An automatic assembly device for the mandrel and the driving piece in an adjuster

Abstract

The present invention discloses an automatic assembling device for a mandrel and a driving piece in an angle adjuster, which comprises a feeding mechanism and an assembling mechanism. The assembling mechanism is located at one end of the feeding mechanism. The feeding mechanism includes a first positioning component, a first handling component and a second positioning component. The first positioning component is used for positioning the mandrel, and the second positioning component is used for positioning the driving piece. The first positioning component is located on one side of the first handling component. The assembling mechanism includes a second handling component, an assembling platform component and a third handling component. The second handling component is located on one side of the third handling component. The assembling platform component includes an assembling fixing seat and a first driver, and the first driver is used for driving the assembling fixing seat to move in a direction close to and / or away from the first handling component. The automatic assembling device of the present invention can realize the automatic assembling of the mandrel and the driving piece in the angle adjuster in a loose manner, ensure the assembling quality of the angle adjuster, and improve the assembling efficiency and the product qualification rate.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile seat adjuster assembly, and particularly relates to an automatic assembly device for a mandrel and a driving piece in an adjuster. Background Art

[0002] An adjuster is a device installed on an automobile seat to adjust the angle of the seat back. The mandrel and the driving piece are key components in the adjuster. The mandrel is stuck in the driving piece groove, and the rotation of the mandrel drives the rotation of the driving piece, etc., so as to realize the adjustment of the seat back angle.

[0003] In the prior art, the assembly of the mandrel and the driving piece in the adjuster is directly carried out on the production line. First, the driving piece is assembled into the cavity of the adjuster, and then the mandrel is installed on the driving piece, that is, the driving piece is assembled at the previous station on the production line, and the adjuster with the assembled driving piece is transferred to the next station to install the mandrel. Since there are tooth profile meshing requirements when the driving piece and the mandrel are assembled together, the existing assembly device will cause the driving piece to have no positioning on the adjuster after it is assembled first. During the transfer of the adjuster with the assembled driving piece to the next station, the driving piece may rotate. When installing the mandrel, it may not be able to be completely aligned with the tooth profile of the driving piece, resulting in the mandrel not being accurately installed on the driving piece in the adjuster, affecting the assembly quality of the entire adjuster and greatly reducing the assembly efficiency. Summary of the Invention

[0004] In view of this, in order to overcome the defects of the prior art, the purpose of the invention is to provide an automatic assembly device for a mandrel and a driving piece in an adjuster, which first accurately and automatically assembles the driving piece and the mandrel outside the adjuster, and then integrally assembles the assembled driving piece and mandrel into the cavity of the adjuster, easily realizing in-place assembly, ensuring the assembly quality and improving the assembly efficiency.

[0005] In order to achieve the above purpose, the invention adopts the following technical solutions:

[0006] An automatic assembly device for a mandrel and a driving piece in an angle adjuster, comprising a feeding mechanism and an assembling mechanism. The assembling mechanism is located at one end of the feeding mechanism. The feeding mechanism includes a first positioning component, a first handling component and a second positioning component. The first positioning component is used for positioning the mandrel, and the second positioning component is used for positioning the driving piece. The first positioning component is located on one side of the first handling component. The assembling mechanism includes a second handling component, an assembling platform component and a third handling component. The second handling component is located on one side of the third handling component. The assembling platform component includes an assembling fixed seat and a first driver. The first driver is used to drive the assembling fixed seat to move in a direction close to and / or away from the first handling component. The assembling platform component has a first state and a second state. When the assembling platform component is in the first state, the assembling platform component is located below the second handling component and the driving piece is located in the assembling fixed seat. When the assembling platform component is in the second state, the assembling platform component is located below the first handling component and both the driving piece and the mandrel are located in the assembling fixed seat.

[0007] The second handling component is used to take out the driving piece from the second positioning component and place it in the assembling fixed seat. The first handling component is used to take out the mandrel from the first positioning component and place it in the assembling fixed seat for assembly with the driving piece. The third handling component is used to take out the assembled driving piece and mandrel from the assembling fixed seat and place them in the cavity of the angle adjuster.

[0008] According to some preferred implementation aspects of the present invention, the feeding mechanism further includes a first fixing frame. The first positioning component and the second positioning component are respectively located on both sides of the first fixing frame. The first handling component is slidably connected to the first fixing frame. The first handling component includes a second driver, a third driver and a first jaw unit.

[0009] According to some preferred implementation aspects of the present invention, the housing of the second driver is fixedly connected to the housing of the third driver. A connecting seat is fixedly provided at the top of the first jaw unit. The second driver is used to drive the first jaw unit to move up and down along the height direction parallel to the first fixing frame. The third driver is used to drive the first jaw unit to rotate. The angle of rotation of the first jaw unit around the axis of the telescopic shaft of the second driver is 0° to 360°.

[0010] According to some preferred implementation aspects of the present invention, there is a gap between the top surface of the connection base and the bottom surface of the housing of the second driver. A guiding column, a connecting column and an elastic member are arranged between the top of the connection base and the bottom of the housing of the second driver. The guiding column is parallel to the connecting column. One end of the guiding column and one end of the connecting column are fixedly connected to the top of the connection base. The other end of the guiding column and the other end of the connecting column are both located inside the bottom of the housing of the second driver. The housing of the second driver can move up and down along the length direction of the guiding column relative to the guiding column. The elastic member is sleeved on the outer periphery of the connecting column. Since in the actual production process, the heights of mandrels of different specifications and models are also different, the setting of the elastic member is equivalent to reserving some floating space for the up and down movement of the first jaw unit along the height direction of the first fixing frame, and can be compatible with mandrels of different heights.

[0011] According to some preferred implementation aspects of the present invention, the first jaw unit includes a first jaw driver and two first jaws slidably connected to the bottom of the first jaw driver. Both of the two first jaws include a first jaw body and an extension portion. The top of the extension portion is fixedly connected to the bottom of the first jaw body. A through cavity penetrating in the height direction is formed inside the mandrel, and the through cavity can be used for inserting the two extension portions.

[0012] According to some preferred implementation aspects of the present invention, the first positioning assembly includes a first bracket, a fourth driver, a second jaw unit, support plates and support blocks respectively fixedly arranged on both sides of the top of the first bracket, a first limiting plate fixedly arranged on the top of the first bracket, and a guiding plate connected to the fourth driver. The housing of the fourth driver is fixedly connected to the top surface of the support plate. The guiding plate is parallel to the support plate and is located above the support plate. The fourth driver is used to drive the guiding plate to move back and forth along the length direction parallel to the support plate. The first limiting plate is located below the guiding plate and above the support block. One side of the first limiting plate close to the fourth driver is flush with one side of the first bracket close to the fourth driver. The side of the first limiting plate far from the fourth driver extends outward from the side of the first bracket far from the fourth driver.

[0013] According to some preferred implementation aspects of the present invention, a first notch is formed in the middle of the side of the first limiting plate far from the fourth driver, and a second notch is formed in the middle of the end of the guiding plate far from the fourth driver. The centers of the first notch and the second notch are located on the same vertical plane perpendicular to the first bracket. The second jaw unit includes a second jaw driver and two second jaws slidably connected to the top of the second jaw driver. The support block is located between the two second jaws. The first limiting plate is located above the top surface of the second jaws. The centers of the two second jaws and the centers of the two first jaws are located on the same vertical plane parallel to the height direction of the first fixing frame.

[0014] According to some preferred implementation aspects of the present invention, the mandrel includes a mandrel body, a ring portion fixedly sleeved on the outer periphery of the mandrel body, and a plurality of tooth portions spaced apart from each other around the outer periphery of the mandrel body. The bottom surface of the ring portion is in contact with the top surface of the tooth portions. When the first positioning assembly completes the positioning of the mandrel, the bottom surface of the mandrel body is in contact with the top surface of the support block. The lower end portion of the mandrel body is located in the first notch and is simultaneously located between two second jaws. The bottom surface of the tooth portion is in contact with the top surface of the first limiting plate. The upper end portion of the mandrel body is located in the second notch.

[0015] In some embodiments of the present invention, a feeding mechanism is further included, which is respectively used to supply the mandrel and the driving piece to the first positioning assembly and the second positioning assembly. The feeding mechanism includes a first vibrating tray for storing the mandrel, a second vibrating tray for storing the driving piece, a first feeding channel respectively connected to the first positioning assembly and the first vibrating tray, and a second feeding channel connected to the second positioning assembly and the second vibrating tray. Among them, when feeding the first positioning assembly, due to the structural characteristics of the mandrel itself, when a mandrel on the first feeding channel enters the first notch in the first limiting plate, it may overlap with a mandrel already in the first notch (the height of adjacent two mandrels is misaligned), resulting in the mandrel on the first feeding channel not being able to smoothly enter the first positioning assembly. The setting of the guiding plate and the fourth driver can solve the problem of overlapping during the feeding of the mandrel. Since the guiding plate is provided with a second notch, before the mandrel on the first feeding channel enters the first positioning assembly, the telescopic shaft of the fourth driver extends to drive the guiding plate into place and cooperate with the first limiting plate, which can play a guiding and limiting role in the mandrel entering the first notch and prevent overlapping. When the mandrel smoothly enters the first notch and the second notch, the two second jaws clamp the current mandrel, and the telescopic shaft of the fourth driver retracts to drive the guiding plate to retract, so as not to affect the first handling assembly from clamping the mandrel in the first positioning assembly.

[0016] According to some preferred implementation aspects of the present invention, the second positioning assembly includes a second bracket, a third jaw unit disposed on the top of the second bracket, and a second limiting plate. A part of the second limiting plate is fixedly connected to the top surface of the second bracket, and the remaining part of the second limiting plate extends outward from the side of the second bracket close to the third jaw unit. The second limiting plate is provided with a first groove for accommodating the driving piece opening downward from its top surface. The length direction of the first groove is parallel to the width direction of the second limiting plate. The opening of the first groove penetrates through the side of the second limiting plate away from the second bracket. The length of the first groove is less than the width of the second limiting plate, and the height of the first groove is less than the thickness of the second limiting plate. Both ends of the second limiting plate are provided with a second groove and a third groove opening upward from its bottom surface respectively. Both the second groove and the third groove communicate with the first groove, and a part of the top surface of the second groove and a part of the top surface of the third groove coincide with the bottom surface of the first groove. The height of the second groove is equal to the height of the third groove and both are less than the thickness of the second limiting plate. The opening of the second groove penetrates through one end of the second limiting plate, and the opening of the third groove penetrates through the other end of the second limiting plate.

[0017] According to some preferred implementation aspects of the present invention, the third jaw unit includes a first jaw part and a second jaw part arranged oppositely. The first jaw part and the second jaw part have the same height. The second limiting plate is located above the first jaw part and the second jaw part. The first jaw part sequentially includes a first base, a first body and a second body from bottom to top. Both the first body and the second body are located on the side of the first base close to the second jaw part. The second body is arranged in the middle of the first body and the length of the second body is less than the length of the first body. The side of the first body away from the second jaw part is flush with the side of the first base away from the second jaw part. The side of the first body close to the second jaw part is flush with the side of the first base close to the second jaw part. The width of the second body is less than the width of the first body. The second jaw part sequentially includes a second base and a third body from bottom to top. The third body is located on the side of the second base close to the first jaw part. The length of the third body is equal to the length of the second base. The side of the third body close to the first jaw part is flush with the side of the second base close to the first jaw part. The third jaw unit further includes a third jaw driver. The housing of the third jaw driver is fixedly connected to one side of the second bracket. Both the first jaw part and the second jaw part are slidably connected to the top of the third jaw driver. The third jaw driver is used to drive the first jaw part and the second jaw part to approach and / or separate from each other.

[0018] According to some preferred implementation aspects of the present invention, the second groove is used to accommodate a part of the second seat body. The width of the second groove is greater than the length of the second seat body and less than the length of the first seat body. When the second seat body is located in the second groove, the top surface of the second groove is in contact with the top surface of the second seat body; a fourth groove is formed in the second seat body from the side close to the second claw portion to the other side. The side of the second seat body close to the second claw portion has two first arc surfaces, and the two first arc surfaces are located on both sides of the opening of the fourth groove. The orthographic projections of the two first arc surfaces on the first seat body are located in the extending direction of the first arc line;

[0019] The third groove is used to accommodate a part of the third seat body. The width of the third groove is greater than the length of the third seat body. When the third seat body is located in the third groove, the top surface of the third groove is in contact with the top surface of the third seat body; a fifth groove is formed in the third seat body from the side close to the first claw portion to the other side. The side of the third seat body close to the first claw portion has two second arc surfaces, and the two second arc surfaces are located on both sides of the opening of the fifth groove. The orthographic projections of the two second arc surfaces on the second base are located in the extending direction of the second arc line.

[0020] According to some preferred implementation aspects of the present invention, the driving piece includes a driving piece body and two first protrusions and two second protrusions fixedly arranged on the outer periphery of the driving piece body. One first protrusion is located between the other first protrusion and one second protrusion; when the second positioning component completes the positioning of the driving piece, the first arc line and the second arc line coincide with the outer peripheral part of the driving piece body. The upper ends of the two first arc surfaces are in contact with a part of the outer wall of the driving piece and are located between the two first protrusions. The upper ends of the two second arc surfaces are in contact with another part of the outer wall of the driving piece and are located between the two second protrusions. The sides of the two second protrusions close to each other are respectively in contact with the two ends of the side of the third seat body close to the first claw portion. A through hole is formed in the interior of the driving piece body corresponding to the core shaft body of the core shaft, and a plurality of matching card slots are formed corresponding to the plurality of tooth portions of the core shaft. The core shaft body can pass through the through hole in the driving piece, and each tooth portion can be accommodated in the corresponding card slot.

[0021] Preferably, the automatic assembly device of the present invention further includes a PLC. The feeding mechanism further includes a first monitoring component and a second monitoring component. The first monitoring component is located below the third driver, and the second monitoring component is located above the second positioning component. Both the first monitoring component and the second monitoring component include cameras. The first monitoring component and the second monitoring component are respectively used to take pictures of the mandrel located in the first positioning component and the driving piece located in the second positioning component to obtain the states of the two workpieces before assembly, and feedback the positions of their respective workpieces to the PLC. The PLC will control the rotation of the rotating shaft of the third driver to drive the first jaw unit to rotate a certain angle, thereby driving the mandrel clamped by the first jaw unit to rotate a certain angle, so that when the mandrel is assembled with the driving piece, their positions are just matched, and there will be no dislocation between the tooth part and the corresponding card slot, ensuring the assembly accuracy.

[0022] According to some preferred embodiments of the present invention, an accommodation groove for accommodating the lower end portion of the mandrel body is opened downward from the top surface inside the assembly fixing seat, and the diameter of the accommodation groove is smaller than the outer diameter of the ring portion of the mandrel. The top surface of the assembly fixing seat is provided with a first limiting block, a second limiting block and two third limiting blocks at intervals. The first limiting block, the second limiting block and the third limiting blocks are all arc-shaped, and the first limiting block, the second limiting block and the two third limiting blocks jointly enclose a first ring. The inner diameter of the first ring matches the outer diameter of the driving piece body. When the driving piece is located in the assembly fixing seat, the first limiting block is located between the two second protrusions, and both ends of the first limiting block are in contact with the two second protrusions respectively. The second limiting block is located between the two first protrusions, and the two third limiting blocks are respectively located between a first protrusion and a second protrusion.

[0023] According to some preferred implementation aspects of the present invention, the combined loading mechanism further includes a second fixing frame, the length extension direction of the second fixing frame is perpendicular to the length extension direction of the first fixing frame, the second handling assembly and the third handling assembly are both slidably connected to the second fixing frame, the second handling assembly and the third handling assembly are both located in the extension direction parallel to the length direction of the second fixing frame, the second handling assembly includes a fifth driver and a fourth jaw unit, the fifth driver is used to drive the fourth jaw unit to move up and down along the height direction of the second fixing frame, the fourth jaw unit includes two symmetrically arranged fourth jaws, each fourth jaw includes a fourth jaw body and a third protruding part fixedly arranged on the bottom surface of the fourth jaw body, the two third protruding parts are used to insert into the inside of the driving piece body, and the centers of the two fourth jaws and the centers of the first jaw part and the second jaw part are located on the same vertical plane parallel to the height direction of the second fixing frame. In some embodiments of the present invention, after the driving piece and the mandrel are combined and loaded, the mandrel body passes through the through hole in the driving piece so that the bottom surface of the ring part of the mandrel is in contact with the top surface of the driving piece, and each tooth part is accommodated in the corresponding card slot, so that the mandrel and the driving piece are kept tightly fixed, the mandrel will not rotate relative to the driving piece, and the mandrel will not fall off from the driving piece.

[0024] According to some preferred implementation aspects of the present invention, the third handling assembly includes a sixth driver, a seventh driver and a fifth jaw unit arranged in sequence from top to bottom, the housing of the sixth driver is fixedly connected to the housing of the seventh driver, the sixth driver is used to drive the fifth jaw unit to move up and down along the height direction of the second fixing frame, the seventh driver is used to drive the fifth jaw unit to rotate, the rotation angle of the fifth jaw unit around the axis of the seventh driver is -90° to 90°, and the fifth jaw unit is used to clamp the combined and loaded mandrel and driving piece from the combined loading fixing seat.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: An automatic assembly device for a mandrel and a driving piece in an angle adjuster of the present invention, through the setting and mutual cooperation of the feeding mechanism and the combined loading mechanism, first accurately combines and loads the driving piece and the mandrel on the combined loading fixing seat, and then integrally assembles the combined and loaded driving piece and mandrel into the cavity of the angle adjuster, easily realizing the in-place assembly of the mandrel and the driving piece in the angle adjuster, improving the degree of automation of the assembly, ensuring both the assembly quality of the angle adjuster and improving the assembly efficiency and the qualification rate of the product. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 Schematic three - dimensional structure diagram of the mandrel and drive plate automatic assembly device (the combined installation platform assembly is in the first state) in the embodiment of the present invention;

[0028] Figure 2 Schematic three - dimensional structure diagram of the mandrel and drive plate automatic assembly device (the combined installation platform assembly is in the second state) with the feeding mechanism hidden in the embodiment of the present invention;

[0029] Figure 3 Schematic three - dimensional structure diagram of the feeding mechanism cooperating with the first and second material channels in the embodiment of the present invention;

[0030] Figure 4 Schematic three - dimensional structure diagram of the mandrel located in the first positioning component in the embodiment of the present invention;

[0031] Figure 5 Schematic three - dimensional structure diagram of the first positioning component with a part of the first bracket hidden in the embodiment of the present invention;

[0032] Figure 6 Schematic three - dimensional structure diagram of the drive plate located in the second positioning component in the embodiment of the present invention;

[0033] Figure 7 is Figure 6 top - view structure diagram;

[0034] Figure 8 Schematic three - dimensional structure diagram of the second positioning component with a part of the second bracket hidden in the embodiment of the present invention;

[0035] Figure 9 Schematic three - dimensional structure diagram of the third jaw unit from the first perspective in the embodiment of the present invention;

[0036] Figure 10 Schematic three - dimensional structure diagram of the third jaw unit from the second perspective in the embodiment of the present invention;

[0037] Figure 11 Schematic three - dimensional structure diagram of the first handling component in the embodiment of the present invention;

[0038] Figure 12 Schematic three - dimensional structure diagram of the transmission mechanism, combined installation mechanism cooperating with the second positioning component in the embodiment of the present invention;

[0039] Figure 13 Top - view structure diagram of the mandrel and drive plate after being combined in the combined installation fixing seat in the embodiment of the present invention;

[0040] Figure 14 Schematic three - dimensional structure diagram of the combined installation mechanism cooperating with the transmission mechanism in the embodiment of the present invention;

[0041] Figure 15 Schematic three-dimensional structure diagram of the fourth jaw in the embodiment of the present invention;

[0042] Figure 16 Schematic three-dimensional structure diagram of the assembled mandrel and drive piece in the embodiment of the present invention;

[0043] Among them, the reference numerals are:

[0044] Feeding mechanism - 1, protective cover - 11, first material channel - 12, second material channel - 13, loading mechanism - 2, first fixing frame - 21, first positioning assembly - 22, first bracket - 221, fourth driver - 222, second jaw - 2231, second jaw driver - 2232, support plate - 224, support block - 225, first limiting plate - 226, first notch - Q1, guide plate - 227, second notch - Q2, first handling assembly - 23, second driver - 231, third driver - 232, first jaw body - 2331, extension - 2332, first jaw driver - 234, connecting seat - 235, guide post - 236, connecting column - 237, elastic member - 238, second positioning assembly - 24, second bracket - 241, first base - 2421, first seat body - 2422, second seat body - 2423, fourth groove - C4, first arc surface - M1, second base - 2424, third seat body - 2425, fifth groove - C5, second arc surface - M2, third jaw driver - 2426, second limiting plate - 243, first groove - C1, second groove - C2, third groove - C3, first monitoring assembly - 25, second monitoring assembly - 26, first slide rail - 271, first slider - 272, first fixing plate - 281, second fixing plate - 282, eighth driver - 29, assembling mechanism - 3, second fixing frame - 31, second handling assembly - 32, fifth driver - 321, fourth jaw body - 3221, third protrusion - 3222, fourth jaw driver - 3223, assembling platform assembly - 33, assembling fixing seat - 331, first limiting block - 3311, second limiting block - 3312, third limiting block - 3313, first driver - 332, fifth fixing plate - 333, third handling assembly - 34, sixth driver - 341, seventh driver - 342, fifth jaw - 3431, fifth jaw driver - 3432, second slide rail - 351, second slider - 352, third fixing plate - 361, fourth fixing plate - 362, connecting rod - 37, ninth driver - 38, oil injection assembly - 39, mandrel - 4, mandrel body - 41, through cavity - 411, ring part - 42, tooth part - 43, drive piece - 5, drive piece body - 51, through hole - 511, card slot - 512, first protrusion - 52, second protrusion - 53, transmission mechanism - 6, angle adjuster - 61, tray - 62. Detailed implementation mode

[0045] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0046] As Figures 1 to 16 shown, the automatic assembly device for the spindle and the driving piece in the angle adjuster of this embodiment includes a feeding mechanism 1, a loading mechanism 2, an assembling mechanism 3, a transmission mechanism 6 and a PLC. The feeding mechanism 1 is located on one side of the loading mechanism 2, the assembling mechanism 3 is located at one end of the loading mechanism 2, and the transmission mechanism 6 is located below the assembling mechanism 3. The feeding mechanism 1 is used to respectively provide the spindle 4 and the driving piece 5 to the loading mechanism 2. The transmission mechanism 6 includes a tray 62 and an angle adjuster 61 placed on the tray 62. The transmission mechanism 6 is used to convey the angle adjuster 61 without the spindle 4 and the driving piece 5 assembled to the lower part of the assembling mechanism 3. After the spindle 4 and the driving piece 5 are assembled and assembled into the angle adjuster 61, the entire tooling is then conveyed to the next station.

[0047] As Figure 4 and Figure 16 shown, the spindle 4 includes a spindle body 41, a ring part 42 fixedly sleeved on the outer periphery of the spindle body 41, and a plurality of tooth parts 43 spaced apart around the outer periphery of the spindle body 41. The bottom surface of the ring part 42 is in contact with the top surface of the tooth parts 43. A through cavity 411 is provided inside the spindle body 41 in the height direction thereof; the heights of the spindle bodies 41 of the spindles 4 of different specifications and models are different. In addition, as Figure 6 , Figure 7 , Figure 13 and Figure 16 shown, the driving piece 5 includes a driving piece body 51, and two first protruding parts 52 and two second protruding parts 53 fixedly arranged on the outer periphery of the driving piece body 51. One first protruding part 52 is located between the other first protruding part 52 and one second protruding part 53. A through hole 511 corresponding to the spindle body 41 of the spindle 4 is provided inside the driving piece body 51, and a plurality of matching card slots 512 are provided corresponding to the plurality of tooth parts 43 of the spindle 4. As Figure 16As shown, after the mandrel 4 and the driving piece 5 are assembled together, the mandrel body 41 passes through the through hole 511 in the driving piece body 51, so that the bottom surface of the ring portion 42 of the mandrel 4 is in contact with the top surface of the driving piece 5, and each tooth portion 43 is received in the corresponding card slot 512, so that a tight fixation is maintained between the mandrel 4 and the driving piece 5, the mandrel 4 will not rotate relative to the driving piece 5, and the mandrel 4 will not fall out of the driving piece 5.

[0048] As Figure 1 and Figure 3 shown, the feeding mechanism 1 includes a protective cover 11, a first vibrating tray located in the protective cover 11 for storing the mandrel 4, a second vibrating tray located in the protective cover 11 for storing the driving piece 5, a first material channel 12 for transporting the mandrel 4, and a second material channel 13 for transporting the driving piece 5. The feeding mechanism 1 provides the mandrel 4 and the driving piece 5 to the loading mechanism 2 through the first material channel 12 and the second material channel 13 respectively.

[0049] Furthermore, the loading mechanism 2 includes a first fixing frame 21, a first positioning component 22, a first handling component 23, a second positioning component 24, an eighth driver 29, a first monitoring component 25 and a second monitoring component 26. The first positioning component 22 and the second positioning component 24 are respectively located on both sides of the first fixing frame 21. The first positioning component 22 is located on the side of the first handling component 23 away from the assembling mechanism 3. The first positioning component 22 is used for positioning the mandrel 4, and the second positioning component 24 is used for positioning the driving piece 5. The first handling component 23 is slidably connected to the first fixing frame 21. The eighth driver 29 is fixedly connected to the side of the first fixing frame 21 away from the protective cover 11. The eighth driver 29 is used for driving the first handling component 23 to move back and forth along the length direction of the first fixing frame 21 to approach and / or move away from the first positioning component 22. The first handling component 23 is used for taking out the mandrel 4 in the first positioning component 22 and transporting it to the assembling mechanism 3. The first monitoring component 25 is located on the side of the first handling component 23 close to the first positioning component 22. The second monitoring component 26 is fixedly connected to the side of the first fixing frame 21 close to the second positioning component 24 and is located above the second positioning component 24.

[0050] Specifically, as Figures 1 to 3 and Figure 11As shown in the figure, the first handling component 23 includes a second driver 231, a third driver 232 and a first jaw unit. Among them, the second driver 231 is used to drive the first jaw unit to move up and down along the height direction parallel to the first fixing frame 21, and the third driver 232 is used to drive the first jaw unit to rotate. Moreover, the angle of rotation of the first jaw unit around the axis line of the telescopic shaft of the second driver 231 is 0° to 360°. The housing of the second driver 231 is fixedly connected to the housing of the third driver 232, and the third driver 232 is located on the side of the second driver 231 close to the first positioning component 22; on the side of the housing of the second driver 231 close to the first fixing frame 21, a first fixing plate 281 is fixedly provided. On the side of the first fixing plate 281 away from the second driver 231, a second fixing plate 282 is fixedly provided. The first fixing plate 281 is located at the lower end of the second fixing plate 282. The upper end of the side of the second fixing plate 282 close to the first fixing frame 21 is connected to the eighth driver 29. Through the driving action of the eighth driver 29, the second fixing plate 282 is driven to move back and forth along the length direction of the first fixing frame 21, thereby driving the whole first handling component 23 to move back and forth along the length direction of the first fixing frame 21. In addition, at the lower end of the side of the second fixing plate 282 close to the first fixing frame 21, a first slider 272 is fixedly provided. On the side of the first fixing frame 21 away from the protective cover 11, a first slide rail 271 is fixedly provided corresponding to the first slider 272. The first slider 272 is slidably connected to the first slide rail 271. The setting of the first slider 272 and the first slide rail 271 can play a guiding role in the movement of the first handling component 23, ensuring that the whole first handling component 23 moves smoothly without shaking.

[0051] The first jaw unit includes a first jaw driver 234 and two first jaws slidably connected to the bottom of the first jaw driver 234. Both first jaws include a first jaw body 2331 and an extension 2332. The top of the extension 2332 is fixedly connected to the bottom of the first jaw body 2331. The two extensions 2332 can be inserted into the through cavity 411 in the core shaft body 41. By driving the two first jaws away from each other through the first jaw driver 234, the core shaft 4 can be tightened, and by driving the two first jaws close to each other, the core shaft 4 can be loosened. At the top of the first jaw driver 234, a connection seat 235 is fixedly provided. Between the top of the connection seat 235 and the bottom of the housing of the second driver 231, there are two guiding columns 236, two connecting columns 237 and two elastic members 238. There is a gap between the top surface of the connection seat 235 and the bottom surface of the housing of the second driver 231. The housing of the second driver 231 can move up and down along the length direction of the guiding column 236.

[0052] Specifically, the elastic member 238 is sleeved on the outer periphery of the connecting column 237. The guiding column 236 is parallel to the connecting column 237. One end of the guiding column 236 and one end of the connecting column 237 are fixedly connected to the top of the connecting seat 235, and the other end of the guiding column 236 and the other end of the connecting column 237 are both located inside the bottom of the housing of the second driver 231. In this embodiment, the elastic member 238 is preferably a spring. Limiting grooves are provided at the top of the connecting seat 235 and at the bottom of the housing of the second driver 231 to limit each elastic member 238 between the corresponding two limiting grooves. When the elastic member 238 is in the natural state, the distance between the corresponding two limiting grooves is equal to the length of the elastic member 238 in the natural state. Since the heights of the mandrels 4 of different specifications and models are also different during the actual production process, the setting of the elastic member 238 is equivalent to reserving some floating space for the up-and-down movement of the first jaw unit in the height direction of the first fixing frame 21, and can be compatible with mandrels 4 of different heights.

[0053] Preferably, the first monitoring assembly 25 is located below the third driver 232 and the top of the first monitoring assembly 25 is fixedly connected to the bottom of the housing of the third driver 232. The first monitoring assembly 25 can move along with the overall movement of the first handling assembly 23. In this embodiment, both the first monitoring assembly 25 and the second monitoring assembly 26 include cameras, and the cameras are upper computers. The first monitoring assembly 25 is used to take pictures of the mandrel 4 located in the first positioning assembly 22, and the second monitoring assembly 26 is used to take pictures of the driving piece 5 located in the second positioning assembly 24, so as to respectively obtain the states of the two workpieces before assembly and feed back the positions of the respective workpieces to the PLC. The PLC will calculate the angle that the mandrel 4 in the current state fed back by the first monitoring assembly 25 needs to rotate if it is to be assembled with the driving piece 5 based on the position of the driving piece 5 fed back by the second monitoring assembly 26. Furthermore, the PLC will control the third driver 232 to act to drive the first jaw unit to rotate by the target angle, thereby driving the mandrel 4 clamped by the first jaw unit to rotate by the corresponding target angle, so that when the mandrel 4 is assembled with the driving piece 5, their positions are just matched, and there is no misalignment between the tooth portion 43 and the corresponding card slot 512, ensuring the assembly accuracy.

[0054] Furthermore, as Figures 1 to 5As shown in the figure, the first positioning component 22 includes a first bracket 221, a fourth driver 222, a second jaw unit, a support plate 224 and a support block 225 fixedly arranged on both sides of the top of the first bracket 221 respectively, a first limiting plate 226 fixedly arranged on the top of the first bracket 221, and a guide plate 227 connected to the fourth driver 222. The housing of the fourth driver 222 is fixedly connected to the top surface of the support plate 224. The guide plate 227 is parallel to the support plate 224 and is located above the support plate 224. The fourth driver 222 is used to drive the guide plate 227 to move back and forth along the length direction parallel to the support plate 224. The length direction of the guide plate 227 is parallel to the length direction of the support block 225 and the width direction of the first limiting plate 226. The first limiting plate 226 is located below the guide plate 227 and above the support block 225. The side of the first limiting plate 226 close to the fourth driver 222 is flush with the side of the first bracket 221 close to the fourth driver 222. The side of the first limiting plate 226 far from the fourth driver 222 extends outward from the side of the first bracket 221 far from the fourth driver 222. A first notch Q1 is provided in the middle of the side of the first limiting plate 226 far from the fourth driver 222, and a second notch Q2 is provided in the middle of the end of the guide plate 227 far from the fourth driver 222. The widths of the first notch Q1 and the second notch Q2 are both larger than the outer diameter of the mandrel body 41 and smaller than the outer diameter of the ring part 42. And the centers of the first notch Q1 and the second notch Q2 are located on the same vertical plane perpendicular to the first bracket 221. The first material channel 12 of the feeding mechanism 1 passes through the side wall of the protective cover 11. The two ends of the first material channel 12 are respectively docked with the first positioning component 22 and the first vibrating tray. The end of it docked with the first positioning component 22 abuts against the first limiting plate 226 and the guide plate 227, so that the outlet of the first material channel 12 is aligned with the first notch Q1 and the second notch Q2, ensuring that the mandrel 4 on the first material channel 12 can enter the first notch Q1 and the second notch Q2.

[0055] The second jaw unit includes a second jaw driver 2232 and two second jaws 2231 slidably connected to the top of the second jaw driver 2232. A support block 225 is located between the two second jaws 2231, and a first limiting plate 226 is located above the top surface of the second jaws 2231. The centers of the two second jaws 2231 and the centers of the two first jaws are always located on the same vertical plane parallel to the height direction of the first fixing frame 21, so as to ensure the smooth docking of the first handling assembly 23 and the first positioning assembly 22 and clamp out the mandrel 4 in the first positioning assembly 22. In this embodiment, before the mandrel 4 on the first material path 12 enters the first positioning assembly 22, the telescopic shaft of the fourth driver 222 extends to drive the guide plate 227 in place and cooperate with the first limiting plate 226, which can play a guiding and limiting role in the mandrel 4 entering the first notch Q1 and prevent material stacking. When the mandrel 4 successfully enters the first notch Q1 and the second notch Q2, that is, when the first positioning assembly 22 completes the positioning of the mandrel 4, the bottom surface of the mandrel body 41 contacts the top surface of the support block 225. The lower end of the mandrel body 41 is located in the first notch Q1 and between the two second jaws 2231 at the same time. The bottom surface of the tooth part 43 fits the top surface of the first limiting plate 226. The upper end of the mandrel body 41 is located in the second notch Q2. At this time, the second jaw driver 2232 drives the two second jaws 2231 to clamp the current mandrel 4, and the telescopic shaft of the fourth driver 222 retracts to drive the guide plate 227 to retract, so as not to affect the first handling assembly 23 from clamping the mandrel 4 in the first positioning assembly 22.

[0056] Such as Figures 6 to 10 , Figure 12As shown, the second positioning component 24 includes a second bracket 241, a third jaw unit disposed on the top of the second bracket 241, and a second limiting plate 243. A part of the second limiting plate 243 is fixedly connected to the top surface of the second bracket 241, and the remaining part of the second limiting plate 243 extends outward from the side of the second bracket 241 close to the third jaw unit so that this part of the second limiting plate 243 is located above the third jaw unit. Among them, a first groove C1 for accommodating the driving piece 5 is formed in the second limiting plate 243 downward from its top surface, and second grooves C2 and third grooves C3 are respectively formed in the two ends of the second limiting plate 243 upward from its bottom surface. The length direction of the first groove C1 is parallel to the width direction of the second limiting plate 243, and the opening of the first groove C1 penetrates through the side of the second limiting plate 243 away from the second bracket 241; the second material channel 13 of the feeding mechanism 1 passes through the side wall of the protective cover 11, and the two ends of the second material channel 13 are respectively docked with the second positioning component 24 and the second vibrating disk. The end where it is docked with the second positioning component 24 abuts against one end of the second limiting plate 243, and the outlet of the second material channel 13 is aligned with the opening of the first groove C1 to ensure that the driving piece 5 can enter the second limiting plate 243 from the second material channel 13. The opening of the second groove C2 penetrates through one end of the second limiting plate 243, and the opening of the third groove C3 penetrates through the other end of the second limiting plate 243; both the second groove C2 and the third groove C3 are communicated with the first groove C1, and a part of the top surface of the second groove C2 and a part of the top surface of the third groove C3 coincide with the bottom surface of the first groove C1. The length of the first groove C1 is less than the width of the second limiting plate 243, and the height of the first groove C1 is less than the thickness of the second limiting plate 243; the height of the second groove C2 is equal to the height of the third groove C3 and both are less than the thickness of the second limiting plate 243.

[0057] The third jaw unit includes a third jaw driver 2426 and a first jaw portion and a second jaw portion that are oppositely arranged. The housing of the third jaw driver 2426 is fixedly connected to one side of the second bracket 241. The first jaw portion and the second jaw portion are both slidably connected to the top of the third jaw driver 2426. The third jaw driver 2426 is used to drive the first jaw portion and the second jaw portion to approach and / or move away from each other, so as to clamp and / or release the driving piece 5 located in the second positioning assembly 24. The heights of the first jaw portion and the second jaw portion are equal. The second limiting plate 243 is located above the first jaw portion and the second jaw portion. The first jaw portion sequentially includes a first base 2421, a first body 2422, and a second body 2423 from bottom to top. The first body 2422 and the second body 2423 are both located on the side of the first base 2421 close to the second jaw portion. The second body 2423 is arranged in the middle of the first body 2422, and the length of the second body 2423 is less than the length of the first body 2422. The side of the first body 2422 away from the second jaw portion is flush with the side of the second body 2423 away from the second jaw portion. The side of the first body 2422 close to the second jaw portion is flush with the side of the first base 2421 close to the second jaw portion. The width of the second body 2423 is less than the width of the first body 2422. The second jaw portion sequentially includes a second base 2424 and a third body 2425 from bottom to top. The third body 2425 is located on the side of the second base 2424 close to the first jaw portion. The length of the third body 2425 is equal to the length of the second base 2424. The side of the third body 2425 close to the first jaw portion is flush with the side of the second base 2424 close to the first jaw portion. The second groove C2 is used to accommodate a part of the second body 2423. The width of the second groove C2 is greater than the length of the second body 2423 and less than the length of the first body 2422. When the second body 2423 is located in the second groove C2, the top surface of the second groove C2 is in contact with the top surface of the second body 2423. The third groove C3 is used to accommodate a part of the third body 2425. The width of the third groove C3 is greater than the length of the third body 2425. When the third body 2425 is located in the third groove C3, the top surface of the third groove C3 is in contact with the top surface of the third body 2425.

[0058] The second body 2423 is provided with a fourth groove C4 from the side close to the second claw portion to the other side. The side of the second body 2423 close to the second claw portion has two first arc surfaces M1. The two first arc surfaces M1 are located on both sides of the opening of the fourth groove C4. The orthographic projections of the two first arc surfaces M1 on the first body 2422 are located in the extending direction of the first arc line. The third body 2425 is provided with a fifth groove C5 from the side close to the first claw portion to the other side. The side of the third body 2425 close to the first claw portion has two second arc surfaces M2. The two second arc surfaces M2 are located on both sides of the opening of the fifth groove C5. The orthographic projections of the two second arc surfaces M2 on the second base 2424 are located in the extending direction of the second arc line. When the second positioning assembly 24 completes the positioning of the driving piece 5, the first claw portion and the second claw portion clamp the driving piece 5. The first arc line and the second arc line coincide with the outer peripheral portion of the driving piece body 51. The upper ends of the two first arc surfaces M1 are attached to a part of the outer wall of the driving piece 5 and are located between the two first protrusions 52. The upper ends of the two second arc surfaces M2 are attached to another part of the outer wall of the driving piece 5 and are located between the two second protrusions 53. The sides of the two second protrusions 53 close to each other are respectively in contact with the two ends of the side of the third body 2425 close to the first claw portion, so as to ensure that the driving piece 5 is limited in the first groove C1 and will not rotate randomly. In this embodiment, the length of the arc formed by connecting the two ends of the side of the second body 2423 close to the second claw portion is less than the minimum length of the arc length of the outer periphery of the driving piece body 51 between the two first protrusions 52 in driving pieces 5 of different specifications and models, so as to be compatible with driving pieces 5 of different specifications and models.

[0059] Further, as Figure 1 , Figure 2 , Figures 12 to 15 shown, the assembling mechanism 3 includes a second fixing frame 31, a ninth driver 38, a second handling assembly 32, an assembling platform assembly 33, a third handling assembly 34 and an oil injection assembly 39. The extending direction of the length of the second fixing frame 31 is perpendicular to the extending direction of the length of the first fixing frame 21. The second handling assembly 32 is located on the side of the third handling assembly 34 close to the second positioning assembly 24. Both the second handling assembly 32 and the third handling assembly 34 are slidably connected to the second fixing frame 31, and both the second handling assembly 32 and the third handling assembly 34 are located in the same extending direction parallel to the length direction of the second fixing frame 31.

[0060] Specifically, the second handling component 32 is used to take out the driving piece 5 from the second positioning component 24 and place it into the combined fixing seat 331. The second handling component 32 includes a fifth driver 321 and a fourth jaw unit. The fifth driver 321 is used to drive the fourth jaw unit to move up and down along the height direction of the second fixing frame 31. The fourth jaw unit includes a fourth jaw driver 3223 and two symmetrically arranged fourth jaws. The two fourth jaws are slidably connected to the bottom of the fourth jaw driver 3223. Each fourth jaw includes a fourth jaw body 3221 and a third protrusion 3222 fixedly arranged on the bottom surface of the fourth jaw body 3221. The two third protrusions 3222 can be inserted downward into the interior of the driving piece body 51 under the action of the fifth driver 321, and cooperate with two of the card slots 512 in the driving piece 5 under the action of the fourth jaw driver 3223 to clamp the driving piece 5. The centers of the two fourth jaws, the center of the first jaw part and the center of the second jaw part are located on the same vertical plane parallel to the height direction of the second fixing frame 31, so as to ensure that the second handling component 32 can smoothly clamp out the driving piece 5 from the second positioning component 24.

[0061] The third handling component 34 is used to take out the combined driving piece 5 and the mandrel 4 from the combined fixing seat 331 and place them into the cavity of the angle adjuster 61. The third handling component 34 includes a sixth driver 341, a seventh driver 342 and a fifth jaw unit arranged in sequence from top to bottom. The housing of the sixth driver 341 is fixedly connected to the housing of the seventh driver 342. The sixth driver 341 is used to drive the fifth jaw unit to move up and down along the height direction of the second fixing frame 31. The seventh driver 342 is used to drive the fifth jaw unit to rotate. Moreover, the angle by which the fifth jaw unit rotates around the axis of the rotation shaft of the seventh driver 342 is -90° to 90°. The fifth jaw unit is used to clamp the combined mandrel 4 and driving piece 5. The seventh driver 342 is provided to smoothly place the combined mandrel 4 and driving piece 5 taken out from the combined fixing seat 331 into the cavity of the angle adjuster 61 after rotating a certain angle. The fifth jaw unit includes a fifth jaw driver 3432 and two symmetrically arranged fifth jaws 3431. The two fifth jaws 3431 are slidably connected to the bottom of the fifth jaw driver 3432. The fifth jaw driver 3432 is used to drive the two fifth jaws 3431 to approach and / or separate from each other to clamp and / or release the combined mandrel 4 and driving piece 5.

[0062] The ninth driver 38 is fixedly connected to the side of the second fixing bracket 31 close to the first fixing bracket 21. At the same time, a third fixing plate 361 is fixedly arranged on the surface of the housing of the sixth driver 341 close to the second fixing bracket 31. The upper end of the side of the third fixing plate 361 close to the second fixing bracket 31 is connected to the ninth driver 38, and the lower end of the side of the third fixing plate 361 away from the second fixing bracket 31 is fixedly connected to the housing of the sixth driver 341. A fourth fixing plate 362 is fixedly arranged on the surface of the housing of the fifth driver 321 close to the second fixing bracket 31. The lower end of the side of the fourth fixing plate 362 away from the second fixing bracket 31 is fixedly connected to the housing of the fifth driver 321. A connecting rod 37 is fixedly arranged between one end of the fourth fixing plate 362 and one end of the third fixing plate 361. In addition, a second slide rail 351 parallel to the length direction of the second fixing bracket 31 is also fixedly arranged on the side of the second fixing bracket 31 close to the first fixing bracket 21. The connecting rod 37 is parallel to the second slide rail 351. Second sliders 352 are fixedly arranged at the lower end of the side of the third fixing plate 361 close to the second fixing bracket 31 and at the lower end of the side of the fourth fixing plate 362 close to the second fixing bracket 31. The second sliders 352 are slidably connected to the second slide rail 351. The ninth driver 38 is used to drive the third fixing plate 361 to move back and forth along the length direction of the second slide rail 351, so as to drive the third handling assembly 34 and the second handling assembly 32 as a whole to move back and forth along the length direction of the second slide rail 351 to approach and / or move away from the second positioning assembly 24.

[0063] Further, as Figures 12 to 14As shown in the figure, the assembling platform component 33 includes an assembling fixed seat 331, a fifth fixing plate 333 and a first driver 332. The top surface of one end of the fifth fixing plate 333 is fixedly connected to the bottom surface of the assembling fixed seat 331. The bottom surface of the other end of the fifth fixing plate 333 is connected to the first driver 332. The first driver 332 is used to drive the assembling fixed seat 331 to move back and forth along the length direction parallel to the first fixing frame 21 to approach and / or move away from the first positioning component 22. An accommodation groove for accommodating the lower end portion of the mandrel body 41 is formed in the interior of the assembling fixed seat 331 downward from its top surface. The diameter of the accommodation groove is smaller than the outer diameter of the ring portion 42 of the mandrel 4. The top surface of the assembling fixed seat 331 is provided with a first limiting block 3311, a second limiting block 3312 and two third limiting blocks 3313 at intervals. The first limiting block 3311, the second limiting block 3312 and the third limiting blocks 3313 are all arc-shaped. The first limiting block 3311, the second limiting block 3312 and the two third limiting blocks 3313 jointly enclose a first ring. The inner diameter of the first ring matches the outer diameter of the driving piece body 51. When the second handling component 32 places the transported driving piece 5 in the assembling fixed seat 331, the first limiting block 3311 is located between the two second protruding portions 53 and the two ends of the first limiting block 3311 are respectively in contact with the two second protruding portions 53. The second limiting block 3312 is located between the two first protruding portions 52. The two third limiting blocks 3313 are respectively located between one first protruding portion 52 and one second protruding portion 53 to limit the driving piece 5. The oil injection component 39 includes an oil injection valve. The oil injection component 39 is located below one end of the fifth fixing plate 333 close to the assembling fixed seat 331. After the mandrel 4 and the driving piece 5 are assembled well in the assembling fixed seat 331, the oil injection component 39 injects oil at 6 points to the outer wall of the mandrel body 41 through the oil injection valve to lubricate the outer wall of the mandrel body 41.

[0064] The working process of the automatic assembling device for the mandrel 4 and the driving piece 5 in the angle adjuster 61 in this embodiment is briefly described as follows:

[0065] The feeding mechanism 1 transmits the mandrel 4 and the driving piece 5 to the first positioning component 22 and the second positioning component 24 respectively through the first material path 12 and the second material path 13. When the mandrel 4 on the first material path 12 enters the first positioning component 22 and is in place, the second jaw driver 2232 drives the second jaw 2231 to clamp the mandrel 4. Subsequently, the first monitoring component 25 takes a photo of the mandrel 4 in the first positioning component 22 to determine the current position and angle of the mandrel 4 and feeds the data back to the PLC. Subsequently, the eighth driver 29 drives the first handling component 23 to move in the direction close to the first positioning component 22 until the first jaw is directly above the mandrel 4. The second driver 231 drives the first jaw to move downward to approach the mandrel 4 and clamp the mandrel 4, and then drives the mandrel 4 to rise through the second driver 231.

[0066] When the driving piece 5 on the second material path 13 enters the second positioning assembly 24 and is in place, the third jaw driver 2426 drives the first jaw part and the second jaw part to jointly clamp the driving piece 5. Subsequently, the second monitoring assembly 26 takes a picture of the driving piece 5 in the second positioning assembly 24 to determine the current position and angle of the driving piece 5 and feeds the data back to the PLC. The PLC controls the third driver 232 to drive the first jaw and the mandrel 4 clamped by it to rotate a certain angle according to the data fed back by the first monitoring assembly 25 and the second monitoring assembly 26 to match the position of the driving piece 5 to be assembled.

[0067] Subsequently, the ninth driver 38 drives the second handling assembly 32 to move in the direction close to the second positioning assembly 24 until the fourth jaw is directly above the driving piece 5. The fifth driver 321 drives the fourth jaw to move downward to approach the driving piece 5 and clamp it, and then drives the driving piece 5 to rise through the fifth driver 321. The ninth driver 38 drives the second handling assembly 32 to move away from the second positioning assembly 24 until the fourth jaw is directly above the assembly fixing base 331. At this time, the fifth driver 321 drives the driving piece 5 in the fourth jaw to descend until the driving piece 5 is placed in the assembly fixing base 331 and cooperates well with the first limiting block 3311, the second limiting block 3312 and the third limiting block 3313. The fifth driver 321 drives the fourth jaw to retract upward. At this time, the assembly platform assembly 33 is in the first state.

[0068] The first driver 332 drives the fifth fixing plate 333 and the assembly fixing base 331 to move in the direction close to the first handling assembly 23 until the assembly fixing base 331 is directly below the first jaw and the mandrel 4 clamped by it. The second driver 231 drives the first jaw to move downward until the mandrel 4 enters the assembly fixing base 331 and is assembled well with the driving piece 5 therein. The second driver 231 drives the first jaw to retract upward. At this time, the assembly platform assembly 33 is in the second state. Subsequently, the oil injection assembly 39 injects oil at 6 points on the outer wall of the mandrel body 41 through the oil injection valve.

[0069] Subsequently, the first driver 332 drives the combined fixing base 331 to move away from the first handling component 23 until it retracts in place. The ninth driver 38 drives the third handling component 34 to move towards the second positioning component 24 until the fifth jaw 3431 is directly above the combined fixing base 331. The sixth driver 341 drives the fifth jaw 3431 to move downward until it can clamp the assembled mandrel 4 and the driving piece 5 as a whole. Then, under the driving action of the fifth jaw driver 3432, the two fifth jaws 3431 move closer to each other to clamp the assembled mandrel 4 and the driving piece 5 as a whole. Then, under the action of the sixth driver 341, the mandrel 4 and the driving piece 5 as a whole are driven to move upward in place. Then, under the action of the ninth driver 38, the mandrel 4 and the driving piece 5 as a whole are driven to move away from the second positioning component 24 along the length direction of the second fixing frame 31 until the mandrel 4 and the driving piece 5 as a whole are directly above the angle adjuster 61. Before placing the angle adjuster 61, the seventh driver 342 drives the mandrel 4 and the driving piece 5 as a whole to rotate clockwise by 90° to match the angle of the cavity in the lower angle adjuster 61. Finally, under the action of the sixth driver 341, after the mandrel 4 and the driving piece 5 as a whole are driven to move downward in place, the fifth jaw driver 3432 drives the two fifth jaws 3431 to move away from each other to release the mandrel 4 and the driving piece 5 as a whole, so as to install the assembled mandrel 4 and the driving piece 5 as a whole into the cavity of the angle adjuster 61, thus completing a working cycle.

[0070] The above embodiments are only used to illustrate the technical concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. It is not intended to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. An automatic assembly device for a mandrel and a driving piece in an angle adjuster, characterized in that: It includes a loading mechanism and an assembling mechanism. The assembling mechanism is located at one end of the loading mechanism. The loading mechanism includes a first positioning component, a first handling component, and a second positioning component. The first positioning component is used to position the mandrel, the second positioning component is used to position the driving piece, and the first positioning component is located on one side of the first handling component. The assembling mechanism includes a second handling component, an assembling platform component, and a third handling component. The second handling component is located on one side of the third handling component. The assembling platform component includes an assembling fixed seat and a first driver. The first driver is used to drive the assembling fixed seat to move in a direction close to and / or away from the first handling component. The assembling platform component has a first state and a second state. When the assembling platform component is in the first state, the assembling platform component is located below the second handling component and the driving piece is located in the assembling fixed seat. When the assembling platform component is in the second state, the assembling platform component is located below the first handling component and both the driving piece and the mandrel are located in the assembling fixed seat. The first positioning component includes a first bracket, a fourth driver, a second jaw unit, support plates and support blocks respectively fixedly arranged on both sides of the top of the first bracket, a first limiting plate fixedly arranged on the top of the first bracket, and a guide plate connected to the fourth driver. The housing of the fourth driver is fixedly connected to the top surface of the support plate. The guide plate is parallel to the support plate and is located above the support plate. The fourth driver is used to drive the guide plate to move back and forth along the length direction parallel to the support plate. The first limiting plate is located below the guide plate and above the support block. One side of the first limiting plate close to the fourth driver is flush with one side of the first bracket close to the fourth driver. The side of the first limiting plate far from the fourth driver extends outward from the side of the first bracket far from the fourth driver. The second handling component is used to take out the driving piece from the second positioning component and put it into the assembling fixed seat. The first handling component is used to take out the mandrel from the first positioning component and put it into the assembling fixed seat for assembling with the driving piece. The third handling component is used to take out the assembled driving piece and mandrel from the assembling fixed seat and put them into the cavity of the angle adjuster.

2. The mandrel and driving piece automatic assembly device according to claim 1, characterized in that: The loading mechanism further includes a first fixing frame. The first positioning component and the second positioning component are respectively located on both sides of the first fixing frame. The first handling component is slidably connected to the first fixing frame. The first handling component includes a second driver, a third driver, and a first jaw unit.

3. The mandrel and drive plate automatic assembly device according to claim 2, characterized in that: The housing of the second driver is fixedly connected to the housing of the third driver. A connecting seat is fixedly arranged at the top of the first jaw unit. The second driver is used to drive the first jaw unit to move up and down along the height direction parallel to the first fixing frame. The third driver is used to drive the first jaw unit to rotate. The angle of rotation of the first jaw unit around the axis of the telescopic shaft of the second driver is 0° to 360°.

4. The mandrel and driving piece automatic assembling device according to claim 3, wherein: There is a gap between the top surface of the connection base and the bottom surface of the housing of the second driver. A guide post, a connecting post and an elastic member are arranged between the top of the connection base and the bottom of the housing of the second driver. The guide post is parallel to the connecting post. One end of the guide post and one end of the connecting post are fixedly connected to the top of the connection base. The other end of the guide post and the other end of the connecting post are both located inside the bottom of the housing of the second driver. The housing of the second driver can move up and down along the length direction of the guide post relative to the guide post. The elastic member is sleeved on the outer periphery of the connecting post.

5. The mandrel and driving piece automatic assembling device according to claim 3, wherein: The first jaw unit includes a first jaw driver and two first jaws slidably connected to the bottom of the first jaw driver. Both of the two first jaws include a first jaw body and an extension portion. The top of the extension portion is fixedly connected to the bottom of the first jaw body. A through cavity penetrating in the height direction is formed inside the mandrel, and the through cavity can be used for inserting the two extension portions.

6. The mandrel and driving piece automatic assembly device according to claim 5, wherein: A first notch is formed in the middle of the side of the first limiting plate away from the fourth driver, and a second notch is formed in the middle of the end of the guide plate away from the fourth driver. The center of the first notch and the center of the second notch are located on the same vertical plane perpendicular to the first bracket. The second jaw unit includes a second jaw driver and two second jaws slidably connected to the top of the second jaw driver. The support block is located between the two second jaws. The first limiting plate is located above the top surface of the second jaws. The centers of the two second jaws and the centers of the two first jaws are located on the same vertical plane parallel to the height direction of the first fixing frame.

7. The mandrel and driving piece automatic assembling device according to claim 6, characterized in that: The mandrel includes a mandrel body, a ring portion fixedly sleeved on the outer periphery of the mandrel body, and a plurality of tooth portions arranged at intervals around the outer periphery of the mandrel body. The bottom surface of the ring portion is in contact with the top surface of the tooth portions. When the first positioning assembly completes the positioning of the mandrel, the bottom surface of the mandrel body is in contact with the top surface of the support block. The lower end portion of the mandrel body is located in the first notch and at the same time between the two second jaws. The bottom surface of the tooth portions is in contact with the top surface of the first limiting plate. The upper end portion of the mandrel body is located in the second notch.

8. The mandrel and drive plate automatic assembly device according to claim 7, characterized in that: The second positioning component includes a second bracket, a third jaw unit disposed on the top of the second bracket, and a second limiting plate. A part of the second limiting plate is fixedly connected to the top surface of the second bracket, and the remaining part of the second limiting plate extends outward from one side of the second bracket close to the third jaw unit. The second limiting plate is provided with a first groove for accommodating a driving piece from its top surface downward. The length direction of the first groove is parallel to the width direction of the second limiting plate. The opening of the first groove penetrates through the side of the second limiting plate away from the second bracket. The length of the first groove is less than the width of the second limiting plate, and the height of the first groove is less than the thickness of the second limiting plate. Both ends of the second limiting plate are provided with a second groove and a third groove respectively from its bottom surface upward. Both the second groove and the third groove communicate with the first groove, and a part of the top surface of the second groove and a part of the top surface of the third groove coincide with the bottom surface of the first groove. The height of the second groove is equal to the height of the third groove and both are less than the thickness of the second limiting plate. The opening of the second groove penetrates through one end of the second limiting plate, and the opening of the third groove penetrates through the other end of the second limiting plate.

9. The mandrel and drive plate automatic assembly device according to claim 8, wherein: The third jaw unit includes a first jaw part and a second jaw part which are oppositely arranged. The first jaw part and the second jaw part have the same height. The second limiting plate is located above the first jaw part and the second jaw part. The first jaw part successively includes a first base, a first body and a second body from bottom to top. The first body and the second body are both located on the side of the first base close to the second jaw part. The second body is disposed in the middle of the first body, and the length of the second body is less than the length of the first body. The side of the first body away from the second jaw part is flush with the side of the second body away from the second jaw part. The side of the first body close to the second jaw part is flush with the side of the first base close to the second jaw part. The width of the second body is less than the width of the first body. The second jaw part successively includes a second base and a third body from bottom to top. The third body is located on the side of the second base close to the first jaw part. The length of the third body is equal to the length of the second base. The side of the third body close to the first jaw part is flush with the side of the second base close to the first jaw part.

10. The mandrel and driving piece automatic assembling device according to claim 9, characterized in that: The second groove is used for accommodating a part of the second body. The width of the second groove is greater than the length of the second body and less than the length of the first body. When the second body is located in the second groove, the top surface of the second groove is in contact with the top surface of the second body. The second body is provided with a fourth groove from the side close to the second jaw part to the other side. The side of the second body close to the second jaw part has two first arc surfaces. The two first arc surfaces are located on both sides of the opening of the fourth groove. The orthographic projections of the two first arc surfaces on the first body are located in the extending direction of the first arc line. The third groove is used to accommodate part of the third seat body. The width of the third groove is greater than the length of the third seat body. When the third seat body is located in the third groove, the top surface of the third groove is in contact with the top surface of the third seat body. The third seat body is provided with a fifth groove extending from the side close to the first claw portion to the other side. The side of the third seat body close to the first claw portion has two second arc surfaces, and the two second arc surfaces are located on both sides of the opening of the fifth groove. The orthographic projections of the two second arc surfaces on the second base are located in the extending direction of the second arc line.

11. The mandrel and driving sheet automatic assembly device according to claim 10, wherein: The driving piece includes a driving piece body and two first protrusions and two second protrusions fixedly arranged on the outer periphery of the driving piece body. One first protrusion is located between the other first protrusion and one second protrusion. When the second positioning component completes the positioning of the driving piece, the first arc line and the second arc line coincide with the outer peripheral part of the driving piece body. The upper ends of the two first arc surfaces are in contact with a part of the outer wall of the driving piece and are located between the two first protrusions. The upper ends of the two second arc surfaces are in contact with another part of the outer wall of the driving piece and are located between the two second protrusions. The sides of the two second protrusions close to each other are respectively in contact with the two ends of the side of the third seat body close to the first claw portion.

12. The mandrel and drive plate automatic assembly device according to claim 11, characterized in that: An accommodation groove for accommodating the lower end portion of the core shaft body is provided in the interior of the combined fixing seat extending downward from its top surface. The diameter of the accommodation groove is smaller than the outer diameter of the ring portion of the core shaft. The top surface of the combined fixing seat is provided with a first limiting block, a second limiting block and two third limiting blocks at intervals. The first limiting block, the second limiting block and the third limiting blocks are all arc-shaped, and the first limiting block, the second limiting block and the two third limiting blocks jointly enclose a first ring. The inner diameter of the first ring matches the outer diameter of the driving piece body. When the driving piece is located in the combined fixing seat, the first limiting block is located between the two second protrusions and the two ends of the first limiting block are respectively in contact with the two second protrusions. The second limiting block is located between the two first protrusions. The two third limiting blocks are respectively located between one first protrusion and one second protrusion.

13. The mandrel and drive plate automatic assembly device according to claim 11, characterized in that: The combined mechanism further includes a second fixing frame. The length extending direction of the second fixing frame is perpendicular to the length extending direction of the first fixing frame. The second handling component and the third handling component are both slidably connected to the second fixing frame. The second handling component and the third handling component are both located in the same extending direction parallel to the length direction of the second fixing frame. The second handling component includes a fifth driver and a fourth claw unit. The fifth driver is used to drive the fourth claw unit to move up and down along the height direction of the second fixing frame. The fourth claw unit includes two symmetrically arranged fourth claws. Each fourth claw includes a fourth claw body and a third protrusion fixedly arranged on the bottom surface of the fourth claw body. The two third protrusions are used to insert into the interior of the driving piece body. The centers of the two fourth claws, the first claw portion and the second claw portion are located on the same vertical plane parallel to the height direction of the second fixing frame.

14. The mandrel and drive plate automatic assembly device according to claim 13, characterized in that: The third handling component includes a sixth driver, a seventh driver, and a fifth jaw unit that are arranged in sequence from top to bottom. The housing of the sixth driver is fixedly connected to the housing of the seventh driver. The sixth driver is used to drive the fifth jaw unit to move up and down along the height direction of the second fixing frame. The seventh driver is used to drive the fifth jaw unit to rotate. The angle by which the fifth jaw unit rotates around the axis of the rotating shaft of the seventh driver is -90° to 90°. The fifth jaw unit is used to clamp the assembled mandrel and drive piece from the assembling fixing seat.

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