An assembly device and method for assembling an endoscope handle film lowering assembly.

Abstract

This invention provides an assembly device and method for an endoscope handle lower section assembly, belonging to the field of endoscope assembly technology. It includes: a transmission component, a push rod assembly component, a handle lower section 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 material handling device. The advantages of this invention are: under the transmission action of the transmission component, the push rod assembly component, handle lower section assembly component, spring assembly component, spring insert assembly component, working channel insert assembly component, direction control line assembly component, and material handling device can sequentially assemble each component into the handle lower section assembly, eliminating the need for manual operation, achieving production line automation, and resulting in high production efficiency and yield.

Description

Technical Field

[0001] This invention belongs to the field of endoscope assembly technology, and relates to an endoscope handle lower film assembly assembly equipment and assembly method. Background Technology

[0002] Currently, disposable endoscopes mostly use non-standard parts, lacking a unified assembly process and standardized automated assembly equipment. Therefore, while designing and producing the products themselves, manufacturers need to independently develop automated and semi-automated assembly equipment to improve assembly efficiency, yield, and quality.

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

[0004] The purpose of this invention is to address the aforementioned problems in the prior art by proposing an endoscope handle lower film assembly assembly device and assembly method.

[0005] The objective of this invention can be achieved through the following technical solution: an endoscope handle lower film assembly assembly device, comprising:

[0006] A transmission component is provided with a positioning seat, which can drive the positioning seat 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 includes a first feeding device and a first gripping device, wherein the first gripping device is used to grip the push rod from the first feeding device to a positioning seat located at the first assembly position.

[0008] The handle lower piece assembly includes a second feeding device and a second gripping device, the second gripping device being used to grip the handle lower piece from the second feeding device to the positioning seat located at the second assembly position;

[0009] A spring assembly includes a third feeding device and a third gripping device, the third gripping device being used to grip the spring from the third feeding device to a positioning seat located at the third assembly position;

[0010] A spring insert assembly includes a fourth feeding device and a fourth gripping device, the fourth gripping device being used to grip the spring insert from the fourth feeding device to a positioning seat located at the fourth assembly position;

[0011] The working channel insert component includes a fifth feeding device and a fifth gripping device. The fifth gripping device is used to grip the working channel insert from the fifth feeding device and transfer it to the positioning seat at the fifth assembly position.

[0012] The direction control line assembly component includes a sixth feeding device and a sixth gripping device. The sixth gripping device is used to grip the direction control line from the sixth feeding device and transfer it to the positioning seat at the sixth assembly position.

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

[0014] In the above-mentioned endoscopic lower handle piece assembly equipment, 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 commutation position. The second conveyor belt can drive the positioning seat to move to the fifth assembly position, the sixth assembly position, the blanking position, and the second commutation position. The first steering device can transfer the positioning seat at the first steering position to the fifth assembly position. The second conveyor belt can transfer the positioning seat at the second steering position to the first assembly position.

[0015] In the above-mentioned endoscopic lower handle piece assembly equipment, the first steering device includes a first connection channel and a first pushing cylinder. The first connection 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 connection channel. The first pushing cylinder can push the positioning seat at the first steering position to the fifth assembly position. The second steering device includes a second connection channel and a second pushing cylinder. The second connection 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 connection channel. The second pushing cylinder can push the positioning seat at the second steering position to the first assembly position.

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

[0017] The aforementioned endoscope handle film assembly equipment further 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 abut 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 abut against the other side of the second conveyor belt. The two second positioning cylinders are respectively aligned with the sixth assembly position and the unloading position.

[0018] The aforementioned endoscope handle lower film assembly equipment further includes three pressing cylinders: one pressing cylinder is aligned with the third assembly position and used to press in the spring; another pressing cylinder is aligned with the fourth assembly position and used to press in the spring insert; and the third pressing cylinder is aligned with the sixth assembly position and used to press in the direction control line.

[0019] In the aforementioned endoscope handle film unloading assembly equipment, the first gripping device, the second gripping device, the third gripping device, the fourth gripping device, the fifth gripping device, the sixth gripping device, and the unloading gripping device are all configured as robotic arms.

[0020] In the aforementioned endoscope handle film loading assembly equipment, the first loading device, the third loading device, the fourth loading device, and the fifth loading device are all vibratory feeders, while the second loading device and the sixth loading device are both fixed bases.

[0021] Secondly, a method for assembling an endoscope handle film lowering assembly includes the following steps:

[0022] S1: The second push cylinder pushes the positioning seat located at the second steering position to the first assembly position through the second connecting channel, and the first gripping device grips the push rod from the first feeding device to the positioning seat located 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 gripping device grips the handle unloading piece from the second feeding device to the positioning seat located 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 gripping device grips the spring from the third feeding device to the positioning seat located 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 gripping device grips the spring insert from the fourth feeding device to the positioning seat located 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 push cylinder pushes the positioning seat located at the first turning position to the fifth assembly position through the first connecting channel. The fifth gripping device grips the spring insert from the fifth feeding device to the positioning seat located 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 gripping device grips the direction control line from the sixth feeding device to the positioning seat located 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 gripping device takes the assembled handle unloading assembly from the positioning seat located 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 an endoscope handle film assembly, in step S3, after the third gripping device grips the spring to the positioning seat located at the third assembly position, the pressing cylinder aligns with the third assembly position and presses the spring in.

[0031] In step S4, after the fourth gripping device grips the spring insert to the positioning seat located at the fourth assembly position, the pressure cylinder aligns with the fourth assembly position and presses in the spring insert.

[0032] In step S6, after the sixth gripping device grips the direction control line to the positioning seat located at the sixth assembly position, the pressure cylinder aligns with the sixth assembly position and presses in the direction control line.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

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

[0035] 2. By configuring the transmission components into a closed loop consisting of a first transmission belt, a second transmission belt, a first steering device, and a second steering device, the distribution space of the endoscope handle film assembly assembly equipment in the length direction can be effectively reduced. At the same time, this loop structure can simultaneously realize the assembly of multiple endoscope handle film assemblies at various positions.

[0036] 3. The steering device is set as a connecting channel and a push cylinder to effectively transfer the positioning seat from one conveyor belt to another. Pushing it 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 up an additional positioning cylinder for positioning.

[0037] 4. Setting a positioning cylinder at the assembly position where there is no steering device helps the gripping device to position the material from the feeding device to the corresponding assembly position, preventing the assembly position from shifting incorrectly.

[0038] 5. A pressure cylinder is installed at the corresponding assembly position, which can effectively press the parts that need to be pressed and installed into the lower endoscope handle, preventing improper installation and thus preventing the upper endoscope handle from being installed. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the endoscope handle lower film assembly assembly device of the present invention.

[0040] Figure 2 This is a structural schematic diagram of the endoscope handle lower film assembly assembly device from another perspective.

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

[0042] In the diagram, 110 is the first conveyor belt; 120 is the second conveyor belt; 131 is the first connecting channel; 132 is the first pushing cylinder; 141 is the second connecting channel; 142 is the second pushing cylinder; 200 is the first feeding device; 300 is the second feeding device; 400 is the third feeding device; 500 is the fourth feeding device; 600 is the fifth feeding device; 700 is the sixth feeding device; 810 is the first positioning cylinder; and 820 is the second positioning cylinder. Detailed Implementation

[0043] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

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

[0045] Furthermore, in this invention, descriptions involving terms such as "first," "second," and "a" are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0048] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

[0049] like Figures 1-3 As shown, an endoscope handle film lowering assembly assembly device includes: a transmission component, a push rod assembly component, a handle film lowering 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 material feeding gripping device.

[0050] The transmission component is equipped with a positioning seat, which can drive the positioning seat 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.

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

[0052] Specifically, the first feeding device 200 is a vibratory feeder.

[0053] Specifically, the first gripping device is a robotic arm.

[0054] The handle lower piece assembly includes a second feeding device 300 and a second gripping device (not shown in the figure). The second gripping device is used to grip the handle lower piece from the second feeding device 300 to the positioning seat located at the second assembly position.

[0055] Specifically, the second feeding device 300 is a fixed base.

[0056] Specifically, the second gripping device is a robotic arm.

[0057] The spring assembly includes a third feeding device 400 and a third gripping device (not shown in the figure). The third gripping device is used to grip 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 vibratory feeder.

[0059] Specifically, the third gripping device is a robotic arm.

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

[0061] Specifically, the fourth feeding device 500 is a vibratory feeder.

[0062] Specifically, the fourth gripping device is a robotic arm.

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

[0064] Specifically, the fifth feeding device 600 is a vibratory feeder.

[0065] Specifically, the fifth gripping device is a robotic arm.

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

[0067] Specifically, the sixth feeding device 700 is a fixed base.

[0068] Specifically, the sixth grasping device is a mechanical hand.

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

[0070] Specifically, the blanking grasping device is a mechanical hand.

[0071] In this embodiment, under the transfer action of the transfer component, the push rod assembly component, the lower handle 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 grasping device can sequentially assemble each component into the lower handle piece assembly without manual operation, achieving automatic production line and high production efficiency and good product rate.

[0072] As Figures 1-3 shown, on the basis of the above embodiment, the transfer component includes a first conveyor belt 110, a second conveyor belt 120, a first steering device, and a second steering device. The first conveyor 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 commutation position. The second conveyor belt 120 can drive the positioning seat to move to the fifth assembly position, the sixth assembly position, the blanking position, and the second commutation position. The first steering device can transfer the positioning seat at the first steering position to the fifth assembly position. The second conveyor belt 120 can transfer the positioning seat 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, setting the transfer component as the first conveyor belt 110, the second conveyor belt 120, the first steering device, and the second steering device that form a closed - loop can effectively reduce the distribution space of the endoscope lower handle piece assembly equipment in the length direction. At the same time, this circular structure can simultaneously achieve the assembly of multiple endoscope lower handle piece assemblies at each position.

[0075] As Figures 1-3As shown, based on the above embodiments, 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. 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. 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 push cylinder to effectively transfer the positioning seat from one conveyor belt to another. Pushing it to the bottom also facilitates positioning the positioning seat relative to the conveyor belt, eliminating the need for an additional positioning cylinder at this position.

[0077] like Figures 1-3 As shown, based on the above embodiment, it further 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 abut 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 abut against the other side of the second conveyor belt 120. 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 the assembly position where there is no steering device. This helps the gripping device to position the material from the feeding device to the corresponding assembly position and prevents the assembly position from shifting.

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

[0080] In this embodiment, a pressing cylinder is provided at the corresponding assembly position, which can effectively press the component that needs to be pressed and installed into the lower endoscope handle, preventing improper installation that would prevent the upper endoscope handle from being installed.

[0081] like Figures 1-3 As shown, an assembly method for an endoscope handle lower film assembly includes the following steps:

[0082] S1: The second push cylinder 142 pushes the positioning seat located in the second steering position to the first assembly position through the second connecting channel 141. The first gripping device grips the push rod from the first feeding device 200 to the positioning seat located in the first assembly position and places the push rod in the 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. The second gripping device grips the lower handle piece from the second feeding device 300 to the positioning seat located at the second assembly position and places the lower handle piece at the designated position of the positioning seat so that the push rod passes through the lower handle piece.

[0084] S3: The first conveyor belt 110 drives the positioning seat to move from the second assembly position to the third assembly position. The third gripping device grips the spring from the third feeding device 400 to the positioning seat located at the third assembly position, and places the spring in the designated position of the positioning seat so that the spring is connected to the lower plate 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 gripping device grips the spring insert from the fourth feeding device 500 to the positioning seat located at the fourth assembly position, and places the spring insert in the designated position of the positioning seat so that the spring insert is connected to the lower plate 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 push cylinder 132 pushes the positioning seat located at the first turning position to the fifth assembly position through the first connecting channel 131. The fifth gripping device grips the spring insert from the fifth feeding device 600 to the positioning seat located at the fifth assembly position. The working channel insert is placed in the designated position of the positioning seat so that the working channel insert is connected to the lower plate 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. The sixth gripping device grips the direction control line from the sixth feeding device 700 to the positioning seat located at the sixth assembly position and places the direction control line at the designated position of the positioning seat so that the direction control line is connected to the lower part of the handle 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 gripping device takes the assembled handle unloading assembly from the positioning seat located 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 assembly, handle lower piece assembly assembly, spring assembly assembly, spring insert assembly assembly, working channel insert assembly assembly, direction control line assembly assembly, and material feeding gripping device can sequentially assemble each component into a handle lower piece assembly, without the need for manual operation, thus realizing production line automation and achieving high production efficiency and yield.

[0091] like Figures 1-3 As shown, based on the above implementation method, in step S3, after the third gripping device grips the spring to the positioning seat located at the third assembly position, the pressing cylinder aligns with the third assembly position and presses the spring in.

[0092] In step S4, after the fourth gripping device grips the spring insert to the positioning seat located at the fourth assembly position, the pressure cylinder aligns with the fourth assembly position and presses in the spring insert.

[0093] In step S6, after the sixth gripping device grips the direction control line to the positioning seat located at the sixth assembly position, the pressure cylinder aligns with the sixth assembly position and presses in the direction control line.

[0094] In this embodiment, a pressing cylinder is provided at the corresponding assembly position, which can effectively press the component that needs to be pressed and installed into the lower endoscope handle, preventing improper installation that would prevent the upper endoscope handle from being installed.

Claims

1. An assembly device for an endoscope handle lower film assembly, characterized in that, include: A transmission component is provided with a positioning seat, which can drive the positioning seat 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 includes a first feeding device and a first gripping device, wherein the first gripping device is used to grip the push rod from the first feeding device to a positioning seat located at the first assembly position. The handle lower piece assembly includes a second feeding device and a second gripping device, the second gripping device being used to grip the handle lower piece from the second feeding device to the positioning seat located at the second assembly position; A spring assembly includes a third feeding device and a third gripping device, the third gripping device being used to grip the spring from the third feeding device to a positioning seat located at the third assembly position; A spring insert assembly includes a fourth feeding device and a fourth gripping device, the fourth gripping device being used to grip the spring insert from the fourth feeding device to a positioning seat located at the fourth assembly position; The working channel insert assembly includes a fifth feeding device and a fifth gripping device, wherein the fifth gripping device is used to grip the working channel insert from the fifth feeding device to the positioning seat located at the fifth assembly position; A directional control line assembly includes a sixth feeding device and a sixth gripping device, wherein the sixth gripping device is used to grip the directional control line from the sixth feeding device to a positioning seat located at the sixth assembly position. A feeding gripping device for removing the assembled handle unloading assembly from the positioning seat located at the feeding position; The transmission assembly includes a first transmission belt, a second transmission belt, a first steering device, and a second steering device. The first transmission belt can move the positioning seat 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 move the positioning seat 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 reversing position to the fifth assembly position. The second transmission belt can transfer the positioning seat located at the second reversing position to the first assembly position. The first steering device includes a first connecting channel and a first pushing cylinder. The first connecting channel is located between the first reversing position and the fourth assembly position. The first conveyor belt is connected to the second conveyor belt through the first connecting channel. The first pushing cylinder can push the positioning seat located at the first reversing 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 reversing 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 reversing position to the first assembly position.

2. The endoscope handle lower film assembly assembly equipment as described in claim 1, characterized in that: The first conveyor belt, the second conveyor belt, the first turning device, and the second turning device form a "mouth" - shaped structure.

3. The endoscope handle lower film assembly assembly equipment as described in claim 1, characterized in that: It further 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 be tightly abutted 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 be tightly abutted against the other side of the second conveyor belt. The two second positioning cylinders are respectively aligned with the sixth assembly position and the blanking position.

4. The endoscope handle lower film assembly assembly equipment as described in claim 1, characterized in that: It further includes three pressing cylinders. One pressing cylinder is aligned with the third assembly position and is used for pressing in the spring. Another pressing cylinder is aligned with the fourth assembly position and is used for pressing in the spring insert. The last pressing cylinder is aligned with the sixth assembly position and is used for pressing in the direction control line.

5. The endoscope handle lower film assembly assembly equipment as described in claim 4, 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 blanking grasping device are all set as mechanical hands.

6. The endoscope handle lower film assembly assembly equipment as described in claim 1, characterized in that: The first feeding device, the third feeding device, the fourth feeding device, and the fifth feeding device are all vibrating discs. The second feeding device and the sixth feeding device are both fixed seats.

7. A method for assembling an endoscope handle lower film assembly, characterized in that, It includes an endoscope handle lower - piece assembly equipment as described in claim 4, and further includes the following steps: S1: The second pushing cylinder pushes the positioning seat located at the second commutation position through the second connection channel to the first assembly position, and the first grasping device grasps the push rod from the first feeding device to the positioning seat located 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 grasping device grasps the handle lower - piece from the second feeding device to the positioning seat located 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 grasping device grasps the spring from the third feeding device to the positioning seat located 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 grasping device grasps the spring insert from the fourth feeding device to the positioning seat located at the fourth assembly position. S5: The first conveyor belt drives the positioning seat to move from the fourth assembly position to the first commutation position. The first pushing cylinder pushes the positioning seat located at the first commutation position through the first connection channel to the fifth assembly position, and the fifth grasping device grasps the working - channel insert from the fifth feeding device to the positioning seat located 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 grasping device grasps the direction control line from the sixth feeding device to the positioning seat located at the sixth assembly position. S7: The second conveyor belt drives the positioning seat to move from the sixth assembly position to the blanking position, and the blanking grasping device takes out the assembled handle lower - piece assembly from the positioning seat located at the blanking position. S8: The second conveyor belt drives the positioning seat to move from the unloading position to the second reversing position.

8. The method for assembling an endoscope handle lower film assembly as described in claim 7, characterized in that: In step S3, after the third gripping device grips the spring to the positioning seat located at the third assembly position, the pressure cylinder aligns with the third assembly position and presses the spring in. In step S4, after the fourth gripping device grips the spring insert to the positioning seat located at the fourth assembly position, the pressure cylinder aligns with the fourth assembly position and presses in the spring insert. In step S6, after the sixth gripping device grips the direction control line to the positioning seat located at the sixth assembly position, the pressure cylinder aligns with the sixth assembly position and presses in the direction control line.

Images