Automatic pin and lower cover assembling equipment

Abstract

The invention relates to the technical field of assembling machines, in particular to a pin and lower cover automatic assembling device which comprises a transfer mechanical arm, a lower cover feeding mechanism, a front and back face detecting and overturning device, a placing angle detecting and adjusting device, a pin and lower cover assembling device and a discharging position, and the lower cover feeding mechanism, the front and back face detecting and overturning device, the placing angle detecting and adjusting device, the pin and lower cover assembling device and the discharging position are sequentially arranged. The transfer manipulator comprises a first pick-and-place part, a second pick-and-place part, a third pick-and-place part and a fourth pick-and-place part. Feeding of the lower cover, forward and reverse orientation detection and correction of the lower cover, placement angle adjustment of the lower cover and assembly of the pin and the lower cover are automatically achieved, the pin is directly assembled on the metal sheet of the lower cover below the lower cover, the pin of the assembled lower cover assembly faces downwards, and the assembly efficiency is improved. According to the technical scheme, the lower cover assembly with the downward pin can be directly stacked and stored or output into the badge assembling equipment, so that the lower cover assembly can be directly assembled with the upper cover assembly without turning over any more, the follow-up technological process during assembling of the lower cover assembly and the upper cover assembly can be simplified, and the badge production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of assembly machines, and in particular to an automatic assembly device for pins and lower covers. Background Art

[0002] In the production process of badges, it is necessary to first assemble pins on the metal sheet of the lower cover to form a lower cover assembly, and then assemble the lower cover assembly with the upper cover assembly or the upper cover to produce badges.

[0003] In the production of the lower cover assembly, traditionally, the lower cover and the pins are assembled together manually. Specifically, the bottom surface of the lower cover is provided with assembly holes, and a deformable metal sheet is formed by bending downward at the assembly holes. Manually insert a rod portion of the pin into the metal sheet, and then bend the metal sheet into the assembly holes to realize the assembly and fixation of the pin and the lower cover. The production efficiency of manual assembly is low and it is difficult to meet the large-scale production of badges.

[0004] In the existing patent, the Chinese patent document with the application number 202420337379.4 discloses a brooch pin assembly mechanism and a semi-automatic device, including a support positioning module and a bending and pressing module. The support positioning module includes: a support positioning structure one and a support positioning structure two that are arranged opposite to each other with a gap, and a positioning groove for clamping and supporting the brooch buckle hook is formed on the surface of the support positioning structure one facing the positioning structure two, and a pin support portion is formed beside the positioning groove; the bending and pressing module includes: a bending main body structure that is installed on the support positioning structure one, has different lengths at one end and is driven by a driving structure to move, and respectively abuts against and positions the brooch buckle and pushes the buckle hook to bend after the pin is inserted, and a bending member two that is installed on the support positioning structure two and is pushed by a driving structure two to bend the buckle hook. This patent document realizes the semi-automatic production of pins and lower covers, with low automation and low production efficiency. Moreover, when the pin and the lower cover are assembled, the lower cover is in an upright state, and the pin is assembled into the metal sheet of the lower cover on one side of the lower cover to produce the lower cover assembly. The pins of this lower cover assembly face one side (left or right). When it is necessary to horizontally stack and store the lower cover assembly or load the lower cover assembly onto the upper cover assembly for assembly, a process step of flipping the lower cover assembly needs to be added, thus an additional flipping mechanism is required, which is not conducive to improving the production efficiency of the subsequent assembly of the lower cover assembly and the upper cover assembly.

[0005] Furthermore, a Chinese patent document with the application number 202410954424.5 discloses a combination device for a badge lower cover and a brooch, which includes a mounting base. A rotating cylinder is rotatably mounted on the mounting base, and a rotating driving mechanism for driving the rotating cylinder to rotate is installed on the mounting base. A number of first working stations are arranged at intervals around the axis of the rotating cylinder. A lower cover conveying mechanism is arranged on one side of the rotating cylinder to accurately convey the lower cover into the first working station groove of the rotating cylinder. A brooch seat is arranged on the side of the rotating cylinder away from the lower cover conveying mechanism. A second working station groove is arranged at the top of the brooch seat. A brooch conveying mechanism is arranged on one side of the brooch seat to accurately convey the brooch into the second working station groove. A clamping and blanking mechanism is arranged above the brooch seat to clamp, transfer and sleeve the brooch in the second working station groove onto the metal piece of the lower cover in the first working station groove. A pressing and deforming mechanism is installed on the brooch seat to bend the metal piece of the lower cover in the second working station groove so that the brooch is locked on the lower cover. Although this patent document realizes the automatic assembly of the brooch and the lower cover, its structure is complex, the action process is complex, and when the brooch and the lower cover are assembled, the lower cover is in an upright state, and the brooch is assembled into the metal piece of the lower cover on one side of the lower cover to produce a lower cover assembly. The brooch of this lower cover assembly faces one side (left or right), which is inconvenient to take away the assembled lower cover assembly. When it is necessary to horizontally stack and store the lower cover assembly or load the lower cover assembly onto the upper cover assembly for assembly, it is necessary to add a process step of flipping the lower cover assembly, thus it is necessary to add a flipping mechanism, etc., which is not conducive to improving the production efficiency of the subsequent assembly of the lower cover assembly and the upper cover assembly.

[0006] Therefore, the defects are very obvious and a solution is urgently needed. Summary of the Invention

[0007] In order to solve the above technical problems, the purpose of the present invention is to provide an automatic brooch and lower cover assembly device.

[0008] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0009] A safety pin and lower cover automatic assembly device, which includes a transfer manipulator and a lower cover feeding mechanism, a front and back detection and flipping device, a placement angle detection and adjustment device, a safety pin and lower cover assembly device, and a discharging position arranged in sequence. The transfer manipulator includes a first picking and placing part, a second picking and placing part, a third picking and placing part, and a fourth picking and placing part. The first picking and placing part can reciprocate between the lower cover feeding mechanism and the front and back detection and flipping device. The second picking and placing part can reciprocate between the front and back detection and flipping device and the placement angle detection and adjustment device. The third picking and placing part can reciprocate between the placement angle detection and adjustment device and the safety pin and lower cover assembly device. The fourth picking and placing part can reciprocate between the safety pin and lower cover assembly device and the discharging position. The lower cover feeding mechanism is used to supply the lower cover. The front and back detection and flipping device is used to detect the front and back of the lower cover and flip the lower cover with the wrong side up by 180° so that the metal sheet of the lower cover faces down. The placement angle detection and adjustment device is used to detect the placement angle of the lower cover and adjust the placement angle of the lower cover with a deviation in the placement angle. The safety pin and lower cover assembly device is used to assemble the safety pin into the metal sheet of the lower cover and bend the metal sheet upward.

[0010] Further, the safety pin and lower cover assembly device includes an assembly base, an assembly carrier installed on the top of the assembly base, a fixing mechanism installed on the assembly carrier, a safety pin receiving seat movably arranged below the assembly carrier, an upper top and bending mechanism installed on the safety pin receiving seat, a safety pin supplying mechanism arranged on one side of the safety pin receiving seat, and a position adjustment mechanism installed on the assembly base. The safety pin receiving seat is installed at the position adjustment end of the position adjustment mechanism. The top surface of the assembly carrier is recessed with an assembly bearing cavity and a through hole formed by opening from the bottom wall of the assembly bearing cavity. The assembly bearing cavity is used to bear the lower cover, and the metal sheet on the bottom surface of the lower cover is located in the through hole. The fixing mechanism is used to fix the lower cover in the assembly bearing cavity. The discharging end of the safety pin supplying mechanism is used to connect with the safety pin receiving seat. The safety pin supplying mechanism is used to supply the erected safety pins to the safety pin receiving seat. The position adjustment mechanism is used to drive the safety pin receiving seat to lift and translate and move the upper rod of the safety pin carried by the safety pin receiving seat into the metal sheet of the lower cover. The upper top and bending mechanism is used to upwardly top and bend the free end of the metal sheet to press and rivet the safety pin and the metal sheet together.

[0011] Further, the safety pin receiving seat is provided with a material receiving cavity. The upper top and bending mechanism includes an upper top cylinder installed on the safety pin receiving seat and an upper top and bending rod installed on the piston rod of the upper top cylinder and slidably connected with the safety pin receiving seat. The upper top and bending rod is located on one side of the material receiving cavity.

[0012] Further, the fixing mechanism includes two fixing jaws movably arranged relatively on the top surface of the assembly carrier and a clamping driver installed on the assembly carrier or the assembly base. The clamping driver is used to drive the two fixing jaws to approach or separate from each other. The two fixing jaws are located on both sides of the assembly bearing cavity;

[0013] Alternatively, the fixing mechanism includes a sliding cover slidably connected to the top surface of the assembly carrier and a sliding drive installed on the assembly carrier or the assembly seat. The sliding drive is used to drive the sliding cover to reciprocate. The sliding cover can move above the assembly bearing cavity and press the lower cover in the assembly bearing cavity.

[0014] Or, the fixing mechanism includes a pressing block arranged above the assembly carrier in a lifting manner and a pressing drive for driving the pressing block to tightly press the lower cover carried in the assembly bearing cavity.

[0015] Further, the front and back detection and flipping device includes a support, a lifting drive installed on the support, a detection carrier installed on the lifting drive, a front and back detection sensor embedded in the detection carrier, a flipping jaw assembly rotatably arranged above the detection carrier, and a rotation clamping mechanism installed on the support and used to drive the flipping jaw assembly to open / close and rotate. The lifting drive is used to drive the detection carrier to approach or move away from the flipping jaw assembly. A detection bearing cavity is arranged on the top surface of the detection carrier. The front and back detection sensor is used to detect whether there is a lower cover in the detection bearing cavity and the front and back of the lower cover. The front and back detection sensor is electrically connected to the rotation clamping mechanism.

[0016] Further, the placement angle detection and adjustment device includes a bracket, a mounting seat arranged on the top surface of the bracket, a rotating mold rotatably connected to the mounting seat, a rotation drive module installed on the support or the mounting seat and used to drive the rotating mold to rotate, and a placement angle sensor installed on the mounting seat or the bracket. The placement angle sensor is electrically connected to the rotation drive module. The rotating mold is provided with a placement angle bearing cavity and a detection hole formed by opening on the bottom wall of the placement angle bearing cavity. A plurality of magnetic parts are embedded in the bottom wall of the placement angle bearing cavity, and the plurality of magnetic parts are arranged around the edge of the detection hole. The placement angle sensor is located in the detection hole. The magnetic parts are used to tightly suck the lower cover in the placement angle bearing cavity.

[0017] Further, the automatic assembly equipment for pins and lower covers further includes a carrier arranged at the feeding position. The fourth picking and placing part can reciprocate between the pin and lower cover assembly device and the carrier. A positioning carrier cavity is recessed on the top surface of the carrier, and the positioning carrier cavity is used to carry the lower cover. A receiving groove is recessed on the bottom wall of the positioning carrier cavity, and the receiving groove is used to receive the pins.

[0018] Further, the transfer manipulator further includes a pushing, bending and forming mechanism. The pushing, bending and forming mechanism is located on the side of the fourth picking and placing part away from the third picking and placing part. The pushing, bending and forming mechanism is used to bend and form the metal sheet after upward bending.

[0019] Further, the pushing, bending and forming mechanism includes a seat body, a pushing drive installed on the seat body, and a push plate installed at the pushing end of the pushing drive and located below the seat body. The pushing drive is used to drive the push plate to translate.

[0020] Further, the pin and lower cover automatic assembly device further includes a material receiving mechanism disposed on the carrier away from the pin and lower cover assembly device. The transfer manipulator further includes a fifth picking and placing part mounted on the seat body. A moving groove is provided in the middle of the fifth picking and placing part. A push pressing plate is movably disposed in the moving groove. The fifth picking and placing part can reciprocate between the carrier and the material receiving mechanism.

[0021] Advantages of the present invention: In practical applications, the lower cover feeding mechanism supplies the lower cover to the loading position. The first picking and placing part of the transfer manipulator transfers the lower cover supplied by the lower cover feeding mechanism to the loading position to the front and back detection and flipping device. The front and back detection and flipping device detects the front and back of the lower cover. When the metal sheet of the lower cover faces downward, that is, when the opening of the lower cover faces upward, the front and back detection and flipping device detects that the orientation of the lower cover is correct. When the metal sheet of the lower cover faces upward, that is, when the opening of the lower cover faces downward, the front and back detection and flipping device detects that the orientation of the lower cover is incorrect (the lower cover is placed reversely). The front and back detection and flipping device will drive the lower cover to flip 180°, so that the lower cover is adjusted to the correct orientation state. The second picking and placing part of the transfer manipulator transfers the lower cover with the correct orientation on the front and back detection and flipping device to the placement angle detection and adjustment device. The placement angle detection and adjustment device detects the placement angle of the lower cover. When the placement angle detection and adjustment device detects that there is a deviation in the placement angle of the lower cover, the placement angle detection and adjustment device will drive the lower cover to rotate to adjust the placement angle of the lower cover until the placement angle of the lower cover is correct. The third picking and placing part of the transfer manipulator transfers the lower cover with the correct placement angle on the placement angle detection and adjustment device to the pin and lower cover assembly device. The pin and lower cover assembly device assembles the pin in the metal sheet of the lower cover and bends the metal sheet upward to form a lower cover assembly. The fourth picking and placing part of the transfer manipulator transfers the lower cover assembly on the pin and lower cover assembly device to the discharging position. The structure of the present invention is simple and the operation is concise. It automatically realizes the feeding of the lower cover, the detection and correction of the front and back orientation of the lower cover, the adjustment of the placement angle of the lower cover, and the assembly of the pin and the lower cover. Moreover, the pin is directly assembled on the metal sheet of the lower cover below the lower cover, so that the pin of the assembled lower cover assembly faces downward. The lower cover assembly with the pin facing downward can be directly stacked and stored or directly output to the badge assembly device, so that the lower cover assembly can be directly assembled with the upper cover assembly to form a badge without further flipping action. Compared with the prior art, the pin is assembled in the metal sheet of the lower cover above the lower cover, or after the lower cover is erected, the pin is assembled laterally in the metal sheet of the lower cover. Since the pin in the lower cover assembly faces upward or to one side, the lower cover assembly needs to be flipped until the pin faces downward before being assembled with the upper cover assembly. The present application can simplify the process flow when the lower cover assembly and the upper cover assembly are assembled later, thereby reducing the structure of the subsequent badge assembly device, reducing the cost, and improving the badge production efficiency. Description of the Drawings

[0022] Figure 1Schematic diagram of the three-dimensional structure of the present invention.

[0023] Figure 2 Schematic diagram of the three-dimensional structure of another perspective of the present invention.

[0024] Figure 3 Schematic diagram of the three-dimensional structure of the pin and lower cover assembly device of the present invention after hiding the vibrating disk.

[0025] Figure 4 Schematic diagram of the three-dimensional structure of another perspective of the pin and lower cover assembly device of the present invention after hiding the vibrating disk.

[0026] Figure 5 Schematic diagram of the three-dimensional structure of the pin receiving seat, upper top bending mechanism and pin of the present invention.

[0027] Figure 6 Schematic diagram of the three-dimensional structure of the upper top bending mechanism of the present invention.

[0028] Figure 7 Schematic diagram of the three-dimensional structure of the front and back detection and flipping device of the present invention.

[0029] Figure 8 Schematic diagram of the three-dimensional structure of the placement angle detection and adjustment device, assembly carrier, fixing mechanism and lower cover of the present invention.

[0030] Figure 9 Schematic diagram of the three-dimensional structure of the placement angle detection and adjustment device, assembly carrier and fixing mechanism of the present invention.

[0031] Figure 10 Schematic diagram of the three-dimensional structure of the material receiving mechanism of the present invention.

[0032] Figure 11 Schematic diagram of the three-dimensional structure of the pushing and bending forming mechanism and the fifth picking and placing part of the present invention.

[0033] Figure 12 Schematic diagram of the three-dimensional structure of the pushing and bending forming mechanism of the present invention after hiding the seat body and the lower cover.

[0034] Figure 13 Schematic diagram of the three-dimensional structure of the lower cover of this embodiment.

[0035] Explanation of reference numerals:

[0036] 1. Transfer robot; 2. Lower cover feeding mechanism; 3. Front and back detection and flipping device; 4. Placement angle detection and adjustment device; 5. Pin and lower cover assembly device; 6. Material placement position; 7. First pick-up and placement part; 8. Second pick-up and placement part; 9. Third pick-up and placement part; 10. Fourth pick-up and placement part; 11. Assembly seat; 12. Assembly tool; 13. Fixing mechanism; 14. Pin seat; 15. Upper bending mechanism; 16. Pin supply mechanism; 17. Position adjustment mechanism; 18. Assembly Bearing cavity; 19, through hole; 20, receiving cavity; 21, upper cylinder; 22, upper bending rod; 23, translation cylinder; 24, lifting cylinder; 25, vibration plate; 26, linear vibration feeder; 27, material rail; 28, fixed clamp; 29, clamping driver; 30, driving slot; 31, driving rod; 32, support; 33, lifting driver; 34, detection carrier; 35, positive and negative detection sensor; 36, flip clamp assembly; 37, rotating clamping mechanism ; 38, detection bearing cavity; 39, bracket; 40, mounting seat; 41, rotating mold; 42, rotating drive module; 43, placement angle sensor; 44, placement angle bearing cavity; 45, detection hole; 46, magnetic suction member; 48, first gear; 49, first rotating driver; 50, carrier; 53, push bending and forming mechanism; 54, seat; 55, push driver; 56, push plate; 57, material receiving mechanism; 58, fifth pick-up and place part; 59, base; 60. Turntable; 61. Material rack; 62. Rotation drive assembly; 63. Support module; 64. Upper through hole; 65. Support cylinder; 66. Support plate; 67. Gears; 68. Second gear; 69. Second rotation driver; 70. Bottom plate; 71. Positioning rod; 72. Contour connecting plate; 73. Material bin; 74. Pin; 75. Lower cover; 76. Metal sheet; 77. Assembly hole; 78. Guide hole; 79. Quick release head; 80. L-shaped groove; 81. Quick release plate. DETAILED DESCRIPTION

[0037] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0038] like Figures 1 to 13As shown in the figure, an automatic assembly device for a safety pin and a lower cover provided by the present invention includes a transfer manipulator 1 and a lower cover feeding mechanism 2, a front and back surface detection and flipping device 3, a placement angle detection and adjustment device 4, a safety pin and lower cover assembly device 5, and a discharging position 6 arranged in sequence. The transfer manipulator 1 includes a first picking and placing part 7, a second picking and placing part 8, a third picking and placing part 9, and a fourth picking and placing part 10. The first picking and placing part 7 can reciprocate between the lower cover feeding mechanism 2 and the front and back surface detection and flipping device 3. The second picking and placing part 8 can reciprocate between the front and back surface detection and flipping device 3 and the placement angle detection and adjustment device 4. The third picking and placing part 9 can reciprocate between the placement angle detection and adjustment device 4 and the safety pin and lower cover assembly device 5. The fourth picking and placing part 10 can reciprocate between the safety pin and lower cover assembly device 5 and the discharging position 6. The lower cover feeding mechanism 2 is used to supply the lower cover 75. The front and back surface detection and flipping device 3 is used to detect the front and back surfaces of the lower cover 75 and flip the lower cover 75 with the wrong side up by 180° so that the metal sheet 76 of the lower cover 75 faces downward. The placement angle detection and adjustment device 4 is used to detect the placement angle of the lower cover 75 and adjust the placement angle of the lower cover 75 with a deviation in the placement angle. The safety pin and lower cover assembly device 5 is used to assemble the safety pin 74 into the metal sheet 76 of the lower cover 75 and bend the metal sheet 76 upward.

[0039] In practical applications, the lower cover feeding mechanism 2 supplies the lower cover 75 to the loading position. The first picking and placing part 7 of the transfer manipulator 1 transfers the lower cover 75 supplied by the lower cover feeding mechanism 2 to the loading position to the front and back detection and flipping device 3. The front and back detection and flipping device 3 detects the front and back of the lower cover 75. When the metal sheet 76 of the lower cover 75 faces downward, that is, when the opening of the lower cover 75 faces upward, the front and back detection and flipping device 3 detects that the orientation of the lower cover 75 is correct. When the metal sheet 76 of the lower cover 75 faces upward, that is, when the opening of the lower cover 75 faces downward, the front and back detection and flipping device 3 detects that the orientation of the lower cover 75 is incorrect (the lower cover 75 is placed upside down). The front and back detection and flipping device 3 will drive the lower cover 75 to flip 180°, so that the lower cover 75 is adjusted to a correct orientation state. The second picking and placing part 8 of the transfer manipulator 1 transfers the lower cover 75 with the correct orientation on the front and back detection and flipping device 3 to the placement angle detection and adjustment device 4. The placement angle detection and adjustment device 4 detects the placement angle of the lower cover 75. When the placement angle detection and adjustment device 4 detects that there is a deviation in the placement angle of the lower cover 75, the placement angle detection and adjustment device 4 will drive the lower cover 75 to rotate to adjust the placement angle of the lower cover 75 until the placement angle of the lower cover 75 is correct. The third picking and placing part 9 of the transfer manipulator 1 transfers the lower cover 75 with the correct placement angle on the placement angle detection and adjustment device 4 to the pin and lower cover assembly device 5. The pin and lower cover assembly device 5 assembles the pin 74 into the metal sheet 76 of the lower cover 75 and bends the metal sheet 76 upward to form a lower cover assembly. The fourth picking and placing part 10 of the transfer manipulator 1 transfers the lower cover assembly on the pin and lower cover assembly device 5 to the discharging position 6. The structure of the present invention is simple and the operation is concise, automatically realizing the feeding of the lower cover 75, the detection and correction of the front and back orientation of the lower cover 75, the adjustment of the placement angle of the lower cover 75, and the assembly of the pin 74 and the lower cover 75. Moreover, the pin 74 is directly assembled into the metal sheet 76 of the lower cover 75 below the lower cover 75, so that the pin 74 of the assembled lower cover assembly faces downward, and the lower cover assembly with the pin 74 facing downward can be directly stacked and stored or directly output to the badge assembly equipment, so that the lower cover assembly can be directly assembled with the upper cover assembly to form a badge without being able to perform a flipping action anymore. Compared with the prior art, the pin 74 is assembled into the metal sheet 76 of the lower cover 75 above the lower cover 75, or after the lower cover 75 is erected (stood up) and placed, the pin 74 is laterally assembled into the metal sheet 76 of the lower cover 75. Since the pin 74 in the lower cover assembly faces upward or toward one side (left or right), it is necessary to flip the lower cover assembly until the pin 74 faces downward before assembling it with the upper cover assembly. The present application can simplify the process flow during the subsequent assembly of the lower cover assembly and the upper cover assembly, thereby reducing the structure of the subsequent badge assembly equipment, reducing the cost, and improving the badge production efficiency.

[0040] Specifically, the transfer manipulator 1 drives the first pick-and-place unit 7, the second pick-and-place unit 8, the third pick-and-place unit 9, and the fourth pick-and-place unit 10 to reciprocate synchronously, so as to achieve the synchronous movement of multiple pick-and-place units driven by one driving source (the transfer manipulator 1), thereby realizing the pick-and-place operation on different workstations synchronously, greatly improving the pick-and-place efficiency, reducing the number of driving sources, simplifying the structure and control system, and reducing the maintenance and production costs.

[0041] In this embodiment, the safety pin and lower cover assembling device 5 includes an assembling base 11, an assembling carrier 12 installed on the top of the assembling base 11, a fixing mechanism 13 installed on the assembling carrier 12, a safety pin receiving seat 14 movably arranged below the assembling carrier 12, an upper top bending mechanism 15 installed on the safety pin receiving seat 14, a safety pin supplying mechanism 16 arranged on one side of the safety pin receiving seat 14, and a position adjusting mechanism 17 installed on the assembling base 11. The safety pin receiving seat 14 is installed at the position adjusting end of the position adjusting mechanism 17. An assembling bearing cavity 18 is recessed on the top surface of the assembling carrier 12, and a through hole 19 is formed by opening from the bottom wall of the assembling bearing cavity 18. The assembling bearing cavity 18 is used for bearing the lower cover 75, and the metal sheet 76 on the bottom surface of the lower cover 75 is located in the through hole 19. The fixing mechanism 13 is used to fix the lower cover 75 in the assembling bearing cavity 18. The discharging end of the safety pin supplying mechanism 16 is used to connect with the safety pin receiving seat 14. The safety pin supplying mechanism 16 is used to supply the erected safety pins 74 to the safety pin receiving seat 14. The position adjusting mechanism 17 is used to drive the safety pin receiving seat 14 to lift and translate, and move the upper rod of the safety pin 74 carried by the safety pin receiving seat 14 into the metal sheet 76 of the lower cover 75. The upper top bending mechanism 15 is used to upwardly top and bend the free end of the metal sheet 76 to press-rivet the safety pin 74 and the metal sheet 76 together.

[0042] In practical applications, the lower cover 75 with the correct placement angle is placed in the assembly bearing cavity 18. The metal sheet 76 of the lower cover 75 extends out of the bottom surface of the assembly carrier 12 through the through hole 19. The fixing mechanism 13 fixes the lower cover 75 in the assembly bearing cavity 18. At the same time, the pin receiving seat 14 is first connected to the discharging end of the pin feeding mechanism 16. The pin feeding mechanism 16 supplies an upright pin 74 (that is, the two side rods of the pin 74 are horizontal and arranged vertically and horizontally) to the pin receiving seat 14. Then, the position adjusting mechanism 17 first drives the pin receiving seat 14 to drive the pin 74 to rise. During the rising process of the pin receiving seat 14, the side surface of the pin receiving seat 14 will block the discharging end of the pin feeding mechanism 16 to ensure that the pin feeding mechanism 16 can only supply materials to the pin 74 seat one by one until the upper rod of the pin 74 on the pin receiving seat 14 corresponds to the metal sheet 76 of the lower cover 75. Then, the position adjusting mechanism 17 drives the pin receiving seat 14 to drive the pin 74 to translate, so that the upper rod of the pin 74 is laterally inserted into the metal sheet 76 of the lower cover 75. Then, the upper top and bending end of the upper top and bending mechanism 15 pushes the free end of the metal sheet 76 of the lower cover 75 upward to bend, so that the bent metal sheet 76 is press riveted together with the upper rod of the pin 74, so as to realize the assembly of the pin 74 under the lower cover 75 on the metal sheet 76 of the lower cover 75 to form a lower cover assembly. Finally, the position adjusting mechanism 17 drives the pin receiving seat 14 to reset. The pin and lower cover assembly device 5 designed with this structure can assemble a lower cover assembly with the pin 74 facing downward, which is beneficial to directly stacking and storing the lower cover assembly with the pin 74 facing downward or directly transferring it to the badge assembly equipment. And after the upper rod of the pin 74 is laterally inserted into the metal sheet 76 by the pin receiving seat 14, the metal sheet 76 is directly pushed upward and bent by the upper top and bending mechanism 15, so as to complete the press riveting assembly of the pin 74 and the metal sheet 76 of the lower cover 75 at one station, improving the assembly efficiency and quality of the pin 74 and the lower cover 75.

[0043] In this embodiment, the pin receiving seat 14 is provided with a material receiving cavity 20. The upper top and bending mechanism 15 includes an upper top cylinder 21 installed on the pin receiving seat 14 and two upper top and bending rods 22 installed on the piston rod of the upper top cylinder 21 and slidably connected to the pin receiving seat 14. The two upper top and bending rods 22 are located on one side of the material receiving cavity 20. The bottom surface of the lower cover 75 has two metal sheets 76 and two assembly holes 77. The two metal sheets 76 are respectively arranged in one-to-one correspondence with the two assembly holes 77. One metal sheet 76 is bent and formed below one assembly hole 77, and the upper top and bending rod 22 can penetrate through the corresponding assembly hole 77.

[0044] In practical applications, a top-up bending rod 22, an assembly hole 77, and the free end of a metal sheet 76 are correspondingly arranged, so that the pin mechanism 16 supplies the erected pin 74 into the material receiving cavity 20 of the pin receiving seat 14. The material receiving cavity 20 positions the pin 74 to ensure that the pin 74 can be stably in an erected state, and the upper rod of the pin 74 is located outside the top port of the material receiving cavity 20. After the upper rod side of the pin 74 is inserted into the metal sheet 76 of the lower cover 75, the top-up air cylinder 21 drives the top-up bending rod 22 to rise. The rising top-up bending rod 22 abuts against the free end of the metal sheet 76 and bends it upward into the assembly hole 77 until the free end of the metal sheet 76 bends upward and passes through the assembly hole 77 to press and rivet the upper rod of the pin 74 into the metal sheet 76 of the lower cover 75.

[0045] Specifically, the top-up bending rod 22 is installed on the piston rod of the top-up air cylinder 21 via a quick-release plate 81. A cross-shaped quick-release head 79 is provided at the bottom end of the top-up bending rod 22. A cross-shaped groove 80 is recessed in the side wall of the quick-release plate 81. The quick-release head 79 is laterally inserted into the cross-shaped groove 80. With this structural design, the quick disassembly and assembly of the top-up bending rod 22 and the quick-release plate 81 can be achieved without disassembly tools, facilitating maintenance.

[0046] Preferably, during the process of the top-up air cylinder 21 driving the quick-release plate 81 and the top-up bending rod 22 to move upward, the quick-release plate 81 can lift the pin 74 in the material receiving cavity 20, causing the pin 74 to rise along the material receiving cavity 20, and the top-up bending rod 22 pushes the free end of the metal sheet 76 upward and bends it.

[0047] Specifically, the pin receiving seat 14 is provided with two guide holes 78. The two guide holes 78 are respectively arranged in one-to-one correspondence with the two top-up bending rods 22. The two guide holes 78 are located on the same side of the material receiving cavity 20. The two top-up bending rods 22 can slide through the two guide holes 78. In practical applications, during the lifting process of the top-up bending rod 22, the guide holes 78 play a role in guiding and positioning the top-up bending rod 22, improving the lifting stability of the top-up bending rod 22, making the top-up bending rod 22 not easily damaged, and the structure of the top-up bending rod 22 and the pin receiving seat 14 is compact.

[0048] Specifically, the position adjustment mechanism 17 includes a translation air cylinder 23 installed on the assembly seat 11 and a lifting air cylinder 24 installed on the piston rod of the translation air cylinder 23. The pin receiving seat 14 is installed on the piston rod of the lifting air cylinder 24.

[0049] In practical applications, the lifting cylinder 24 drives the pin receiving seat 14 to lift the pin 74, so that the upper rod of the pin 74 corresponds to the metal sheet 76. Then, the translation cylinder 23 drives the lifting cylinder 24 to drive the pin receiving seat 14 and the pin 74 to translate until the upper rod of the pin 74 moves into the metal sheet 76. Of course, the lifting cylinder 24 and the translation cylinder 23 can also be driven synchronously. Under the coordinated cooperation of the two, the upper rod of the pin 74 on the pin receiving seat 14 is obliquely moved into the metal sheet 76.

[0050] Specifically, the pin supply mechanism 16 includes a vibrating disk 25, a linear vibrating feeder 26 installed on the pin receiving seat 14, and a material rail 27 installed on the top of the vibrating end of the linear vibrating feeder 26. The pins 74 stand up and move along the material rail 27. The discharge port of the material rail 27 is connected to the receiving cavity 20 of the receiving seat. The discharge port of the vibrating disk 25 is communicated with the feed port of the material rail 27.

[0051] In practical applications, the vibrating disk 25 supplies the erected pins 74 to the material rail 27 in an orderly manner. Under the action of the linear vibrating feeder 26, the erected pins 74 move along the material rail 27. When the receiving cavity 20 of the pin receiving seat 14 is connected to the discharge port of the material rail 27, the erected pins 74 move into the receiving cavity 20 of the pin receiving seat 14 to realize the supply of the erected pins 74.

[0052] In this embodiment, the fixing mechanism 13 includes two fixing jaws 28 that are relatively movably arranged on the top surface of the assembly carrier 12 and a clamping driver 29 installed on the assembly carrier 12 or the assembly seat 11. The clamping driver 29 is used to drive the two fixing jaws 28 to approach or separate from each other. The two fixing jaws 28 are located on both sides of the assembly bearing cavity 18.

[0053] In practical applications, after the lower cover 75 with the correct placement angle is placed in the assembly bearing cavity 18, the clamping driver 29 drives the two fixing jaws 28 to approach each other, so that the two fixing jaws 28 clamp the lower cover 75 in the assembly bearing cavity 18 to ensure the stability and position accuracy of the lower cover 75 in the assembly bearing cavity 18 and avoid poor assembly or abnormal assembly caused by the loosening of the lower cover 75 during the assembly of the pins 74.

[0054] In another embodiment, the fixing mechanism 13 includes a sliding cover slidably connected to the top surface of the assembly carrier 12 and a sliding driver installed on the assembly carrier 12 or the assembly seat 11. The sliding driver is used to drive the sliding cover to reciprocate. The sliding cover can move above the assembly bearing cavity 18 and press the lower cover 75 in the assembly bearing cavity 18.

[0055] In practical applications, after the lower cover 75 with the correct placement angle is placed in the assembly bearing cavity 18, the sliding driver drives the sliding cover to move above the assembly bearing cavity 18, so that the sliding cover presses or positions the lower cover 75 in the assembly bearing cavity 18, ensuring the stability and position accuracy of the lower cover 75 in the assembly bearing cavity 18, and avoiding poor assembly or abnormal assembly caused by the loosening of the lower cover 75 when assembling the pin 74.

[0056] In another embodiment, the fixing mechanism 13 includes a pressing block that is vertically arranged above the assembly carrier 12 and a pressing driver for driving the pressing block to press the lower cover 75 carried in the assembly bearing cavity 18.

[0057] In practical applications, after the lower cover 75 with the correct placement angle is placed in the assembly bearing cavity 18, the pressing driver drives the pressing block to press the lower cover 75 in the assembly bearing cavity 18, ensuring the stability and position accuracy of the lower cover 75 in the assembly bearing cavity 18, and avoiding poor assembly or abnormal assembly caused by the loosening of the lower cover 75 when assembling the pin 74.

[0058] Specifically, both the clamping driver 29 and the sliding driver can adopt finger cylinders, and the pressing driver can adopt a linear cylinder or a rotary pressing cylinder.

[0059] In this embodiment, preferably, the fixed jaw 28 is L-shaped. The middle of the fixed jaw 28 is hinged to the top surface of the assembly carrier 12. One end of the fixed jaw 28 is drivingly connected to an output end of the clamping driver 29. A driving groove 30 is formed at one end of the fixed jaw 28. A driving rod 31 is arranged at the output end of the clamping driver 29. The driving rod 31 extends into the driving groove 30 and abuts against the inner wall of the driving groove 30. The driving rod 31 can move in the driving groove 30. In practical applications, the two output ends of the clamping driver 29 approach or separate from each other, so that the two driving rods 31 approach or separate from each other. The driving rod 31 abuts against the inner wall of the driving groove 30, causing the fixed jaw 28 to rotate, and thus the two fixed jaws 28 open and close, further loosening or clamping the lower cover 75.

[0060] In this embodiment, the front and back detection and flipping device 3 includes a support 32, a lifting drive 33 installed on the support 32, a detection carrier 34 installed on the lifting drive 33, a front and back detection sensor 35 embedded in the detection carrier 34, a flipping jaw assembly 36 rotatably arranged above the detection carrier 34, and a rotary clamping mechanism 37 installed on the support 32 and used to drive the flipping jaw assembly 36 to open, close and rotate. The lifting drive 33 is used to drive the detection carrier 34 to approach or move away from the flipping jaw assembly 36. A detection bearing cavity 38 is provided on the top surface of the detection carrier 34. The front and back detection sensor 35 is used to sense whether there is a lower cover 75 in the detection bearing cavity 38 and detect the front and back of the lower cover 75. The front and back detection sensor 35 is electrically connected to the rotary clamping mechanism 37. Specifically, the lifting drive 33 can adopt a cylinder or a linear motor, the rotary clamping mechanism 37 can adopt a rotary clamping finger cylinder, and the front and back detection sensor 35 can also play the role of incoming material sensing.

[0061] In practical applications, after the lower cover 75 is placed on the detection carrier 34, the front and back detection sensor 35 detects the front and back (the opening direction of the lower cover 75) of the lower cover 75. When the front and back detection sensor 35 detects that the opening direction of the lower cover 75 is correct (the opening of the lower cover 75 faces upward or the metal sheet 76 of the lower cover 75 faces downward), the second picking and placing part 8 can transfer the lower cover 75 to the placement angle detection and adjustment device 4; when the front and back detection sensor 35 detects that the opening of the lower cover 75 faces downward incorrectly (the opening of the lower cover 75 faces downward or the metal sheet 76 of the lower cover 75 faces upward), the front and back detection sensor 35 respectively feeds back signals to the lifting drive 33 and the rotary clamping mechanism 37, so that the lifting drive 33 drives the detection carrier 34 together with the lower cover 75 to move upward into the flipping jaw assembly 36 in the open state. Then, after the rotary clamping mechanism 37 drives the flipping jaw assembly 36 to clamp the lower cover 75 first, the lifting drive 33 drives the detection carrier 34 to descend to provide a flipping space for the flipping jaw assembly 36. Then, the rotary clamping mechanism 37 drives the flipping jaw assembly 36 together with the lower cover 75 to perform a 180° flip to reverse the lower cover 75 so that the opening of the lower cover 75 faces upward. Finally, the lifting drive 33 drives the detection carrier 34 to rise and carry the flipped lower cover 75, and the rotary clamping mechanism 37 drives the flipping jaw assembly 36 to release the lower cover 75. This structural design can automatically detect and correct the opening direction of the lower cover 75 to ensure that the opening direction of each lower cover 75 is consistent and correct, which is beneficial to the subsequent adjustment of the placement angle of the lower cover 75 and the assembly of the lower cover 75 and the pin 74.

[0062] In this embodiment, the placement angle detection and adjustment device 4 includes a bracket 39, a mounting base 40 mounted on the top surface of the bracket 39, a rotating mold 41 rotatably connected to the mounting base 40, a rotation driving module 42 installed on the support 32 or the mounting base 40 and used to drive the rotation of the rotating mold 41, and a placement angle sensor 43 installed on the mounting base 40 or the bracket 39. The placement angle sensor 43 is electrically connected to the rotation driving module 42. The rotating mold 41 is provided with a placement angle bearing cavity 44 and a detection hole 45 formed by opening on the bottom wall of the placement angle bearing cavity 44. A plurality of magnetic components 46 are embedded in the bottom wall of the placement angle bearing cavity 44. The plurality of magnetic components 46 are arranged around the edge of the detection hole 45. The placement angle sensor 43 is located in the detection hole 45. The magnetic component 46 is used to tightly suck the lower cover 75 in the placement angle bearing cavity 44. Specifically, the magnetic component 46 is a magnet or an electromagnet. The number of placement angle sensors 43 is two. The two placement angle sensors 43 respectively detect the two assembly holes 77 of the lower cover 75. The placement angle sensor 43 can also play a role in detecting the incoming material.

[0063] In practical applications, after the lower cover 75 with the opening facing upward is placed in the placement angle bearing cavity 44 of the rotating mold 41, the metal sheet 76 of the lower cover 75 is located in the detection hole 45. The plurality of magnetic components 46 firmly magnetically suck the lower cover 75 in the placement angle bearing cavity 44. At this time, the placement angle sensor 43 detects the placement angle of the lower cover 75. Specifically, the two placement angle sensors 43 detect the two assembly holes 77 of the lower cover 75. When the two placement angle sensors 43 do not detect the two assembly holes 77, it proves that the placement angle of the lower cover 75 is deviated. At this time, the two placement angle sensors 43 send signals to the rotation driving module 42, so that the rotation driving module 42 drives the rotating mold 41 to rotate synchronously with the lower cover 75 to adjust the placement angle of the lower cover 75 until the two placement angle sensors 43 respectively detect the two assembly holes 77 of the lower cover 75. The placement angle sensor 43 then sends a signal to the rotation driving module 42, so that the rotation driving module 42 stops rotating the rotating mold 41, thereby completing the adjustment of the placement angle of the lower cover 75, ensuring that the placement angles of each lower cover 75 are consistent, which is beneficial to the accurate assembly of the subsequent lower cover 75 and the pin 74.

[0064] Specifically, the rotation driving module 42 includes a gear ring rotatably arranged between the bracket 39 and the mounting base 40, a first gear 48 rotatably connected to the bracket 39 and meshing with the gear ring for transmission, and a first rotation driver 49 installed on the bracket 39 and used to drive the first gear 48 to rotate. The gear ring is fixedly connected to the rotating mold 41. The first rotation driver 49 can be a motor.

[0065] In practical applications, the first rotation driver 49 drives the first gear 48 to rotate. The rotating first gear 48 meshes with the gear ring and drives the gear ring to rotate. The rotating gear ring drives the rotating die 41 to rotate, and the rotating rotating die 41 drives the lower cover 75 to rotate.

[0066] In this embodiment, the automatic assembly device for the safety pin and the lower cover further includes a carrier 50 disposed at the feeding position 6. The fourth picking and placing part 10 can reciprocate between the safety pin and lower cover assembly device 5 and the carrier 50. The top surface of the carrier 50 is recessed with a positioning carrier cavity for carrying the lower cover 75. The bottom wall of the positioning carrier cavity is recessed with a receiving groove for receiving the safety pin 74. In practical applications, the fourth picking and placing part 10 places the lower cover assembly (the lower cover 75 assembled with the safety pin 74) in the positioning carrier cavity of the carrier 50. The positioning carrier cavity blocks and positions the peripheral side wall of the lower cover 75 to ensure the position accuracy of the lower cover assembly in the positioning carrier cavity. At the same time, the safety pin 74 is received in the receiving groove, so that the lower cover assembly can be placed flat on the carrier 50, and the inner wall of the receiving groove blocks and positions the safety pin 74, further improving the position accuracy and stability of the lower cover assembly on the carrier 50, and preventing relative rotation between the lower cover assembly and the positioning carrier cavity.

[0067] In this embodiment, the transfer manipulator 1 further includes a pushing and bending forming mechanism 53. The pushing and bending forming mechanism 53 is located on the side of the fourth picking and placing part 10 away from the third picking and placing part 9, and is used for bending and forming the metal sheet 76 after upward bending.

[0068] In practical applications, after the lower cover assembly is placed in the positioning carrier cavity of the carrier 50, the pushing and bending forming mechanism 53 is located above the lower cover assembly. At this time, the pushing and bending end of the pushing and bending forming mechanism 53 horizontally pushes the free end of the upward-bent metal sheet 76, so that the free end of the metal sheet 76 is bent and formed in the direction of the assembly hole 77 and pressed tightly, so as to realize the secondary riveting of the metal sheet 76, and further enable the metal sheet 76 to completely wrap the upper rod of the safety pin 74, so that the safety pin 74 can be firmly assembled in the metal sheet 76 of the lower cover 75.

[0069] Specifically, the inner wall of the positioning carrier cavity is provided with a fixing structure for fixing the lower cover 75 in the positioning carrier cavity; preferably, the fixing structure can use a magnet or an electromagnet to suck the lower cover 75 tightly or suck the lower cover 75 through a suction hole. This structural design further improves the position accuracy and stability of the lower cover assembly in the positioning carrier cavity, and is conducive to the pushing and bending forming mechanism 53 to stably perform the final bending and forming and pressing of the metal sheet 76.

[0070] In this embodiment, the pushing and bending forming mechanism 53 includes a base body 54, a pushing driver 55 installed on the base body 54, and a push plate 56 installed at the pushing end of the pushing driver 55 and located below the base body 54. The pushing driver 55 is used to drive the push plate 56 to translate; preferably, the push plate 56 is L-shaped and is slidably connected to the base body 54. Specifically, the pushing driver 55 can be a cylinder.

[0071] In practical applications, after the lower cover assembly is placed in the positioning cavity, the transfer manipulator 1 drives the base body 54 to move above the lower cover assembly until the bottom end surface of the push plate 56 abuts against the inner bottom wall of the lower cover assembly. Then, the pushing driver 55 drives the push plate 56 to translate, so that the push plate 56 pushes the free end of the upwardly bent metal sheet 76 towards the assembly hole 77 for secondary bending, so that the metal sheet 76 completely wraps the upper rod of the safety pin 74, so as to realize the secondary press riveting assembly of the safety pin 74 and the lower cover 75, making the assembly of the safety pin 74 and the lower cover 75 more firm.

[0072] In this embodiment, the automatic safety pin and lower cover assembly device further includes a material receiving mechanism 57 arranged on the carrier 50 away from the safety pin and the lower cover assembly device 5. The transfer manipulator 1 further includes a fifth picking and placing part 58 installed on the base body 54. A moving groove is arranged in the middle of the fifth picking and placing part 58. The push plate 56 is movably arranged in the moving groove. The fifth picking and placing part 58 can reciprocate between the carrier 50 and the material receiving mechanism 57, and the fifth picking and placing part 58 is arranged in a staggered manner with the push plate 56.

[0073] In practical applications, the transfer manipulator 1 drives the fifth picking and placing part 58 and the pushing and bending forming mechanism 53 to move synchronously above the lower cover assembly carried by the carrier 50. While the bottom end surface of the push plate 56 abuts against the inner bottom wall of the lower cover assembly, the fifth picking and placing part 58 picks up the lower cover assembly to ensure the stability and position accuracy of the lower cover assembly. At this time, the pushing driver 55 drives the push plate 56 to perform secondary bending and rolling on the free end of the upwardly bent metal sheet 76, ensuring the quality of the final bending and forming of the push plate 56 on the metal sheet 76. When the secondary press riveting of the lower cover assembly on the carrier 50 is completed, under the drive of the transfer manipulator 1, the fifth picking and placing part 58 transfers the lower cover assembly to the material receiving mechanism 57, and the material receiving mechanism 57 stacks and stores the lower cover assemblies with the safety pins 74 facing downwards.

[0074] Specifically, the fifth picking and placing part 58 includes two mounting blocks arranged in parallel on the seat body 54 and suction holes or suction cups arranged on the mounting blocks. The push and press plate 56 is slidably arranged between the two mounting blocks. When the fifth picking and placing part 58 is located above the lower cover assembly, the two pressing blocks press the lower cover assembly tightly, and the suction holes or suction cups suck the lower cover assembly tightly, further improving the quality and stability of the final bending and forming of the metal sheet 76 by the push and press plate 56. Moreover, during the reciprocating movement of the push and press plate 56, the two mounting blocks play a guiding role for the push and press plate 56. In addition, this structural design makes the structure of the fifth picking and placing part 58 and the push and press bending and forming mechanism 53 compact, so as to reasonably integrate the fifth picking and placing part 58 and the push and press bending and forming mechanism 53 together.

[0075] Specifically, the material collecting mechanism 57 includes a base 59, a turntable 60 rotatably arranged on the base 59, a plurality of material racks 61 arranged in an annular array on the turntable 60, a rotation driving component 62 arranged on the base 59 and used for driving the turntable 60 to rotate, and a supporting module 63 arranged on the base 59. The bottom surface of the material rack 61 is provided with an upper through hole 64, and the base 59 is provided with a lower through hole corresponding to and communicating with the upper through hole 64. The supporting module 63 includes a supporting cylinder 65 arranged on the base 59 and a supporting plate 66 arranged at the output end of the supporting cylinder 65. The supporting plate 66 can extend into the material rack 61 through the lower through hole and the upper through hole 64.

[0076] In practical applications, the fifth picking and placing part 58 transfers the lower cover assembly into the material rack 61 at the material collecting position, so that the lower cover assemblies with the safety pins 74 facing down are stacked and stored on the supporting plate 66 of the material rack 61. Whenever a lower cover assembly is added to the material rack 61, the supporting cylinder 65 drives the supporting plate 66 to descend by the height of a lower cover assembly until the supporting plate 66 descends into the lower through hole. At this time, the rotation driving component 62 drives the turntable 60 to rotate, and the rotating turntable 60 drives the plurality of material racks 61 to rotate synchronously, so that the fully loaded material rack 61 rotates out of the material collecting position, and the empty material rack 61 rotates to the material collecting position. At this time, the supporting plate 66 corresponds to the upper through hole 64, and the supporting cylinder 65 drives the supporting plate 66 to rise to the highest position of the empty material rack 61 to facilitate the loading of subsequent lower cover assemblies.

[0077] Specifically, the rotation driving component 62 includes teeth 67 arranged on the circumferential side wall of the turntable 60, a second gear 68 rotatably connected to the base 59 and meshing with the teeth 67 for transmission, and a second rotation driver 69 arranged on the base 59 and used for driving the second gear 68 to rotate. The second rotation driver 69 can adopt a motor.

[0078] In practical applications, the second rotation driver 69 drives the second gear 68 to rotate. The rotating second gear 68 meshes with the teeth 67 for transmission to drive the turntable 60 to rotate. The rotating turntable 60 drives the plurality of material racks 61 to rotate synchronously to realize the switching of the plurality of material racks 61 to ensure non-stop material collection.

[0079] Specifically, the rack 61 includes a bottom plate 70 installed on the turntable 60, at least three positioning rods 71 installed on the top surface of the bottom plate 70, and a profiling connecting plate 72 installed at the top ends of all the positioning rods 71. All the positioning rods 71 enclose a storage bin 73. The upper through-hole 64 penetrates through the bottom plate 70, and the supporting plate 66 can extend into the storage bin 73. In practical applications, the lower cover assemblies are stacked in the storage bin 73, and the multiple positioning rods 71 block and limit the lower cover assemblies in the storage bin 73. By enclosing the storage bin 73 with the multiple positioning rods 71, the storage bin 73 is in a hollow shape, which is not only beneficial to the positioning and stacking of lower cover assemblies with different shapes, has good versatility, but also uses less materials, is light in weight, is convenient for disassembly and assembly, has low cost, and can also facilitate the operator to observe the material collection situation in the storage bin 73 and facilitate the operator to take away the stacked lower cover assemblies in the storage bin 73.

[0080] Specifically, the transfer manipulator 1 is a synchronous manipulator. The synchronous manipulator drives the first picking and placing part 7, the second picking and placing part 8, the third picking and placing part 9, the fourth picking and placing part 10, and the fifth picking and placing part 58 to move synchronously back and forth. The first picking and placing part 7, the second picking and placing part 8, the third picking and placing part 9, the fourth picking and placing part 10, and the fifth picking and placing part 58 are arranged in a straight line. The lower cover feeding mechanism 2, the front and back surface detection and flipping device 3, the placing angle detection and adjustment device 4, the pin and lower cover assembly device 5, the carrier 50, and the material collection mechanism 57 are arranged in a straight line. The first picking and placing part 7, the second picking and placing part 8, the third picking and placing part 9, the fourth picking and placing part 10, and the fifth picking and placing part 58 can all adopt suction cups.

[0081] All the technical features in this embodiment can be freely combined according to actual needs.

[0082] The above embodiments are the preferred implementation solutions of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the technical solution of the present invention is within the protection scope of the present invention.

Claims

1. An automatic assembly device for a pin and a lower cover, characterized in that: The invention comprises a transfer robot (1) and a lower cover feeding mechanism (2), a front and back detection and flipping device (3), a placement angle detection and adjustment device (4), a pin and lower cover assembly device (5) and a material discharge position (6) which are arranged in sequence. The transfer robot (1) comprises a first pick-up and placement part (7), a second pick-up and placement part (8), a third pick-up and placement part (9) and a fourth pick-up and placement part (10). The first pick-up and placement part (7) can reciprocate between the lower cover feeding mechanism (2) and the front and back detection and flipping device (3), the second pick-up and placement part (8) can reciprocate between the front and back detection and flipping device (3) and the placement angle detection and adjustment device (4), and the third pick-up and placement part (9) can reciprocate between the placement angle detection and adjustment device (4) and the pin and lower cover assembly device (10). 5), the fourth placing and taking part (10) can reciprocate between the pin and lower cover assembly device (5) and the discharge position (6), the lower cover feeding mechanism (2) is used to supply the lower cover (75), the front and back side detection and flipping device (3) is used to detect the front and back sides of the lower cover (75) and flip the reversed lower cover (75) by 180 degrees so that the metal sheet (76) of the lower cover (75) faces downward, the placement angle detection and adjustment device (4) is used to detect the placement angle of the lower cover (75) and adjust the placement angle of the lower cover (75) with a deviation in the placement angle, and the pin and lower cover assembly device (5) is used to assemble the pin (74) in the metal sheet (76) of the lower cover (75) and bend the metal sheet (76) upward.

2. The automatic assembly equipment for the pin and the lower cover according to claim 1, characterized in that: The pin and lower cover assembly device (5) comprises an assembly seat (11), an assembly tool (12) mounted on the top of the assembly seat (11), a fixing mechanism (13) mounted on the assembly tool (12), a pin receiving seat (14) movably arranged below the assembly tool (12), an upper bending mechanism (15) mounted on the pin receiving seat (14), a pin supply mechanism (16) arranged on one side of the pin receiving seat (14), and a position adjustment mechanism (17) mounted on the assembly seat (11), wherein the pin receiving seat (14) is mounted on the position adjustment end of the position adjustment mechanism (17), an assembly bearing cavity (18) and a through hole (19) formed by opening from the bottom wall of the assembly bearing cavity (18) are concavely arranged on the top surface of the assembly tool (12), and the assembly bearing cavity (18) is provided with a through hole (19) formed by opening from the bottom wall of the assembly bearing cavity (18). The lower cover (75) is used for carrying the lower cover (75), the metal sheet (76) on the bottom surface of the lower cover (75) is located in the through hole (19), the fixing mechanism (13) is used to fix the lower cover (75) in the assembly bearing cavity (18), the discharge end of the pin mechanism (16) is used to connect with the pin receiving seat (14), the pin mechanism (16) is used to supply the erected pin (74) to the pin receiving seat (14), the position adjustment mechanism (17) is used to drive the pin receiving seat (14) to rise and fall and translate and move the upper rod of the pin (74) carried by the pin receiving seat (14) into the metal sheet (76) of the lower cover (75), and the upper pushing and bending mechanism (15) is used to push and bend the free end of the metal sheet (76) upward to rivet the pin (74) and the metal sheet (76) together.

3. The automatic assembly equipment for the pin and the lower cover according to claim 2, characterized in that: The pin receiving seat (14) is provided with a material receiving cavity (20), and the upper bending mechanism (15) comprises an upper cylinder (21) installed on the pin receiving seat (14) and an upper bending rod (22) installed on the piston rod of the upper cylinder (21) and slidably connected to the pin receiving seat (14), and the upper bending rod (22) is located at one side of the material receiving cavity (20).

4. The automatic assembly equipment for the pin and the lower cover according to claim 2, characterized in that: The fixing mechanism (13) comprises two fixing clamps (28) relatively movably arranged on the top surface of the assembly tool (12) and a clamping driver (29) installed on the assembly tool (12) or the assembly seat (11), wherein the clamping driver (29) is used to drive the two fixing clamps (28) to move closer to or farther from each other, and the two fixing clamps (28) are located on both sides of the assembly bearing cavity (18); Alternatively, the fixing mechanism (13) comprises a sliding cover slidably connected to the top surface of the assembly vehicle (12) and a sliding driver installed on the assembly vehicle (12) or the assembly seat (11), the sliding driver being used to drive the sliding cover to reciprocate, the sliding cover being able to move to the top of the assembly bearing cavity (18) and press the lower cover (75) in the assembly bearing cavity (18); Alternatively, the fixing mechanism (13) comprises a pressing block which is lifted and disposed above the assembly tool (12) and a pressing driver which is used to drive the pressing block to press the lower cover (75) carried in the assembly bearing cavity (18).

5. The automatic assembly equipment for the pin and the lower cover according to claim 1, characterized in that: The front and back detection flipping device (3) comprises a support (32), a lifting drive (33) mounted on the support (32), a detection carrier (34) mounted on the lifting drive (33), a front and back detection sensor (35) embedded in the detection carrier (34), a flipping clamping claw assembly (36) rotatably arranged above the detection carrier (34), and a rotary clamping mechanism (37) mounted on the support (32) and used for driving the flipping clamping claw assembly (36) to open and rotate. The lifting drive (33) is used for driving the detection carrier (34) to approach or move away from the flipping clamping claw assembly (36). The top surface of the detection carrier (34) is provided with a detection bearing cavity (38). The front and back detection sensor (35) is used for sensing whether there is a lower cover (75) in the detection bearing cavity (38) and detecting the front and back sides of the lower cover (75). The front and back detection sensor (35) is electrically connected to the rotary clamping mechanism (37).

6. The automatic assembly equipment for the pin and the lower cover according to claim 1, characterized in that: The placement angle detection and adjustment device (4) comprises a bracket (39), a mounting seat (40) mounted on the top surface of the bracket (39), a rotating mold (41) rotatably connected to the mounting seat (40), a rotating drive module (42) mounted on the support (32) or the mounting seat (40) and used to drive the rotating mold (41) to rotate, and a placement angle sensor (43) mounted on the mounting seat (40) or the bracket (39). The placement angle sensor (43) and the rotating drive module (42) The rotating mold (41) is electrically connected and is provided with a placement angle bearing cavity (44) and a detection hole (45) formed by opening from the bottom wall of the placement angle bearing cavity (44). The bottom wall of the placement angle bearing cavity (44) is embedded with a plurality of magnetic suction members (46). The plurality of magnetic suction members (46) are arranged around the edge of the detection hole (45). The placement angle sensor (43) is located in the detection hole (45). The magnetic suction member (46) is used to suck the lower cover (75) tightly into the placement angle bearing cavity (44).

7. The automatic assembly equipment for the pin and the lower cover according to claim 1, characterized in that: The pin and lower cover automatic assembly equipment also includes a carrier (50) arranged at the discharge position (6), and the fourth pick-up and release part (10) can move back and forth between the pin and lower cover assembly device (5) and the carrier (50). The top surface of the carrier (50) is concavely provided with a positioning cavity, and the positioning cavity is used to carry the lower cover (75). The bottom wall of the positioning cavity is concavely provided with a receiving groove, and the receiving groove is used to receive the pin (74).

8. The automatic assembly equipment for the pin and the lower cover according to claim 7, characterized in that: The transfer robot (1) also includes a pushing, bending and forming mechanism (53), which is located on a side of the fourth pick-up and placement portion (10) away from the third pick-up and placement portion (9), and is used to bend the metal sheet (76) after the top bending.

9. The automatic assembly equipment for the pin and the lower cover according to claim 8, characterized in that: The push-bending and forming mechanism (53) comprises a seat body (54), a push driver (55) mounted on the seat body (54), and a push plate (56) mounted on the push end of the push driver (55) and located below the seat body (54), wherein the push driver (55) is used to drive the push plate (56) to translate.

10. The automatic assembly equipment for the pin and the lower cover according to claim 8, characterized in that: The pin and lower cover automatic assembly equipment also includes a material receiving mechanism (57) arranged on the carrier (50) away from the pin and lower cover assembly device (5), and the transfer robot (1) also includes a fifth pick-up and placement part (58) installed on the base (54), and a movable groove is arranged in the middle of the fifth pick-up and placement part (58), and the push plate (56) is movably arranged in the movable groove. The fifth pick-up and placement part (58) can move back and forth between the carrier (50) and the material receiving mechanism (57).

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