Automatic pin and cover assembling device

Abstract

The present application relates to the technical field of assembly machine, especially refers to a pin and lower cover automatic assembly equipment, which comprises a transfer manipulator and sequentially arranged lower cover feeding mechanism, front and back surface detection and overturning device, angle detection and adjustment device, pin and lower cover assembly device and discharge position, the transfer manipulator comprises first pick-and-place unit, second pick-and-place unit, third pick-and-place unit and fourth pick-and-place unit.The application automatically realizes the feeding of the lower cover, the front and back direction detection and correction of the lower cover, the angle adjustment of the lower cover and the assembly of the pin and the lower cover, and 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 output to the badge assembly equipment, so that the lower cover assembly can be directly assembled with the upper cover assembly without further overturning action, which can simplify the process flow during the assembly of the lower cover assembly and the upper cover assembly, and improve the badge production efficiency.

Description

Technical Field

[0001] This invention relates to the field of assembly machine technology, and in particular to an automatic assembly device for pins and bottom covers. Background Technology

[0002] In the badge production process, the pins are first assembled into the metal sheet of the lower cover to form the lower cover assembly. Then the lower cover assembly is assembled with the upper cover assembly or the upper cover to produce the badge.

[0003] In the production of the lower cover assembly, the lower cover and the pin are traditionally assembled manually. Specifically, the bottom surface of the lower cover has an assembly hole, and a metal sheet that is bent downward at the assembly hole is easily deformable. The pin is inserted into the metal sheet by hand, and then the metal sheet is bent into the assembly hole to fix the pin to the lower cover. The production efficiency of manual assembly is low and it is difficult to meet the needs of large-scale badge production.

[0004] Among existing patents, Chinese patent application number 202420337379.4 discloses a badge buckle pin assembly mechanism and semi-automatic equipment, 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 with a gap and facing each other. The support positioning structure one has a positioning groove formed on the side facing the positioning structure two, which is used to snap on and support the badge buckle hook, and a pin support part formed next to the positioning groove. The bending and pressing module includes: a bending main structure mounted on the support positioning structure one, with one end of different lengths and driven by a driving structure to move, which respectively abuts against the positioning badge buckle and pushes the buckle hook after it is snapped in, and a bending part two mounted on the support positioning structure two and driven by the driving structure two to bend the buckle hook. This patent document realizes semi-automated production of pins and lower covers. The degree of automation is low and the production efficiency is low. When assembling the pins and lower covers, the lower cover is in an upright position and the pins are assembled in the metal sheet of the lower cover on one side to produce the lower cover assembly. The pins of the lower cover assembly face one side (left or right). When the lower cover assembly needs to be stacked horizontally or loaded to be assembled with the upper cover assembly, an additional process step of flipping the lower cover assembly is required, which requires the addition of a flipping mechanism, etc., which is not conducive to improving the production efficiency of subsequent assembly of the lower cover assembly and the upper cover assembly.

[0005] Furthermore, Chinese patent application number 202410954424.5 discloses a device for combining a badge cover and a buckle pin, which includes a mounting base, a rotating cylinder rotatably mounted on the mounting base, a rotation drive mechanism for driving the rotating cylinder to rotate on the mounting base, a plurality of first work station slots spaced around the rotating cylinder at intervals, a cover conveying mechanism on one side of the rotating cylinder for accurately conveying the cover to the first work station slot of the rotating cylinder, a buckle pin seat on the side of the rotating cylinder away from the cover conveying mechanism, a second work station slot on the top of the buckle pin seat, a buckle pin conveying mechanism on one side of the buckle pin seat for accurately conveying the buckle pin to the second work station slot, a clamping and dropping mechanism above the buckle pin seat for clamping and transferring the buckle pin in the second work station slot and fitting it onto the metal sheet of the cover in the first work station slot, and a pushing and deforming mechanism installed on the buckle pin seat for bending the metal sheet of the cover in the second work station slot to lock the buckle pin onto the cover. Although the patent document achieves automated assembly of the pin and the lower cover, the structure and operation process are complex. When assembling the pin and the lower cover, the lower cover is in an upright position, and the pin is assembled in the metal sheet of the lower cover on one side to produce the lower cover assembly. The pin of the lower cover assembly faces one side (left or right), which makes it inconvenient to remove the assembled lower cover assembly. When it is necessary to stack the lower cover assembly horizontally or to load the lower cover assembly to be assembled with the upper cover assembly, an additional process step of flipping the lower cover assembly is required, which requires the addition of a flipping mechanism, etc., which is not conducive to improving the production efficiency of 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-mentioned technical problems, the purpose of this invention is to provide an automatic assembly device for pins and bottom covers.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] An automatic assembly device for pins and bottom covers includes a transfer robot and a bottom cover feeding mechanism, a front / back detection and flipping device, a placement angle detection and adjustment device, a pin and bottom cover assembly device, and a feeding position arranged sequentially. The transfer robot includes a first picking and placing section, a second picking and placing section, a third picking and placing section, and a fourth picking and placing section. The first picking and placing section can reciprocate between the bottom cover feeding mechanism and the front / back detection and flipping device, the second picking and placing section can reciprocate between the front / back detection and flipping device and the placement angle detection and adjustment device, and the third picking and placing section can reciprocate between the placement angle detection and adjustment device. The device reciprocates between the pin and lower cover assembly device. The fourth pick-and-place unit can reciprocate between the pin and lower cover assembly device and the material placement 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 that is placed backwards 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 that has a deviation. The pin and lower cover assembly device is used to assemble the pin in the metal sheet of the lower cover and bend the metal sheet upwards.

[0010] Furthermore, the pin and lower cover assembly device includes an assembly base, an assembly loading device mounted on the top of the assembly base, a fixing mechanism mounted on the assembly loading device, a pin receiving seat movably disposed below the assembly loading device, an upper bending mechanism mounted on the pin receiving seat, a pin supply mechanism disposed on one side of the pin receiving seat, and a position adjustment mechanism mounted on the assembly base. The pin receiving seat is mounted on the position adjustment end of the position adjustment mechanism. The top surface of the assembly loading device is recessed with an assembly bearing cavity and a through hole formed by the bottom wall of the self-assembly bearing cavity. The assembly support cavity is used to support the lower cover. 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 support cavity. The output end of the pin mechanism is used to connect with the pin receiving seat. The pin mechanism is used to supply the upright pin to the pin receiving seat. The position adjustment mechanism is used to drive the pin receiving seat to rise, fall and translate and move the upper rod of the pin carried by the pin receiving seat into the metal sheet of the lower cover. The upward bending mechanism is used to push the free end of the metal sheet upward and bend it to press and rivet the pin to the metal sheet together.

[0011] Furthermore, the pin holder is provided with a receiving cavity, and the upper bending mechanism includes an upper lifting cylinder installed in the pin holder and an upper bending rod installed in the upper lifting cylinder and slidably connected to the pin holder. The upper bending rod is located on one side of the receiving cavity.

[0012] Furthermore, the fixing mechanism includes two fixed jaws that are relatively movable on the top surface of the assembly loading device and a clamping driver installed on the assembly loading device or assembly base. The clamping driver is used to drive the two fixed jaws to move closer or further away from each other. The two fixed 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 loading device and a sliding driver mounted on the assembly loading device or assembly base. The sliding driver is used to drive the sliding cover to reciprocate, and the sliding cover can move to the top of the assembly bearing cavity and press the lower cover inside the assembly bearing cavity.

[0014] Alternatively, the fixing mechanism includes a pressure block that is lifted and positioned above the assembly loading device and a pressure drive for driving the pressure block to press the lower cover carried in the assembly loading cavity.

[0015] Furthermore, the front and back detection flipping device includes a support, a lifting driver mounted on the support, a detection carrier mounted on the lifting driver, a front and back detection sensor embedded in the detection carrier, a flipping gripper assembly rotatably disposed above the detection carrier, and a rotary clamping mechanism mounted on the support for driving the flipping gripper assembly to open and rotate. The lifting driver is used to drive the detection carrier to approach or move away from the flipping gripper assembly. The top surface of the detection carrier is provided with a detection bearing cavity. The front and back detection sensor is used to sense whether there is a lower cover in the detection bearing cavity and to detect the front and back of the lower cover. The front and back detection sensor is electrically connected to the rotary clamping mechanism.

[0016] Furthermore, the placement angle detection and adjustment device includes a bracket, a mounting base mounted on the top surface of the bracket, a rotating mold rotatably connected to the mounting base, a rotation drive module mounted on the bracket or mounting base and used to drive the rotating mold to rotate, and a placement angle sensor mounted on the mounting base or 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 from the bottom wall of the placement angle bearing cavity. Multiple magnetic suction components are embedded in the bottom wall of the placement angle bearing cavity. The multiple magnetic suction components are arranged around the edge of the detection hole. The placement angle sensor is located inside the detection hole. The magnetic suction components are used to hold the lower cover tightly in the placement angle bearing cavity.

[0017] Furthermore, the automatic assembly equipment for pins and lower covers also includes a platform set at the feeding position. The fourth pick-and-place unit can reciprocate between the pin and lower cover assembly device and the platform. The top surface of the platform is recessed with a positioning cavity for supporting the lower cover. The bottom wall of the positioning cavity is recessed with a receiving groove for receiving the pin.

[0018] Furthermore, the transfer robot also includes a pressing and bending forming mechanism, which is located on the side of the fourth pick-and-place section away from the third pick-and-place section. The pressing and bending forming mechanism is used to bend the metal sheet after it has been bent from the top.

[0019] Furthermore, the push-bending forming mechanism includes a base, a push driver mounted on the base, and a push plate mounted on the push driver and located below the base. The push driver is used to drive the push plate to translate.

[0020] Furthermore, the automatic assembly equipment for pins and lower covers also includes a receiving mechanism located on the platform away from the pin and lower cover assembly device. The transfer robot also includes a fifth pick-and-place section installed on the base. A moving groove is provided in the middle of the fifth pick-and-place section, and a push plate is movably disposed in the moving groove. The fifth pick-and-place section can reciprocate between the platform and the receiving mechanism.

[0021] The beneficial effects of this invention are as follows: In practical applications, the lower cover feeding mechanism supplies the lower cover to the upper feeding position. The first pick-and-place unit of the transfer robot transfers the lower cover supplied by the lower cover feeding mechanism 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 plate of the lower cover faces down, that is, when the opening of the lower cover faces up, the front and back detection and flipping device detects that the orientation of the lower cover is correct. When the metal plate of the lower cover faces up, that is, when the opening of the lower cover faces down, the front and back detection and flipping device detects that the orientation of the lower cover is incorrect (the lower cover is placed backwards). The front and back detection and flipping device will then drive the lower cover to rotate 180°, so that the lower cover is adjusted to the correct orientation. The second pick-and-place unit of the transfer robot then flips the front and back detection and flipping device. The correctly oriented lower cover is transferred 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 a deviation in the placement angle of the lower cover, it drives 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 pick-and-place unit of the transfer robot transfers the lower cover with the correct placement angle from 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 into the metal sheet of the lower cover and bends the metal sheet upward to form the lower cover assembly. The fourth pick-and-place unit of the transfer robot transfers the lower cover assembly from the pin and lower cover assembly device to the unloading position. The present invention features a simple structure and concise operation, automating the feeding of the lower cover, detection and correction of the upper cover's orientation, adjustment of the lower cover's placement angle, and assembly of the pin with the lower cover. The pin is directly assembled onto the metal plate of the lower cover from below, ensuring the assembled lower cover assembly has the pin facing downwards. This allows the lower cover assemblies with the pin facing downwards to be directly stacked or output to the badge assembly equipment. This eliminates the need for flipping the lower cover assembly before it can be directly assembled with the upper cover assembly to form a badge. In contrast, existing technologies, where the pin is assembled on top of the lower cover in the metal plate, or where the lower cover is placed vertically and the pin is assembled laterally in the metal plate, require flipping the lower cover assembly so the pin faces downwards before assembly with the upper cover assembly, simplify the subsequent assembly process. This reduces the size of the badge assembly equipment, lowers costs, and improves badge production efficiency. Attached Figure Description

[0022] Figure 1This is a three-dimensional structural diagram of the present invention.

[0023] Figure 2 This is a three-dimensional structural schematic diagram from another perspective of the present invention.

[0024] Figure 3 This is a three-dimensional structural diagram of the pin and lower cover assembly device of the present invention after the vibrating disc is hidden.

[0025] Figure 4 This is a three-dimensional structural diagram of the pin and lower cover assembly device of the present invention, showing the vibrating disc from another perspective.

[0026] Figure 5 This is a three-dimensional structural diagram of the pin holder, the upper bending mechanism, and the pin of the present invention.

[0027] Figure 6 This is a three-dimensional structural diagram of the top bending mechanism of the present invention.

[0028] Figure 7 This is a three-dimensional structural diagram of the front and back detection and flipping device of the present invention.

[0029] Figure 8 This is a three-dimensional structural diagram of the placement angle detection and adjustment device, assembly loading device, fixing mechanism, and lower cover of the present invention.

[0030] Figure 9 This is a three-dimensional structural diagram of the placement angle detection and adjustment device, assembly loading vehicle, and fixing mechanism of the present invention.

[0031] Figure 10 This is a three-dimensional structural diagram of the material receiving mechanism of the present invention.

[0032] Figure 11 This is a three-dimensional structural diagram of the pushing, bending, forming mechanism and the fifth pick-and-place section of the present invention.

[0033] Figure 12 This is a three-dimensional structural diagram of the push-bending forming mechanism of the present invention, showing the hidden base and lower cover.

[0034] Figure 13 This is a three-dimensional structural diagram of the lower cover in this embodiment.

[0035] Explanation of reference numerals in the attached figures:

[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. Feeding position; 7. First pick-up and drop-off section; 8. Second pick-up and drop-off section; 9. Third pick-up and drop-off section; 10. Fourth pick-up and drop-off section; 11. Assembly base; 12. Assembly loading device; 13. Fixing mechanism; 14. Pin receiving seat; 15. Top bending mechanism; 16. Pin feeding mechanism; 17. Position adjustment mechanism; 18. Assembly 19. Bearing cavity; 20. Through hole; 21. Receiving cavity; 22. Top lifting cylinder; 23. Top bending rod; 24. Translation cylinder; 25. Lifting cylinder; 26. Vibratory feeder; 27. Material rail; 28. Fixed gripper; 29. ​​Clamping driver; 30. Drive groove; 31. Drive rod; 32. Support; 33. Lifting driver; 34. Detection carrier; 35. Forward and reverse detection sensor; 36. Tilting gripper assembly; 37. Rotary clamping mechanism 38. Detection bearing cavity; 39. Bracket; 40. Mounting base; 41. Rotating mold; 42. Rotation drive module; 43. Placement angle sensor; 44. Placement angle bearing cavity; 45. Detection hole; 46. Magnetic suction component; 48. First gear; 49. First rotation driver; 50. Platform; 53. Push bending forming mechanism; 54. Base; 55. Push driver; 56. Push plate; 57. Receiving mechanism; 58. Fifth pick-and-place section; 59. Base; 60. Turntable; 61. Material rack; 62. Rotary drive assembly; 63. Support module; 64. Upper through hole; 65. Support cylinder; 66. Support plate; 67. Tooth; 68. Second gear; 69. Second rotary drive; 70. Base plate; 71. Positioning rod; 72. Contouring connecting plate; 73. Material bin; 74. Pin; 75. Lower cover; 76. Metal sheet; 77. Assembly hole; 78. Guide hole; 79. Quick release head; 80. T-shaped groove; 81. Quick release plate. Detailed Implementation

[0037] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0038] like Figures 1 to 13As shown, the present invention provides an automatic assembly device for pins and bottom covers, comprising a transfer robot 1 and a bottom cover feeding mechanism 2, a front and back detection and flipping device 3, a placement angle detection and adjustment device 4, a pin and bottom cover assembly device 5, and a feeding position 6 arranged sequentially. The transfer robot 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 bottom cover feeding mechanism 2 and the front and back detection and flipping device 3. The second picking and placing part 8 can reciprocate between the front and back 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 second picking and placing part 10. The fourth pick-and-place unit 10 can reciprocate between the pin and lower cover assembly device 5 and the material placement position 6. The lower cover feeding mechanism 2 is used to supply the lower cover 75. The front and back detection and flipping device 3 is used to detect the front and back of the lower cover 75 and flip the lower cover 75 that is placed in the wrong direction by 180° so that the metal piece 76 of the lower cover 75 faces down. 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 that has a deviation. The pin and lower cover assembly device 5 is used to assemble the pin 74 into the metal piece 76 of the lower cover 75 and bend the metal piece 76 upward.

[0039] In practical applications, the lower cover feeding mechanism 2 supplies the lower cover 75 to the loading position. The first pick-and-place unit 7 of the transfer robot 1 transfers the lower cover 75 supplied by the lower cover feeding mechanism 2 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 piece 76 of the lower cover 75 faces down, that is, when the opening of the lower cover 75 faces up, the front and back detection and flipping device 3 detects that the orientation of the lower cover 75 is correct. When the metal piece 76 of the lower cover 75 faces up, that is, when the opening of the lower cover 75 faces down, 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 backwards). The front and back detection and flipping device 3 will then drive the lower cover 75 to rotate 180°, so that the lower cover 75 is adjusted to the correct orientation. The second pick-and-place unit 8 of the transfer robot 1 then moves the front and back detection and flipping device 3... The lower cover 75 with the correct orientation is transferred 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 a deviation in the placement angle of the lower cover 75, it drives 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 pick-and-place part 9 of the transfer robot 1 transfers the lower cover 75 with the correct placement angle from 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 piece 76 of the lower cover 75 and bends the metal piece 76 upward to form the lower cover assembly. The fourth pick-and-place part 10 of the transfer robot 1 transfers the lower cover assembly from the pin and lower cover assembly device 5 to the unloading position 6. The present invention has a simple structure and concise operation, automatically realizing the feeding of the lower cover 75, the detection and correction of the orientation of the lower cover 75, the adjustment of the placement angle of the lower cover 75, and the assembly of the pin 74 with the lower cover 75. The pin 74 is directly assembled below the lower cover 75 within the metal plate 76 of the lower cover 75, ensuring that the assembled lower cover assembly has the pin 74 facing downwards. Lower cover assemblies with the pin 74 facing downwards can be directly stacked or directly output to a badge assembly device, eliminating the need for flipping the lower cover assembly before it can be directly assembled with the upper cover assembly to form a badge. Compared to existing methods... In some technologies, the pin 74 is assembled above the metal sheet 76 of the lower cover 75, or the pin 74 is assembled laterally in the metal sheet 76 of the lower cover 75 after the lower cover 75 is placed upright. Since the pin 74 in the lower cover assembly faces upward or to one side (left or right), the lower cover assembly needs to be flipped so that the pin 74 faces downward before it is assembled with the upper cover assembly. This application can simplify the process flow when assembling the lower cover assembly and the upper cover assembly, thereby reducing the structure of the subsequent badge assembly equipment, reducing costs, and improving badge production efficiency.

[0040] Specifically, the transfer robot 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 move synchronously back and forth, so as to realize that one drive source (transfer robot 1) drives multiple pick-and-place units to move synchronously, thereby realizing the synchronous pick-and-place work at different workstations, which greatly improves the efficiency of pick-and-place, reduces the number of drive sources, simplifies the structure and control system, and reduces the cost of maintenance and manufacturing.

[0041] In this embodiment, the pin and lower cover assembly device 5 includes an assembly base 11, an assembly loading device 12 mounted on the top of the assembly base 11, a fixing mechanism 13 mounted on the assembly loading device 12, a pin receiving seat 14 movably disposed below the assembly loading device 12, an upper bending mechanism 15 mounted on the pin receiving seat 14, a pin supply mechanism 16 disposed on one side of the pin receiving seat 14, and a position adjustment mechanism 17 mounted on the assembly base 11. The pin receiving seat 14 is mounted on the position adjustment end of the position adjustment mechanism 17. The top surface of the assembly loading device 12 is recessed with an assembly bearing cavity 18 and a through hole 19 formed from the bottom wall of the assembly bearing cavity 18. The carrier cavity 18 is used to support 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 carrier 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 upright pin 74 to the pin receiving seat 14. The position adjustment mechanism 17 is used to drive the pin receiving seat 14 to rise, 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. The upward bending mechanism 15 is used to push the free end of the metal sheet 76 upward and bend it to press and rivet the pin 74 and the metal sheet 76 together.

[0042] In practical applications, the lower cover 75, with the correct placement angle, is placed inside the assembly bearing cavity 18. The metal sheet 76 of the lower cover 75 extends beyond the bottom surface of the assembly loading device 12 through the through hole 19. The fixing mechanism 13 fixes the lower cover 75 inside the assembly bearing cavity 18. At the same time, the pin receiving seat 14 first connects to the discharge end of the pin supply mechanism 16. The pin supply mechanism 16 supplies a vertical pin 74 (i.e., the two sides of the pin 74 are horizontal and vertically arranged) to the pin receiving seat 14. Then, the position adjustment mechanism 17 first drives the pin receiving seat 14 and the pin 74 to rise. During the rising process of the pin receiving seat 14, the side of the pin receiving seat 14 will block the discharge end of the pin supply mechanism 16 to ensure the supply of pins. Mechanism 16 can only feed the pin 74 seat one by one until the upper rod of the pin 74 on the pin seat 14 corresponds to the metal piece 76 of the lower cover 75. Then, the position adjustment mechanism 17 drives the pin seat 14 and the pin 74 to move horizontally, so that the upper rod of the pin 74 is inserted laterally into the metal piece 76 of the lower cover 75. Then, the upper bending end of the upper bending mechanism 15 pushes the free end of the metal piece 76 of the lower cover 75 upward to bend it, so that the upper bent metal piece 76 and the upper rod of the pin 74 are riveted together, so that the pin 74 is assembled on the metal piece 76 of the lower cover 75 below the lower cover 75 to form the lower cover assembly. Finally, the position adjustment mechanism 17 drives the pin 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 downwards. This facilitates the direct stacking and storage of the lower cover assembly with the pin 74 facing downwards or its direct transfer to the badge assembly equipment. After the pin holder 14 inserts the upper rod of the pin 74 laterally into the metal sheet 76, the metal sheet 76 is directly bent upwards by the upper bending mechanism 15. This allows the pin 74 and the metal sheet 76 of the lower cover 75 to be riveted together in one station, improving the assembly efficiency and quality of the pin 74 and the lower cover 75.

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

[0044] In practical applications, an upper 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 can supply the upright pin 74 to the receiving cavity 20 of the pin receiving seat 14. The receiving cavity 20 limits the pin 74 to ensure that the pin 74 can be stably in an upright state, and the upper rod of the pin 74 is located outside the top port of the receiving cavity 20. When the upper rod side of the pin 74 is inserted into the metal sheet 76 of the lower cover 75, the upper cylinder 21 drives the upper bending rod 22 to rise. The rising upper bending rod 22 abuts against the free end of the metal sheet 76 and bends upward into the assembly hole 77 until the free end of the metal sheet 76 bends upward and passes through the assembly hole 77, so as to press and rivet the upper rod of the pin 74 into the metal sheet 76 of the lower cover 75.

[0045] Specifically, the upper bending rod 22 is mounted on the piston rod of the upper cylinder 21 via a quick-release plate 81. The bottom end of the upper bending rod 22 is provided with a U-shaped quick-release head 79. The side wall of the quick-release plate 81 is recessed with a U-shaped groove 80, and the quick-release head 79 is laterally inserted into the U-shaped groove 80. This structural design allows for quick disassembly and assembly of the upper bending rod 22 and the quick-release plate 81 without the need for disassembly tools, making maintenance convenient.

[0046] Preferably, during the process of the upper cylinder 21 driving the quick release plate 81 and the upper bending rod 22 to move upward, the quick release plate 81 can lift the pin 74 in the receiving cavity 20, so that the pin 74 rises along the receiving cavity 20, and the upper bending rod 22 pushes and bends the free end of the metal sheet 76 upward.

[0047] Specifically, the pin holder 14 has two guide holes 78, each corresponding to one of the two upper bending rods 22. The two guide holes 78 are located on the same side of the receiving cavity 20, and the two upper bending rods 22 can slide through the two guide holes 78. In practical applications, during the lifting and lowering of the upper bending rods 22, the guide holes 78 guide and position the upper bending rods 22, improving the lifting and lowering stability of the upper bending rods 22, making the upper bending rods 22 less prone to damage, and the structure of the upper bending rods 22 and the pin holder 14 is compact.

[0048] Specifically, the position adjustment mechanism 17 includes a translation cylinder 23 mounted on the assembly base 11 and a lifting cylinder 24 mounted on the piston rod of the translation cylinder 23, and the pin holder 14 is mounted on the piston rod of the lifting cylinder 24.

[0049] In practical applications, the lifting cylinder 24 drives the pin holder 14 and the pin 74 to rise, so that the upper rod of the pin 74 corresponds to the metal plate 76. Then, the translation cylinder 23 drives the lifting cylinder 24 and the pin holder 14 and the pin 74 to translate until the upper rod of the pin 74 moves into the metal plate 76. Of course, the lifting cylinder 24 and the translation cylinder 23 can also be driven synchronously. With the coordination of the two, the upper rod of the pin 74 on the pin holder 14 moves obliquely into the metal plate 76.

[0050] Specifically, the pin feeding mechanism 16 includes a vibratory plate 25, a linear vibratory 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 vibratory feeder 26. The pin 74 moves upright along the material rail 27. The outlet of the material rail 27 is used to connect with the receiving cavity 20 of the receiving seat. The outlet of the vibratory plate 25 is connected to the inlet of the material rail 27.

[0051] In practical applications, the vibrating plate 25 supplies the upright pins 74 to the material rail 27 in an orderly manner. Under the action of the linear vibrating feeder 26, the upright pins 74 move along the material rail 27. When the receiving cavity 20 of the pin holder 14 is connected to the outlet of the material rail 27, the upright pins 74 move into the receiving cavity 20 of the pin holder 14 to realize the feeding of the upright pins 74.

[0052] In this embodiment, the fixing mechanism 13 includes two fixing claws 28 that are relatively movable on the top surface of the assembly loading device 12 and a clamping driver 29 installed on the assembly loading device 12 or the assembly base 11. The clamping driver 29 is used to drive the two fixing claws 28 to move closer or further away from each other. The two fixing claws 28 are located on both sides of the assembly bearing cavity 18.

[0053] In practical applications, when the lower cover 75 is placed in the assembly support cavity 18 at the correct angle, the clamping driver 29 drives the two fixed jaws 28 to move closer to each other, so that the two fixed jaws 28 clamp the lower cover 75 in the assembly support cavity 18, so as to ensure the stability and positional accuracy of the lower cover 75 in the assembly support cavity 18, and avoid poor assembly or inability to assemble properly when assembling the pin 74 due to the lower cover 75 being loose.

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

[0055] In practical applications, when the lower cover 75 is placed in the assembly support cavity 18 at the correct angle, the sliding driver drives the sliding cover to move above the assembly support cavity 18, so that the sliding cover presses or limits the lower cover 75 in the assembly support cavity 18, so as to ensure the stability and positional accuracy of the lower cover 75 in the assembly support cavity 18, and avoid poor assembly or inability to assemble properly when assembling the pin 74 due to the lower cover 75 being loose.

[0056] In another embodiment, the fixing mechanism 13 includes a pressure block that is raised and lowered above the assembly loading device 12 and a pressure driver for driving the pressure block to press the lower cover 75 carried in the assembly carrying 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 clamping driver drives the pressure block to press the lower cover 75 into the assembly bearing cavity 18, so as to ensure the stability and positional accuracy of the lower cover 75 in the assembly bearing cavity 18, and avoid poor assembly or inability to assemble properly when assembling the pin 74 due to the lower cover 75 being loose.

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

[0059] In this embodiment, preferably, the fixing jaw 28 is L-shaped, with its middle portion hinged to the top surface of the assembly loading device 12. One end of the fixing jaw 28 is drivenly connected to an output end of the clamping driver 29. A driving groove 30 is provided at one end of the fixing jaw 28, and a driving rod 31 is provided 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, allowing it to move within the driving groove 30. In practical applications, the two output ends of the clamping driver 29 move closer or further apart, causing the two driving rods 31 to move closer or further apart. The driving rods 31 abut against the inner wall of the driving groove 30, causing the fixing jaw 28 to rotate, thereby opening and closing the two fixing jaws 28, thus loosening or clamping the lower cover 75.

[0060] In this embodiment, the front and back detection flipping device 3 includes a support 32, a lifting driver 33 mounted on the support 32, a detection carrier 34 mounted on the lifting driver 33, a front and back detection sensor 35 embedded in the detection carrier 34, a flipping gripper assembly 36 rotatably disposed above the detection carrier 34, and a rotary clamping mechanism 37 mounted on the support 32 for driving the flipping gripper assembly 36 to open and rotate. The lifting driver 33 is used to drive the detection carrier 34 to approach or move away from the flipping gripper 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 to sense whether there is a lower cover 75 in the detection bearing cavity 38 and to 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 driver 33 can be a cylinder or a linear motor, the rotary clamping mechanism 37 can be a rotary clamping finger cylinder, and the front and back detection sensor 35 can also serve as an incoming material sensing device.

[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 of the lower cover 75 (the orientation of the opening of the lower cover 75). When the front and back detection sensor 35 detects that the opening orientation of the lower cover 75 is correct (the opening of the lower cover 75 is facing upwards or the metal piece 76 of the lower cover 75 is facing downwards), the second pick-and-place unit 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 orientation of the lower cover 75 is incorrect (the opening of the lower cover 75 is facing downwards or the metal piece 76 of the lower cover 75 is facing upwards), the front and back detection sensor 35 sends feedback signals to the lifting drive 33 and the rotary clamping mechanism 37 respectively, so that... The lifting actuator 33 drives the detection carrier 34, along with the lower cover 75, to move upward into the open flip-grip assembly 36. Then, the rotary clamping mechanism 37 first drives the flip-grip assembly 36 to clamp the lower cover 75. Next, the lifting actuator 33 drives the detection carrier 34 to descend, providing space for the flip-grip assembly 36 to flip. Then, the rotary clamping mechanism 37 drives the flip-grip assembly 36, along with the lower cover 75, to flip the lower cover 75 180°, turning it over so that the opening of the lower cover 75 faces upward. Finally, the lifting actuator 33 drives the detection carrier 34 to rise and support the flipped lower cover 75, and the rotary clamping mechanism 37 drives the flip-grip assembly 36 to release the lower cover 75. This structural design enables automatic detection and correction of the opening orientation of the lower cover 75, ensuring that the opening orientation of each lower cover 75 is consistent and correct. This facilitates subsequent adjustments to the placement angle of the lower cover 75 and the assembly of the lower cover 75 with 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 drive module 42 mounted on the support 32 or the mounting base 40 and used to drive the rotating mold 41 to rotate, and a placement angle sensor 43 mounted on the mounting base 40 or the bracket 39. The placement angle sensor 43 is electrically connected to the rotation drive module 42. The rotating mold 41 is provided with a placement angle bearing cavity 44 and a detection hole 45 formed from the bottom wall of the placement angle bearing cavity 44. A plurality of magnetic suction members 46 are embedded in the bottom wall of the placement angle bearing cavity 44. 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 members 46 are used to hold the lower cover 75 tightly in the placement angle bearing cavity 44. Specifically, the magnetic suction component 46 is a magnet or electromagnet, and there are two placement angle sensors 43. The two placement angle sensors 43 detect the two assembly holes 77 of the lower cover 75 respectively; the placement angle sensors 43 can also serve as material receiving sensors.

[0063] In practical applications, when the upper-opening lower cover 75 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 within the detection hole 45. Multiple magnetic suction components 46 firmly magnetically attach the lower cover 75 to the placement angle bearing cavity 44. At this time, the placement angle sensor 43 detects the placement angle of the lower cover 75. Specifically, 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 indicates that there is a deviation in the placement angle of the lower cover 75. Angle sensor 43 feeds back a signal to rotation drive module 42, causing rotation drive module 42 to drive rotation module 41 and lower cover 75 to rotate synchronously, thereby adjusting the placement angle of lower cover 75 until the two placement angle sensors 43 detect the two assembly holes 77 of lower cover 75 respectively. Then, placement angle sensor 43 feeds back a signal to rotation drive module 42, causing rotation drive module 42 to stop rotating rotation module 41, thereby completing the adjustment of placement angle of lower cover 75, ensuring that the placement angle of each lower cover 75 is consistent, which is beneficial for the accurate assembly of lower cover 75 and pin 74 in the future.

[0064] Specifically, the rotation drive module 42 includes a gear ring rotatably disposed 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, and a first rotation driver 49 mounted on the bracket 39 and used to drive the first gear 48 to rotate. The gear ring is fixedly connected to the rotation module 41. The first rotation driver 49 can be a motor.

[0065] In practical applications, the first rotary 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 mold 41 to rotate, and the rotating mold 41 drives the lower cover 75 to rotate.

[0066] In this embodiment, the automatic pin and lower cover assembly device further includes a platform 50 disposed at the feeding position 6. The fourth pick-and-place unit 10 can reciprocate between the pin and lower cover assembly device 5 and the platform 50. The top surface of the platform 50 is recessed with a positioning cavity for supporting the lower cover 75. The bottom wall of the positioning cavity is recessed with a receiving groove for receiving the pin 74. In practical applications, the fourth pick-and-place unit 10 places the lower cover assembly (the lower cover 75 assembled with the pin 74) into the positioning cavity of the platform 50. The positioning cavity blocks and positions the peripheral sidewall of the lower cover 75 to ensure the positional accuracy of the lower cover assembly within the positioning cavity. At the same time, the pin 74 is received in the receiving groove, allowing the lower cover assembly to be placed flat on the platform 50. The inner wall of the receiving groove blocks and positions the pin 74, further improving the positional accuracy and stability of the lower cover assembly on the platform 50. The lower cover assembly and the positioning cavity will not rotate relative to each other.

[0067] In this embodiment, the transfer robot 1 also includes a pressing and bending forming mechanism 53. The pressing and bending forming mechanism 53 is located on the side of the fourth pick-up and place section 10 away from the third pick-up and place section 9. The pressing and bending forming mechanism 53 is used to bend the metal sheet 76 after it has been bent.

[0068] In practical applications, after the lower cover assembly is placed in the positioning cavity of the platform 50, the push-bending forming mechanism 53 is located above the lower cover assembly. At this time, the push-bending forming mechanism 53 pushes the free end of the bent metal sheet 76 horizontally, so that the free end of the metal sheet 76 bends and presses in the direction of the assembly hole 77 to achieve secondary riveting of the metal sheet 76, thereby making the metal sheet 76 completely wrap the upper rod of the pin 74 so that the pin 74 can be firmly assembled in the metal sheet 76 of the lower cover 75.

[0069] Specifically, the inner wall of the positioning cavity is provided with a fixing structure for fixing the lower cover 75 within the positioning cavity. Preferably, the fixing structure can use a magnet or electromagnet to hold the lower cover 75 in place, or it can hold the lower cover 75 in place through a suction hole. This structural design further improves the positional accuracy and stability of the lower cover assembly within the positioning cavity, which is beneficial for the pressing and bending forming mechanism 53 to stably perform the final bending and pressing of the metal sheet 76.

[0070] In this embodiment, the push-bending forming mechanism 53 includes a base 54, a push driver 55 mounted on the base 54, and a push plate 56 mounted on the push end of the push driver 55 and located below the base 54. The push 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 54. Specifically, the push driver 55 can be a cylinder.

[0071] In practical applications, after the lower cover assembly is placed in the positioning cavity, the transfer robot 1 drives the base 54 to move above the lower cover assembly until the bottom end of the push plate 56 contacts the inner bottom wall of the lower cover assembly. Then, the driver 55 drives the push plate 56 to move horizontally, so that the push plate 56 pushes the free end of the upwardly bent metal sheet 76 to bend a second time in the direction of the assembly hole 77, so that the metal sheet 76 completely wraps the upper rod of the pin 74, thereby realizing the secondary riveting assembly of the pin 74 and the lower cover 75, making the assembly of the pin 74 and the lower cover 75 more secure.

[0072] In this embodiment, the automatic assembly equipment for pins and lower covers also includes a receiving mechanism 57 disposed on the platform 50 away from the pin and lower cover assembly device 5. The transfer robot 1 also includes a fifth pick-and-place part 58 mounted on the base 54. A moving groove is provided in the middle of the fifth pick-and-place part 58. The push plate 56 is movably disposed in the moving groove. The fifth pick-and-place part 58 can reciprocate between the platform 50 and the receiving mechanism 57. The fifth pick-and-place part 58 and the push plate 56 are misaligned.

[0073] In practical applications, the transfer robot 1 drives the fifth pick-and-place unit 58 and the pressing and bending forming mechanism 53 to move synchronously above the lower cover assembly carried by the platform 50. Simultaneously, as the bottom surface of the pressing plate 56 contacts the inner bottom wall of the lower cover assembly, the fifth pick-and-place unit 58 picks up the lower cover assembly to ensure its stability and positional accuracy. At this point, the push driver 55 drives the pressing plate 56 to perform a second bending and rolling of the free end of the upwardly bent metal sheet 76, ensuring the quality of the final bending and forming of the metal sheet 76 by the pressing plate 56. After the lower cover assembly on the platform 50 completes its second riveting, the fifth pick-and-place unit 58, driven by the transfer robot 1, transfers the lower cover assembly to the receiving mechanism 57, which stacks the lower cover assemblies with the pins 74 facing downwards.

[0074] Specifically, the fifth pick-and-place section 58 includes two mounting blocks parallel to the base 54 and suction holes or suction cups disposed on the mounting blocks, with the push plate 56 slidably disposed between the two mounting blocks. When the fifth pick-and-place section 58 is above the lower cover assembly, the two pressing blocks press the lower cover assembly tightly, and the suction holes or suction cups hold the lower cover assembly firmly, further improving the quality and stability of the final bending and forming of the metal sheet 76 by the push plate 56. Furthermore, during the reciprocating movement of the push plate 56, the two mounting blocks act as guides for the push plate 56. In addition, this structural design makes the fifth pick-and-place section 58 and the push-bending and forming mechanism 53 compact, thus rationally integrating the fifth pick-and-place section 58 and the push-bending and forming mechanism 53 together.

[0075] Specifically, the receiving mechanism 57 includes a base 59, a turntable 60 rotatably mounted on the base 59, a plurality of material racks 61 arranged in a circular array on the turntable 60, a rotation drive assembly 62 mounted on the base 59 for driving the turntable 60 to rotate, and a support module 63 mounted on the base 59. The bottom surface of the material racks 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 support module 63 includes a support cylinder 65 mounted on the base 59 and a support plate 66 mounted on the output end of the support cylinder 65. The support plate 66 can extend into the material racks 61 through the lower through hole and the upper through hole 64.

[0076] In practical applications, the fifth pick-and-place unit 58 transfers the lower cover assembly to the material rack 61 at the receiving position, so that the lower cover assemblies with pins 74 facing down are stacked on the support plate 66 of the material rack 61. Whenever a lower cover assembly is added to the material rack 61, the support cylinder 65 drives the support plate 66 to descend by the height of one lower cover assembly until the support plate 66 descends into the lower through hole. At this time, the rotation drive assembly 62 drives the turntable 60 to rotate. The rotating turntable 60 drives multiple material racks 61 to rotate synchronously, so that the fully loaded material rack 61 rotates out of the receiving position and the empty material rack 61 rotates to the receiving position. At this time, the support plate 66 corresponds to the upper through hole 64. The support cylinder 65 drives the support plate 66 to rise to the highest position of the empty material rack 61 so as to support the subsequent lower cover assembly.

[0077] Specifically, the rotation drive assembly 62 includes teeth 67 disposed on the peripheral sidewall of the turntable 60, a second gear 68 rotatably connected to the base 59 and meshing with the teeth 67, and a second rotation driver 69 mounted on the base 59 and used to drive the second gear 68 to rotate. The second rotation driver 69 may be an electric motor.

[0078] In practical applications, the second rotary driver 69 drives the second gear 68 to rotate. The rotating second gear 68 meshes with the teeth 67 to drive the turntable 60 to rotate. The rotating turntable 60 drives multiple material racks 61 to rotate synchronously, so as to realize the switching of multiple material racks 61 and ensure material collection without stopping the machine.

[0079] Specifically, the material rack 61 includes a base plate 70 mounted on the turntable 60, at least three positioning rods 71 ​​mounted on the top surface of the base plate 70, and a contoured connecting plate 72 mounted on the top of all the positioning rods 71. All the positioning rods 71 ​​form a material bin 73, and an upper through hole 64 is provided through the base plate 70, allowing the support plate 66 to extend into the material bin 73. In practical applications, the lower cover assemblies are stacked in the material bin 73, and the multiple positioning rods 71 ​​block and limit the lower cover assemblies in the material bin 73. By forming the material bin 73 with multiple positioning rods 71, the material bin 73 is hollow, which not only facilitates the positioning and stacking of lower cover assemblies of different shapes, but also has good versatility, uses less material, is lightweight, easy to assemble and disassemble, and has low cost. It also makes it easy for operators to pass through the material bin 73 to receive materials and to remove the stacked lower cover assemblies from the material bin 73.

[0080] Specifically, the transfer robot 1 is a synchronous robot, which drives the first pick-and-place section 7, the second pick-and-place section 8, the third pick-and-place section 9, the fourth pick-and-place section 10, and the fifth pick-and-place section 58 to move back and forth synchronously. The first pick-and-place section 7, the second pick-and-place section 8, the third pick-and-place section 9, the fourth pick-and-place section 10, and the fifth pick-and-place section 58 are arranged in a straight line. The lower cover feeding mechanism 2, the front and back detection and flipping device 3, the placement angle detection and adjustment device 4, the pin and lower cover assembly device 5, the platform 50, and the receiving mechanism 57 are arranged in a straight line. The first pick-and-place section 7, the second pick-and-place section 8, the third pick-and-place section 9, the fourth pick-and-place section 10, and the fifth pick-and-place section 58 can all be suction cups.

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

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

Claims

1. An automatic assembly device for pins and bottom covers, characterized in that: The device includes 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 feeding position (6) arranged sequentially. The transfer robot (1) includes a first picking and placing section (7), a second picking and placing section (8), a third picking and placing section (9), and a fourth picking and placing section (10). The first picking and placing section (7) can reciprocate between the lower cover feeding mechanism (2) and the front and back detection and flipping device (3). The second picking and placing section (8) can reciprocate between the front and back detection and flipping device (3) and the placement angle detection and adjustment device (4). The third picking and placing section (9) can reciprocate between the placement angle detection and adjustment device (4) and the pin and lower cover assembly device (5). The fourth pick-and-place unit (10) can reciprocate between the pin and lower cover assembly device (5) and the material placement position (6). The lower cover feeding mechanism (2) is used to supply the lower cover (75). The front and back detection and flipping device (3) is used to detect the front and back of the lower cover (75) and flip the lower cover (75) that is placed in the wrong direction by 180° so that the metal piece (76) of the lower cover (75) faces down. 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) that has a deviation. The pin and lower cover assembly device (5) is used to assemble the pin (74) into the metal piece (76) of the lower cover (75) and bend the metal piece (76) upward. (5) Includes an assembly base (11), an assembly loading device (12) mounted on the top of the assembly base (11), a fixing mechanism (13) mounted on the assembly loading device (12), a pin receiving seat (14) movably disposed below the assembly loading device (12), an upper bending mechanism (15) mounted on the pin receiving seat (14), a pin supply mechanism (16) disposed on one side of the pin receiving seat (14), and a position adjustment mechanism (17) mounted on the assembly base (11). The pin receiving seat (14) is mounted on the position adjustment end of the position adjustment mechanism (17). The top surface of the assembly loading device (12) is recessed with an assembly bearing cavity (18) and a through hole (19) formed from the bottom wall of the assembly bearing cavity (18). The assembly bearing cavity (18) is used to support the lower... The metal sheet (76) on the bottom surface of the 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 upright pin (74) to the pin receiving seat (14). The position adjustment mechanism (17) is used to drive the pin receiving seat (14) to rise, fall and move 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). The upward bending mechanism (15) is used to push the free end of the metal sheet (76) upward and bend it to press the pin (74) and the metal sheet (76) together.

2. The automatic assembly equipment for pins and bottom covers according to claim 1, characterized in that: The pin holder (14) is provided with a receiving cavity (20). The upper bending mechanism (15) includes an upper cylinder (21) installed on the pin holder (14) and an upper bending rod (22) installed on the upper cylinder (21) and slidably connected to the pin holder (14). The upper bending rod (22) is located on one side of the receiving cavity (20).

3. The automatic assembly equipment for pins and bottom covers according to claim 1, characterized in that: The fixing mechanism (13) includes two fixed jaws (28) that are relatively movable on the top surface of the assembly loading device (12) and a clamping driver (29) installed on the assembly loading device (12) or the assembly base (11). The clamping driver (29) is used to drive the two fixed jaws (28) to move closer or further away from each other. The two fixed jaws (28) are located on both sides of the assembly bearing cavity (18). Alternatively, the fixing mechanism (13) includes a sliding cover slidably connected to the top surface of the assembly loading device (12) and a sliding driver mounted on the assembly loading device (12) or the assembly base (11). The sliding driver is used to drive the sliding cover to move back and forth. The sliding cover can move to the top of the assembly bearing cavity (18) and press the lower cover (75) inside the assembly bearing cavity (18). Alternatively, the fixing mechanism (13) includes a pressure block that is raised and lowered above the assembly loading device (12) and a pressure drive for driving the pressure block to press the lower cover (75) carried in the assembly carrying cavity (18).

4. The automatic assembly equipment for pins and bottom covers according to claim 1, characterized in that: The front and back detection flipping device (3) includes a support (32), a lifting driver (33) mounted on the support (32), a detection carrier (34) mounted on the lifting driver (33), a front and back detection sensor (35) embedded in the detection carrier (34), a flipping gripper assembly (36) rotatably mounted on the top of the detection carrier (34), and a rotary clamping mechanism (37) mounted on the support (32) for driving the flipping gripper assembly (36) to open and rotate. The lifting driver (33) is used to drive the detection carrier (34) to approach or move away from the flipping gripper 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 to sense whether there is a lower cover (75) in the detection bearing cavity (38) and to 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).

5. The automatic assembly equipment for pins and bottom covers according to claim 1, characterized in that: 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 drive module (42) mounted on the support (32) or the mounting base (40) and used to drive the rotating mold (41) to rotate, and a placement angle sensor (43) mounted on the mounting base (40) or the bracket (39). The placement angle sensor (43) and the rotation drive module (42) Electrical connection, the rotating mold (41) 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). Multiple magnetic suction elements (46) are embedded in the bottom wall of the placement angle bearing cavity (44). Multiple magnetic suction elements (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 elements (46) are used to hold the lower cover (75) tightly in the placement angle bearing cavity (44).

6. The automatic assembly equipment for pins and bottom covers according to claim 1, characterized in that: The automatic assembly equipment for pins and lower covers also includes a platform (50) set at the feeding position (6). The fourth pick-and-place unit (10) can reciprocate between the pin and lower cover assembly device (5) and the platform (50). The top surface of the platform (50) is recessed with a positioning cavity for supporting the lower cover (75). The bottom wall of the positioning cavity is recessed with a receiving groove for receiving the pin (74).

7. The automatic assembly equipment for pins and bottom covers according to claim 6, characterized in that: The transfer robot (1) also includes a pressing and bending forming mechanism (53), which is located on the side of the fourth pick-up and place section (10) away from the third pick-up and place section (9). The pressing and bending forming mechanism (53) is used to bend the metal sheet (76) after it has been bent.

8. The automatic assembly equipment for pins and bottom covers according to claim 7, characterized in that: The push-bending forming mechanism (53) includes a base (54), a push driver (55) mounted on the base (54), and a push plate (56) mounted on the push end of the push driver (55) and located below the base (54). The push driver (55) is used to drive the push plate (56) to translate.

9. The automatic assembly equipment for pins and bottom covers according to claim 7, characterized in that: The automatic assembly equipment for pins and lower covers also includes a receiving mechanism (57) located on the platform (50) away from the pin and lower cover assembly device (5). The transfer robot (1) also includes a fifth pick-and-place section (58) mounted on the base (54). A moving groove is provided in the middle of the fifth pick-and-place section (58), and a push plate (56) is movably disposed in the moving groove. The fifth pick-and-place section (58) can reciprocate between the platform (50) and the receiving mechanism (57).

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