second reversing position. The first steering device can transfer the positioning seat located at the first steering position to the fifth assembly position. The second conveyor belt can transfer the positioning seat located at the second steering position to the first assembly position.

3. The endoscope handle lower piece assembly device according to claim 2, characterized in that: The first steering device includes a first connecting channel and a first pushing cylinder, the first connecting channel is located between the first steering position and the fourth assembly position, the first conveyor belt is connected to the second conveyor belt through the first connecting channel, and the first pushing cylinder can push the positioning seat located at the first steering position to the fifth assembly position; The second steering device includes a second connecting channel and a second pushing cylinder. The second connecting channel is located between the second steering position and the first assembly position. The second conveyor belt is connected to the first conveyor belt through the second connecting channel. The second pushing cylinder can push the positioning seat located at the second steering position to the first assembly position.

4. The endoscope handle lower piece assembly device according to claim 3, characterized in that: The first conveyor belt, the second conveyor belt, the first steering device and the second steering device form a "mouth" shaped structure.

5. The endoscope handle lower piece assembly device according to claim 2, characterized in that: It also includes three first positioning cylinders and two second positioning cylinders, the three first positioning cylinders are all connected to one side of the first conveyor belt and can push the positioning seat to press against the other side of the first conveyor belt, the three first positioning cylinders are respectively aligned with the second assembly position, the third assembly position and the fourth assembly position, the two second positioning cylinders are all connected to one side of the second conveyor belt and can push the positioning seat to press against the other side of the second conveyor belt, and the two second positioning cylinders are respectively aligned with the sixth assembly position and the unloading position.

6. The endoscope handle lower piece assembly device according to claim 1, characterized in that: It also includes three pressing cylinders, one of which is aligned with the third assembly position and used to press in the spring, another of which is aligned with the fourth assembly position and used to press in the spring insert, and another of which is aligned with the sixth assembly position and used to press in the direction control line.

7. The endoscope handle lower piece assembly device according to claim 6, characterized in that: The first grasping device, the second grasping device, the third grasping device, the fourth grasping device, the fifth grasping device, the sixth grasping device and the unloading grasping device are all configured as manipulators.

8. The endoscope handle lower piece assembly device according to claim 1, characterized in that: The first loading device, the third loading device, the fourth loading device and the fifth loading device are all vibration plates, and the second loading device and the sixth loading device are all fixed seats.

9. A method for assembling an endoscope handle lower piece assembly, characterized in that: Includes steps: S1: The second pushing cylinder pushes the positioning seat at the second turning position to the first assembly position through the second connecting channel, and the first grabbing device grabs the push rod from the first feeding device to the positioning seat at the first assembly position; S2: The first conveyor belt drives the positioning seat to move from the first assembly position to the second assembly position, and the second grabbing device grabs the handle lower piece from the second feeding device to the positioning seat at the second assembly position; S3: The first conveyor belt drives the positioning seat to move from the second assembly position to the third assembly position, and the third grabbing device grabs the spring from the third feeding device to the positioning seat at the third assembly position; S4: the first conveyor belt drives the positioning seat to move from the third assembly position to the fourth assembly position, and the fourth grabbing device grabs the spring insert from the fourth feeding device to the positioning seat at the fourth assembly position; S5: the first conveyor belt drives the positioning seat to move from the fourth assembly position to the first turning position, the first pushing cylinder pushes the positioning seat at the first turning position to the fifth assembly position through the first connecting channel, and the fifth grabbing device grabs the working channel insert from the fifth feeding device to the positioning seat at the fifth assembly position; S6: the second conveyor belt drives the positioning seat to move from the fifth assembly position to the sixth assembly position, and the sixth grabbing device grabs the direction control line from the sixth feeding device to the positioning seat at the sixth assembly position; S7: The second conveyor belt drives the positioning seat to move from the sixth assembly position to the unloading position, and the unloading grabbing device takes out the assembled handle lower piece assembly from the positioning seat at the unloading position; S8: The second conveyor belt drives the positioning seat to move from the unloading position to the second turning position.

10. The method for assembling the lower piece assembly of an endoscope handle according to claim 9, characterized in that: In step S3, after the third grasping device grasps the spring to the positioning seat located at the third assembly position, the pressing cylinder is aligned with the third assembly position and presses the spring; In step S4, after the fourth grasping device grasps the spring insert to the positioning seat located at the fourth assembly position, the pressing cylinder is aligned with the fourth assembly position and presses the spring insert; In step S6, after the sixth grasping device grasps the direction control wire to the positioning seat located at the sixth assembly position, the pressing cylinder is aligned with the sixth assembly position and presses the direction control wire.

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