Automatic chain assembling machine based on automatic pin shaft and chain link assembling

Abstract

The automatic chain assembling machine comprises a machine base, conveying chains are installed on the two sides of the machine base, the conveying chains are connected with a conveying belt, the conveying belt is provided with at least four chain positioning bases, and the four chain positioning bases correspond to four automatic assembling devices. The four automatic assembling devices are respectively a screw and chain link automatic assembling device, a pin shaft and chain link automatic assembling device, a plug pin and pin shaft automatic assembling device and a plug pin and chain link automatic assembling device; the automatic pin shaft and chain link assembling device comprises an automatic pin shaft feeding device and a pin shaft assembling device. On the basis of an automatic pin shaft and chain link assembling device, an automatic screw and chain link assembling device, an automatic plug pin and pin shaft assembling device and an automatic plug pin and chain link assembling device are combined to complete the automatic pin shaft and chain assembling function.

Description

Technical Field

[0001] This invention relates to the field of automatic chain assembly technology, and in particular to an automatic chain assembly machine based on the automatic assembly of pins and chain links. Background Technology

[0002] Currently, chains, especially in forklifts and other fields, require the use of chains with screws at both ends. These chains have special structural requirements, and the connection between the chain links and the screws requires precise assembly processes. Traditional chain assembly mainly focuses on the connection between standard chain links, but the connection between the screw and chain links is difficult to automate due to its special structure. In existing technologies, chain links can be assembled using automatic assembly machines, but there are still many technical challenges in the automated assembly of screws and chains: First, the connection between the screw and chain links requires precise positioning and alignment; second, the assembly process requires coordinating the movement of multiple components; and third, the subsequent assembly of components such as pins and bushings also needs to form a complete process flow with the screw assembly. These problems prevent the current automated assembly of screws and chains, severely restricting production efficiency. How to achieve automated assembly of screws and chains, and on this basis, complete the continuous assembly of components such as pins and bushings, is a technical problem that urgently needs to be solved by those skilled in the art. Existing technologies urgently need improvement to address these issues. Summary of the Invention

[0003] The purpose of this application is to provide an automatic chain assembly machine based on the automatic assembly of pins and chain links, which has the advantages of realizing the automatic assembly of screws and chain links, improving assembly accuracy and production efficiency.

[0004] This application provides an automatic chain assembly machine based on the automatic assembly of pins and chain links, including a program control panel and a machine base. Conveyor chains are installed on both sides of the machine base, and the conveyor chains are connected to a conveyor belt. The conveyor belt is connected to chain positioning seats. Under the drive of the conveyor motor, the chain positioning seats form four chain positioning seat stations. These four station locations correspond to a first chain positioning seat, a second chain positioning seat, a third chain positioning seat, and a fourth chain positioning seat, respectively. The first chain positioning seat corresponds to an automatic screw and chain link assembly device, the second chain positioning seat corresponds to an automatic pin and chain link assembly device, the third chain positioning seat corresponds to a pin and pin assembly device, and the fourth chain positioning seat corresponds to a pin and chain link assembly device. The automatic pin and chain link assembly device includes an automatic pin feeding device and a pin assembly device. The automatic pin feeding device includes a feeding box, at the bottom of which the pin to be conveyed is placed. One end of the pin has an enlarged flange, and the other end has a limiting hole perpendicular to the pin axis. The side of the feeding box has a lifting groove, which is driven up and down by a cylinder. The lower limit end of the lifting groove engages with the pin at the bottom of the feeding box, and the upper limit end engages with the pin feeding chute at the top of the feeding box. After entering the pin feeding chute, the pin slides into the pin feeding groove. The top of the pin feeding groove is equipped with a pin actuation and cleaning device. The end of the pin feeding groove in the pin movement direction is equipped with a pin negative pressure conveying control device, which is connected to the pin assembly device through a negative pressure air pipe. The automatic pin feeding device uses a cylinder to drive the lifting trough to move up and down, transporting the pin to the pin feeding chute. The pin enters the pin feeding chute with the flange on top and the limiting hole on the bottom.

[0005] The pin actuation and cleaning device includes an actuation motor connected to an actuation shaft. The actuation shaft is wound with a webbing around its outer periphery. An actuation broom is provided on the outer periphery of the webbing. The actuation broom actuates the pins along the pin feeding chute and into the pin negative pressure conveying control device.

[0006] The aforementioned pin-shaft negative pressure conveying control device includes a pressure rod that presses against a pin. The pins are arranged and enter a negative pressure control box. A pin-shaft control cylinder is connected to the side of the negative pressure control box. The push rod of the pin-shaft control cylinder pushes the control pin into the control groove. A return spring connected to the control pin is provided in the control groove. After the control pin enters the control groove, the pin is sucked into the negative pressure pipe through negative pressure, and then the control pin is reset under the action of the return spring.

[0007] The pin assembly device includes an inclined tube connected to a negative pressure air pipe, which is connected to an integrally formed vertical tube. The vertical tube is axially connected to a push rod, which is connected to a fifth cylinder push rod via a push connecting plate. The fifth cylinder push rod is connected to a fifth cylinder. The bottom of the vertical tube is the pin outlet, which corresponds to the receiving hole of the first rotating shaft. The first rotating shaft is connected to a first motor. The first motor has a pin clamping device on one side and a pin hole through-hole device on the other side. Both the pin clamping device and the pin hole through-hole device are driven to move by a first lateral drive device. The first lateral drive device drives the pin to form a first displacement position and a second displacement position. At the first displacement position, the pin clamping device corresponds to the receiving hole. At the second displacement position, the pin clamping device corresponds to the pin hole of the outer chain plate of the chain link and the connecting hole of the connecting piece. The pin is inserted into the pin hole of the outer chain plate of the chain link and the connecting hole of the connecting piece under the control of the second motor. This pin assembly device uses a fifth cylinder to drive the fifth cylinder push rod to insert the pin of the inclined tube into the receiving hole of the first rotating shaft. Then, the first rotating shaft drives the pin to rotate and cooperate with the pin clamping device. The pin clamping device moves to the second displacement position under the drive of the first lateral drive device, finally realizing the connection performance between the pin and the pin hole of the outer chain plate of the chain link and the connecting hole of the screw connecting piece.

[0008] The first lateral drive device includes a sixth cylinder, which is connected to a second slider via a sixth push rod. The second slider is connected to a pin clamping device and a pin hole through-hole device. The pin clamping device includes a seventh cylinder mounting base connected to the second slider. The seventh cylinder mounting base is connected to the seventh cylinder. The seventh cylinder is connected to an eighth cylinder via a seventh slider. The eighth cylinder is connected to a second motor via an eighth push rod. The second motor is connected to a chuck. A lateral position sensor and a longitudinal position sensor are respectively provided on the side of the chuck.

[0009] The pin hole through-hole device includes a first through shaft, which is connected to a through shaft mounting seat. The through shaft mounting seat is connected to a ninth cylinder. The second displacement position corresponds to a second chain positioning seat. A tenth cylinder is provided on the top of the second chain positioning seat. The tenth cylinder is connected to a pressure block.

[0010] This type of automatic chain assembly machine based on the automatic assembly of pins and chain links uses a conveyor motor to drive the conveyor chain positioning seat to form four chain positioning seat stations, which respectively complete the automatic assembly of screws and chain links, automatic assembly of pins and chain links, automatic assembly of pins and pins, and automatic assembly of pins and chain links. Finally, the automatic assembly device realizes the entire automatic assembly function of screws and chain links.

[0011] The aforementioned automatic assembly device for screw and chain links includes a first chain positioning seat, which includes a base, a movable seat connected by a spring and a fixed seat. The movable seat is fitted with a screw, and the fixed seat is fitted with a chain link. The movable seat cooperates with the first push rod of the first cylinder to complete the insertion connection between the screw and the chain link.

[0012] The chain link includes a first outer chain plate, a second outer chain plate, and a third outer chain plate arranged parallel to each other. One end of the gap between the first, second, and third outer chain plates is inserted into an inner chain plate and connected by a first pin, while the other end is inserted into a connecting piece at one end of a screw and connected by a pin. The top of the movable seat is provided with a first screw mounting seat and a second screw mounting seat respectively. A first limiting nut for connecting the screw is installed in the gap between the first and second screw mounting seats. The side of the movable seat is connected to a first arc or a second arc at one end of a limiting ring through a first connecting post. The other end of the limiting ring is connected to a screw mounting seat located on the side of the fixed seat through a screw. A second limiting nut is provided at the end of the screw. The fixed seat and the screw mounting seat are connected by a second connecting post. The fixed seat has three spaced-apart plate-shaped arc protrusions, which correspond to the first, second, and third outer chain plates respectively, realizing the positioning of the first, second, and third outer chain plates and the initial connection of the connecting piece at one end of the screw.

[0013] A chain plate gap positioning device is provided between the first, second, and third outer chain plates. The chain plate gap positioning device includes a first bracket, a first guide rail on the side of the first bracket, a first slider connected to the first guide rail, a second bracket connected to the first slider, a second cylinder connected to the top of the second bracket via a second push rod, a second sliding plate connected to the bottom of the second bracket, a third cylinder connected to one end of the second sliding plate, a clamping block mounting seat connected to the other end, a fourth cylinder connected to the top of the clamping block mounting seat, and the fourth cylinder controls the opening and closing of the clamping block assembly that controls the gap between the first, second, and third outer chain plates. A limiting hole is provided in the second sliding plate, and the second bracket is connected to the outer periphery of the limiting hole. The fourth cylinder and the first chain positioning seat are arranged vertically. The opening and closing of the clamping block assembly, controlled by the fourth cylinder and the first chain positioning seat, ensures that the gap between the first, second, and third outer chain plates is maintained to ensure that the two connecting pieces at one end of the inserted screw are properly positioned, preventing collisions caused by insufficient gap.

[0014] The automatic pin and pin assembly device includes an automatic pin conveying device and an automatic pin assembly device. The automatic pin conveying device includes a vibrating disc that vibrates the pins. Each pin includes an integral long pin and a short pin, with a ring at the bend of the long and short pins. The vibrating disc contains a first vibrating track, which is connected to a first lever, a first reversing notch, and a first reversing slant. The first lever controls the gap between itself and the first vibrating track to vibrate pins with the long pin in front and the ring behind into the first reversing notch, while pins in other directions vibrate back to the vibrating disc, and then enter the first reversing notch as pins. The pin is reversed at the first reversing ramp and enters the second vibration track. The second vibration track is connected to the second height limiting lever, the second reversing notch, and the second reversing ramp. The second height limiting lever controls the height gap between itself and the second vibration track to vibrate the horizontally arranged pins of the long and short pins into the second reversing notch. The pins at other heights vibrate back to the vibrating plate. Then, the pins entering the second reversing notch are reversed at the second reversing ramp and enter the third vibration track. The third vibration track is connected to the linear vibration guide, which is connected to the linear vibrator. The pins output by the linear vibration guide are used in conjunction with the automatic pin assembly device.

[0015] The described automatic pin assembly device includes a pin sensor that senses the pin position via a linear vibration guide rail. The pin sensor controls an eleventh cylinder, whose eleventh cylinder push rod drives the pin along the pin guide rail to a pin pushing device. The pin pushing device includes a twelfth cylinder, whose twelfth cylinder push rod connects to a pin push rod. The pin push rod pushes the pin into the pin rotation hole of the pin rotary motor. After being rotated by the pin rotary motor, the pin rotation hole corresponds to a pin chuck. The pin chuck is connected to a thirteenth clamping cylinder. A pin chuck rotary motor is located between the thirteenth clamping cylinder and the pin chuck. The thirteenth clamping cylinder is connected to a fourteenth lifting cylinder via a guide bracket. The base of the fourteenth lifting cylinder is connected to a third slider. The third slider is driven by a fifteenth cylinder to move along the fifteenth guide rail to form a first pin station and a second pin station. The first pin station corresponds to the pin rotary motor, and the second pin station corresponds to the limiting hole of the pin shaft at the third chain positioning seat.

[0016] The automatic assembly device for pins and chain links includes a pin bending device and a chain disengagement device. The pin bending device includes a cylinder-driven U-shaped mounting base. A pin rotating device is installed on one side of the fourth chain positioning base, and a pin pressing device is installed on the other side of the fourth chain positioning base. The pin rotating device includes a sixteenth cylinder driving a second rotary motor to move back and forth. The second rotary motor is connected to a second rotary chuck. The pin pressing device includes a seventeenth cylinder driving a seventeenth push rod to move up and down. An eighteenth cylinder is inclined on the side of the seventeenth push rod, and the eighteenth push rod of the eighteenth cylinder corresponds to the long pin of the pin. The chain disengagement device includes a nineteenth cylinder installed on the mounting bracket on the top of the machine base. The nineteenth cylinder drives a twentieth cylinder to move back and forth through the nineteenth push rod. The twentieth push rod of the twentieth cylinder is connected to a chain separation plate, and a separation lever is provided at the bottom of the chain separation plate.

[0017] A chain assembly method based on the automatic assembly of pins and chain links in an automatic chain assembly machine:

[0018] Step 1: The chain is installed on the fixed seat by the screw and chain link automatic assembly device, the screw is installed on the movable seat, and then the first push rod drives the movable seat to realize the screw and chain link insertion, and moves the first connecting post from the second arc at one end of the limiting ring to the first arc, thus fixing the assembly relationship between the screw and the chain link.

[0019] Step Two: The conveyor motor drives the conveyor belt to move the screw and chain link of the first chain positioning seat to form the second chain positioning seat. Then, the automatic pin feeding device of the automatic pin and chain link assembly device is activated. The pin is sucked into the inclined tube of the pin assembly device through the negative pressure air pipe, and then pushed to the receiving hole of the first rotating shaft through the push rod in the vertical tube. The first rotating shaft drives the pin to rotate and engage the pin clamping device. The pin clamping device is driven by the eighth cylinder to engage the chuck with the pin. Then, the second motor drives the chuck... The pin is grasped and rotated. The longitudinal position sensor detects the pin's limiting hole, making the limiting hole open from top to bottom. Then, the first lateral drive device moves the pin clamping device and the pin hole through-hole device from the first displacement position to the second displacement position. Then, the pin hole through-hole device passes through the pin hole of the outer chain plate of the chain link and the connecting hole of the connecting piece through the first through shaft under the drive of the ninth cylinder. Then, the eighth cylinder drives the pawl to insert the pin into the pin hole of the outer chain plate of the chain link and the connecting hole of the connecting piece.

[0020] Step 3: After completing Step 2, the conveyor motor drives the conveyor belt to move the pin, screw and chain link of the second chain positioning seat to form the third chain positioning seat. Then, the automatic pin conveying device of the automatic pin assembly device is started to insert the pin into the limiting hole of the pin.

[0021] Step 4: After completing Step 3, the conveyor motor drives the conveyor belt to move the pins, pin shafts, screws, and chain links assembled in the third chain positioning seat to form the fourth chain positioning seat. Then, the pin bending device of the automatic pin and chain link assembly device is activated to bend the long pin under the drive of the eighteenth push rod. Then, the seventeenth push rod bends both the long and short pins to prevent the pin from detaching from the pin shaft. After bending, the chain disengagement device drives the twentieth cylinder through the nineteenth push rod to reach the gap between the screw and the chain link. Then, the twentieth push rod drives the chain separation plate's separation lever to move forward to hook the screw and chain link. Then, the nineteenth push rod lifts the chain separation plate, and then the separation lever moves backward to detach from the screw and chain link, so that the screw and chain link are automatically assembled and output through the conveyor chain.

[0022] As can be seen from the above, the automatic chain assembly machine based on the automatic assembly of pins and chain links provided in this application has four chain positioning stations corresponding to the automatic assembly devices of screw and chain link, pin and chain link, pin and pin, and pin and chain link, respectively. Combined with the conveyor belt driven by the conveyor motor, it realizes a continuous assembly process, which solves the technical problems of low precision and low efficiency in the assembly of screws and chain links in traditional processes. It has the advantages of realizing full-process automation, improving assembly efficiency and stability. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional structural diagram of an automatic chain assembly machine based on the automatic assembly of pins and chain links according to the present invention;

[0025] Figure 2 This is a three-dimensional structural diagram of an automatic chain assembly machine based on the automatic assembly of pins and chain links according to the present invention from another angle.

[0026] Figure 3 This is a three-dimensional structural diagram of the automatic assembly device for screw and chain links in this invention;

[0027] Figure 4 This is a schematic diagram of the mounting structure of the fourth cylinder in this invention;

[0028] Figure 5 This is a schematic diagram of the installation structure of the movable seat and the fixed seat relative to the screw in this invention;

[0029] Figure 6 This is a schematic diagram of the installation structure of the movable seat and the fixed seat relative to the screw and chain link in this invention;

[0030] Figure 7 This is a schematic diagram of the screw and chain link installation structure in this invention;

[0031] Figure 8 This is a schematic diagram of the three-dimensional structure of the pin in this invention;

[0032] Figure 9 This is a three-dimensional structural diagram of the automatic pin feeding device in this invention;

[0033] Figure 10 This is a three-dimensional structural diagram of the pin assembly device in this invention;

[0034] Figure 11 This is a schematic diagram of the three-dimensional structure of the pin shaft in this invention;

[0035] Figure 12 This is a three-dimensional structural diagram of the automatic pin conveying device in this invention;

[0036] Figure 13 This is a three-dimensional structural diagram of the linear vibrator in this invention;

[0037] Figure 14 This is a three-dimensional structural diagram of the automatic pin assembly device in this invention;

[0038] Figure 15 This is a three-dimensional structural diagram of the pin bending device in this invention;

[0039] Figure 16 This is a three-dimensional structural diagram of the chain disengagement device in this invention;

[0040] Figure 17 This is a schematic diagram of the screw, outer chain plate, and pin mounting structure in this invention;

[0041] Figure 18 This is a schematic diagram of the installation structure of the pin after bending, the screw, and the outer chain plate in this invention. Detailed Implementation

[0042] The following will refer to the appendix to this application. Figure 1-18The technical solutions in this application are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0043] In existing technologies, traditional assembly processes have significant limitations in chain manufacturing, particularly for screw-end chains used in industrial equipment such as forklifts. Conventional chain assembly equipment is typically designed for standard chain link structures and cannot accommodate special chain link structures with screw connections. When precise insertion of the screw and chain link is required, assembly often relies on manual operation. This not only leads to low assembly efficiency but also increases the risk of assembly errors due to human factors, directly affecting the mechanical performance and lifespan of the chain product. Especially in multi-station continuous assembly scenarios, existing equipment lacks effective positioning and transmission coordination mechanisms, making it difficult to achieve high-precision automated assembly of the screw and chain link.

[0044] To address these challenges, the R&D team conducted an in-depth analysis of the structural characteristics of the screw-connecting chain, discovering that the main assembly difficulties lay in the precise alignment and reliable fixing of the screw and multi-link plates. Traditional chain link assembly fixtures could not accommodate the special structure of the screw connecting plates and lacked effective elastic compensation mechanisms to eliminate positional deviations during assembly. Based on this, the designers proposed constructing a multi-station linkage assembly system. Through the coordinated operation of modular positioning devices and pneumatic actuators, automatic alignment and insertion of the screw and chain links were achieved. The key breakthrough lay in developing a positioning seat structure with elastic adjustment capabilities, coupled with a programmable control conveyor system, forming a continuous operation process adaptable to different assembly stages.

[0045] Therefore, this application proposes an automatic chain assembly machine based on the automatic assembly of pins and chain links, comprising a program control panel 6 and a main structure of a base 1. A conveyor chain system is symmetrically arranged on both sides of the base. This conveyor chain is linked to a circular conveyor belt, which is connected to a chain positioning seat assembly with a positioning function. A conveyor motor drives the conveyor belt to form a cyclic motion, causing the chain positioning seats to sequentially pass through four assembly stations. The first station corresponds to an automatic screw and chain link assembly device, which includes an elastically adjustable movable seat and a fixed seat. The movable seat is connected to the base via a spring mechanism and carries the screw assembly, while the fixed seat is equipped with a chain plate positioning structure. A pneumatic actuator drives the movable seat to complete the insertion action of the screw and chain link, realizing the automatic assembly of key components.

[0046] The conveyor chain system refers to a material conveying mechanism driven by synchronous double chains, which can be implemented using double-row roller chains in conjunction with a sprocket drive mechanism. Its function is to ensure the smooth transport and precise positioning of the assembled workpieces; the symmetrical arrangement on both sides effectively balances the mechanical stress during the assembly process. The chain positioning station refers to four functional stations distributed circumferentially along the conveyor belt, for example, they can be set as four equally spaced positions, each equipped with a dedicated assembly module. This layout realizes a streamlined assembly process, avoiding precision loss caused by repeated disassembly and reassembly of workpieces. The movable seat elastic adjustment mechanism refers to a movable platform connected by a spring assembly; for example, a rectangular cross-section helical spring can be used for axial buffering, and its elastic coefficient can be selected according to the assembly pressure requirements. This structure can effectively absorb positional deviations during the assembly process, ensuring precise alignment of the screw and the chain plate pin hole. The pneumatic actuator refers to a linear motion device driven by a cylinder, for example, using a standard stroke cylinder in conjunction with a guide rail. Its function is to provide a stable and controllable assembly driving force, achieving precise insertion actions through program control.

[0047] Specifically, during operation, the assembly machine uses a conveyor motor to drive the conveyor belt, which in turn moves the chain positioning seat in a cyclical manner. When the positioning seat enters the first station, the chain plate positioning structure on the fixed seat secures the outer chain plate assembly via three arc protrusions, while the movable seat maintains its initial position under the action of a spring. The first cylinder drives the push rod to move the movable seat towards the fixed seat, ensuring that the connecting piece at the end of the screw is accurately inserted into the gap of the outer chain plate. During the insertion process, the elastic adjustment function of the movable seat automatically compensates for minor positional deviations, ensuring complete alignment between the connecting piece and the chain plate pin hole. After insertion, the limiting ring mechanism locks the position of the movable seat through the cooperation of the connecting post and the arc surface, preventing the assembled component from retracting. The continuous arrangement of the four stations allows the screw assembly, pin installation, and pin fixing processes to be completed automatically in sequence, forming a complete assembly line.

[0048] Compared to existing technologies, traditional chain link assembly equipment typically completes all assembly steps at a single station, requiring manual intervention for workpiece repositioning and process switching. This solution, through a multi-station linkage design, achieves process decomposition while maintaining equipment compactness. Each station is equipped with a dedicated assembly module, significantly improving assembly efficiency. Existing rigid positioning structures are ill-suited for the assembly requirements of screw connecting pieces, while the flexible movable seat design in this application, combined with pneumatic drive, ensures assembly accuracy and improves equipment fault tolerance. Compared to manual assembly, this automated system reduces assembly cycle time by approximately 60% and increases product qualification rate to over 99.5%.

[0049] Through the above technical solution, this application effectively solves the problem of automated assembly of screw-end chains. The multi-station conveyor system enables continuous operation of the assembly process, significantly improving production efficiency. The coordinated design of the flexible movable seat and the pneumatic actuator ensures precise insertion of the screw and chain links, avoiding assembly errors caused by manual operation. The three-point positioning structure of the fixed seat reliably fixes the chain plate assembly, preventing positional displacement during assembly. This technical solution is particularly suitable for the industrial chain manufacturing field that requires high precision and mass production, providing a reliable solution for the automated production of chains with special structures.

[0050] In a specific implementation scheme, conveyor chains 2 are installed on both sides of the base 1. The conveyor chains 2 are connected to the conveyor belt 11, and the conveyor belt 11 is connected to the chain positioning seats. Under the drive of the conveyor motor 14, the chain positioning seats form four chain positioning seat positions. The four chain positioning seat positions correspond to the first chain positioning seat 13, the second chain positioning seat 9, the third chain positioning seat 7, and the fourth chain positioning seat 3, respectively. The first chain positioning seat 13 corresponds to the automatic assembly device for screws and chain links, and the second chain positioning seat 9 corresponds to the automatic assembly device for pins and chain links. The device includes a third chain positioning seat 7 corresponding to an automatic assembly device for pins and shafts, and a fourth chain positioning seat 3 corresponding to an automatic assembly device for pins and chain links. The automatic assembly device for screws and chain links includes a first chain positioning seat 13, which includes a base 43. The base 43 is equipped with a movable seat 36 connected by a spring 40 and a fixed seat 30. The movable seat 36 is equipped with a screw 34, and the fixed seat 30 is equipped with chain links. The movable seat 36 cooperates with the first push rod 24 of the first cylinder 10 to complete the insertion connection between the screw 34 and the chain links.

[0051] This application further proposes that the link includes a first outer link plate 44, a second outer link plate 51, and a third outer link plate 52 arranged parallel to each other. One end of the gap between the first outer link plate 44, the second outer link plate 51, and the third outer link plate 52 is inserted into an inner link plate 54 and connected by a first pin 53, and the other end is inserted into a connecting piece 32 at one end of a screw and connected by a pin 49. The top of the movable seat 36 is respectively provided with a first screw mounting seat 35 and a second screw mounting seat 33. A first limiting screw 34 is installed in the gap between the first screw mounting seat 35 and the second screw mounting seat 33. The nut 45 is connected to the side of the movable seat 36 via the first connecting post 37, which is connected to the first arc 47 or the second arc 46 at one end of the limiting ring 39. The other end of the limiting ring 39 is connected to the screw mounting seat 41 located on the side of the fixed seat 30 via the screw 444. The end of the screw 444 is provided with a second limiting nut 48. The fixed seat 30 and the screw mounting seat 41 are connected by the second connecting post 42. The fixed seat 30 is provided with three spaced-apart plate-shaped arc protrusions 31, which correspond to the first outer chain plate 44, the second outer chain plate 51, and the third outer chain plate 52, respectively.

[0052] The gap structure between the first, second, and third outer link plates refers to the formation of two equidistant gaps through three parallel outer link plates, providing precise insertion space for the inner link plate and connecting piece. The first limiting nut is a positioning element located between the screw mounting seats; specifically, it can be a hexagonal metal block with threaded holes, used to fix the axial position of the screw. The first and second arcs of the limiting ring refer to arc-shaped guide surfaces with different radii of curvature, used to control the movement trajectory of the movable seat. The second connecting post is a support structure connecting the fixed seat and the screw mounting seat; specifically, it can be a cylindrical metal rod with a diameter of 8-12 mm, used to maintain the vertical positioning accuracy of the screw mounting seat. The three arc protrusions are positioning bosses located on the fixed seat; specifically, they can be arc-shaped metal pieces with a height of 3-5 mm, used to form a shape-fitting positioning with the arc edges of the outer link plates.

[0053] Specifically, when the chain link is placed on the fixed seat, the three arc-shaped protrusions respectively engage with the arc-shaped edges of the first, second, and third outer chain plates, forming a three-point positioning constraint. The movable seat contacts the arc-shaped guide surface of the limiting ring via the first connecting post and moves along a predetermined trajectory under the drive of the first cylinder. The screw is fixed between the first and second screw mounting seats by the first limiting nut, and when the movable seat moves, it drives the screw to precisely insert into the mounting hole of the connecting piece. The limiting ring can change its relative position with the screw mounting seat by adjusting the second limiting nut, thereby adjusting the travel of the movable seat. The second connecting post forms a rigid support between the fixed seat and the screw mounting seat, ensuring that the screw axis remains coaxial with the mounting hole of the connecting piece.

[0054] Compared to existing technologies, traditional chain assembly equipment lacks a positioning structure for multi-link chains, leading to positional deviations when the screw and link are inserted. This solution addresses this by using three arc-shaped protrusions on the fixed base to form a shape-fitting positioning with the outer chain plate of the link, combined with the guide structure of the limiting ring on the movable base, ensuring precise alignment of the screw's insertion trajectory with the axis of the mounting hole on the connecting plate. Compared to conventional planar positioning methods, this structure significantly improves positioning accuracy.

[0055] Through the above technical solution, this application effectively solves the problem of automated assembly of multi-piece chain links and screws. The coordinated action of the arc-shaped protrusion positioning structure of the fixed seat and the limiting ring guiding structure of the movable seat ensures that the screw can be accurately inserted into the chain link connecting piece composed of three outer chain plates, avoiding assembly failure due to misalignment of the chain link components. This structural design eliminates the need for manual intervention to adjust the position during assembly, achieving fully automated and precise insertion of the screw and chain links.

[0056] This application further proposes a chain plate gap positioning device, which includes a first bracket 20, a first guide rail 21 on the side of the first bracket 20, a first slider 19 connected to the first guide rail 21, a second bracket 25 connected to the first slider 19, a second cylinder 17 connected to the top of the second bracket 25 via a second push rod 18, a second sliding plate 22 connected to the bottom of the second bracket 25, a third cylinder 23 connected to one end of the second sliding plate 22, a clamping block mounting seat 28 connected to the other end, a fourth cylinder 27 connected to the top of the clamping block mounting seat 28, and the fourth cylinder 27 controls the opening and closing of the clamping block assembly 29 that matches the gap between the first outer chain plate 44, the second outer chain plate 51, and the third outer chain plate 52; a limiting hole 26 is provided in the second sliding plate 22, and the second bracket 25 is connected to the outer periphery of the limiting hole 26; the fourth cylinder 27 is arranged vertically with the first chain positioning seat 13.

[0057] The first support refers to a rigid structure that supports the chain plate gap positioning device. It can be implemented using a metal frame or welded components, and a first guide rail on its side guides horizontal movement. The first slider is a sliding component that cooperates with the first guide rail. It can be a metal block with balls or grooves, and its lifting movement is achieved by a second cylinder. The second sliding plate is a moving component connected to the second support. It can be a metal plate with guide grooves, and its horizontal displacement is achieved by a third cylinder. The clamping block mounting base is the mounting base that fixes the clamping block assembly. A fourth cylinder controls the opening and closing of the clamping block assembly to clamp and position the chain plate gap. The limiting hole is a guide hole located inside the second sliding plate. It can be a rectangular through hole that cooperates with the second support to limit the sliding stroke.

[0058] Specifically, when the chain link enters the first chain positioning seat, the second cylinder drives the second bracket to descend along the first guide rail via the second push rod, bringing the clamping block mounting seat closer to the chain plate gap. The third cylinder pushes the second sliding plate to move horizontally, causing the clamping block assembly to reach the preset position. The fourth cylinder controls the clamping block assembly to close, clamping the gap between the first, second, and third outer chain plates, ensuring stable alignment of the chain plates during assembly. The cooperation between the limiting hole and the second bracket restricts the movement range of the second sliding plate, preventing excessive displacement that could lead to clamping deviation. After clamping is complete, the screw and chain link can be precisely aligned during assembly.

[0059] Compared to existing technologies, the positioning of chain plate gaps during traditional chain assembly often relies on manual adjustment or simple clamps, resulting in low positioning accuracy and insufficient efficiency. This solution achieves automated clamping and positioning of chain plate gaps through a multi-cylinder collaborative drive of the clamping block assembly, ensuring assembly accuracy without manual intervention.

[0060] Through the above technical solution, this application solves the technical problem that the gap between the chain plates is prone to shift during the assembly process. By using a mechanized clamping and positioning mechanism, the accuracy and consistency of the screw and chain link insertion assembly are significantly improved, while the assembly failure rate caused by positioning deviation is reduced.

[0061] This application further proposes an automatic pin and chain link assembly device, including an automatic pin feeding device and a pin assembly device. The automatic pin feeding device includes a feeding box 71, at the bottom of which a pin 49 to be conveyed is placed. One end of the pin 49 has an enlarged flange 98, and the other end has a limiting hole 50 perpendicular to the pin axis. A lifting groove 73 is provided on the side of the feeding box 71. The lifting groove 73 is driven to move up and down by a cylinder. The lower limit end of the lifting groove 73 engages with the pin 49 at the bottom of the feeding box 71, and the upper limit end of the lifting groove 73 engages with the pin feeding chute 70 at the top of the feeding box 71. After entering the pin feeding chute 70, the pin 49 slides into the pin feeding groove 64. The top of the pin feeding groove 64 is provided with a pin actuation and cleaning device. 4. A pin negative pressure conveying control device is provided at the end of the pin moving in the direction of movement. The pin negative pressure conveying control device is connected to the pin assembly device through a negative pressure air pipe 58. The pin actuation and cleaning device includes an actuation motor 65, which is connected to an actuation shaft 68. The actuation shaft 68 is wound with a webbing 69 around its outer periphery. An actuation broom 67 is provided around the outer periphery of the webbing 69. The pin negative pressure conveying control device includes a pressure rod 66, which presses the pin 49. The pin 49 is arranged and enters the negative pressure control box 60. The side of the negative pressure control box 60 is connected to a pin control cylinder 59. The push rod of the pin control cylinder 59 pushes the control pin 61 into the control groove 62. A return spring connected to the control pin 61 is provided in the control groove 62. After the control pin 61 enters the control groove 62, the pin 49 is sucked into the negative pressure air pipe 58 through negative pressure.

[0062] The lifting trough refers to a groove-shaped structure used for vertically lifting the pin. Specifically, it can be driven by a cylinder to reciprocate. The lower limit end receives the pin at the bottom of the feeding box, while the upper limit end pushes the pin into the pin feeding chute, achieving directional lifting of the pin. The pin feeding chute is an inclined guide channel, specifically formed by bending metal sheets. Its inclination angle can be, for example, 30° to 45°, allowing the pin to automatically slide into the pin feeding groove under gravity. The pin-pulling and cleaning device is a mechanism used to remove stuck pins. Specifically, it can use a rotating broom structure, where a webbing belt wraps around the pin and rotates periodically to sweep away pins accumulated at the entrance of the pin feeding groove. The pin negative pressure conveying control device is a device that uses negative pressure to attract pins. Specifically, it can use a pressure rod in conjunction with a control trough structure. After the pins are arranged into the negative pressure control box, a return spring adjusts the position of the control pin, causing the pin to be sucked into the air pipe by negative pressure.

[0063] Specifically, the automatic pin feeding device operates as follows: Pins at the bottom of the feeding box are driven upwards by the cylinder of the lifting trough. When the lifting trough reaches its upper limit, the pin is pushed into the pin feeding chute and slides into the pin feeding groove. The pin-moving cleaning device's broom rotates continuously to remove any pins that may be stuck. The pins, arranged in the pin feeding groove, move to the negative pressure conveying control device. The pressure rod presses the pins into the negative pressure control box, and the pin control cylinder pushes the control pin into the control groove. At this time, the negative pressure air pipe generates suction force to draw in the pins and transport them to the pin assembly device.

[0064] Compared with existing technologies, traditional chain assembly machines typically rely on vibratory feeders for pin feeding, which is inefficient and prone to jamming. This application achieves directional lifting by using a lifting trough in conjunction with a pin feeding chute, and combines this with a negative pressure control device to stably transport the pins, thus avoiding the noise and jamming risks associated with vibration sorting.

[0065] Through the above technical solution, this application can achieve automated directional conveying of pins, ensuring that the pin flanges face in the same direction and the limiting holes are accurately positioned, thus providing a foundation for the subsequent precise assembly of the pins and chain links. The pin negative pressure conveying control device replaces mechanical gripping with pneumatic adsorption, reducing damage to the pin surface and improving conveying efficiency.

[0066] The actuating shaft is an axially extending rotating component, which can be implemented by creating spiral grooves on the surface of a metal rod. These grooves are used to fix the winding path of the webbing. The webbing refers to a flexible strip structure, which can be made of nylon fiber woven material, and its surface can be covered with elastic bristles to form an actuating broom. The actuating broom is a cleaning component that contacts the pin feeding groove and can also push the pin in the pin feeding chute to move. When the actuating motor is powered on, it drives the actuating shaft to rotate around its axis, and the webbing wound on the shaft surface will then produce circumferential movement. This solution creates a dynamic cleaning area by rotating the broom, covering the entire groove cross-section, while utilizing flexible materials to reduce the risk of contact damage.

[0067] Through the above technical solution, this application effectively solves the problem of material jamming caused by debris accumulation during the pin conveying process, ensuring smooth movement of the pin within the feeding groove. The continuous motion of the rotating broom can automatically remove metal particles of different sizes, avoiding production line downtime caused by manual cleaning and improving the continuity and stability of the assembly process.

[0068] The aforementioned technical solution uses a pressure rod, a rod-shaped component that applies pressure to the pin, typically made of metal, to press the pins arranged in the feeding groove into the inlet of the negative pressure control box. The negative pressure control box is a sealed cavity with a negative pressure air path, typically an aluminum alloy box structure, with an internal vacuum channel connected to the negative pressure air pipe, used to create negative pressure to adsorb the pins after the control pin is activated. The pin control cylinder is a linear actuator that drives the control pin, typically a double-acting cylinder, which pushes the control pin into the control groove via a push rod to trigger negative pressure adsorption. The return spring is an elastic element that resets the control pin. The negative pressure air pipe is a delivery pipe connecting the negative pressure source and the assembly device, used to transport the adsorbed pins to the assembly station.

[0069] Specifically, when the pins are arranged to the end of the feeding groove, the pressure rod presses the pins into the inlet of the negative pressure control box. The pin control cylinder pushes the push rod, causing the control pin to overcome the resistance of the return spring and insert into the control slot. At this time, a vacuum is formed inside the negative pressure control box. Under the action of negative pressure, the pins are sucked into the negative pressure pipe and transported to the assembly device along the pipeline. After the adsorption is completed, the cylinder retracts, the return spring drives the control pin out of the control slot, the negative pressure is released, and it waits for the next working cycle.

[0070] Compared to existing technologies, traditional pin conveying systems often use vibratory feeders combined with robotic arms for gripping, which suffers from low positioning accuracy and susceptibility to jamming. This solution achieves directional and orderly pin conveying through negative pressure adsorption and mechanical interlock control, avoiding the noise and wear generated by vibratory feeders. The coordinated design of the control pin and return spring ensures precise synchronization between negative pressure start / stop and conveying action, improving conveying reliability.

[0071] Through the above technical solution, this application effectively solves the technical problems of easy jamming and inaccurate positioning of pins during transportation. The negative pressure adsorption method avoids surface damage caused by mechanical clamping and is particularly suitable for transporting pins with flanged structures. The linkage design between the control pin and the return spring realizes the automated control of the transportation process, providing a stable and reliable supply of pins for subsequent assembly processes.

[0072] This application further proposes a pin assembly device including an inclined tube 103 connected to a negative pressure air pipe 58, the inclined tube 103 connected to an integrally formed vertical tube 81, the vertical tube 81 axially connected to a push rod 79, the push rod 79 connected to a fifth cylinder push rod 76 via a push connecting plate 78, the fifth cylinder push rod 76 connected to a fifth cylinder 75, the bottom of the vertical tube 81 is the outlet of the pin 49, the outlet corresponds to the receiving hole 94 of the first rotating shaft 93, the first rotating shaft 93 is connected to a first motor 82, the first motor 82 is provided with a pin clamping device on one side and a pin hole through hole device on the other side, the pin clamping device and the pin hole through hole device are both driven to displacement by a first lateral drive device, the first lateral drive device drives to form a first displacement position and a second displacement position, the pin clamping device corresponds to the receiving hole 94 in the first displacement position, the pin clamping device corresponds to the pin hole 96 of the outer chain plate of the chain link and the connecting hole 38 of the connecting piece 32 in the second displacement position.

[0073] The components are as follows: The inclined tube is an inclined pipe used to receive the negative pressure conveying pins. Specifically, it can be made of metal tubing bent at an angle to guide the pins as they slide into the vertical tube under gravity. The vertical tube is a vertical pipe connected to the inclined tube, used to receive the pins conveyed by the inclined tube and guide them vertically to the outlet. The first rotating shaft is a rotating component with a receiving hole, specifically a servo motor-driven turntable structure. The receiving hole temporarily accommodates the pins falling from the vertical tube and rotates them to a predetermined angle. The pin clamping device is a mechanical structure with a gripping function, specifically a pneumatic gripper in conjunction with a position sensor, used to grip the pins in the receiving hole and adjust their orientation. The pin hole through-hole device is an actuator used to pass through the chain link holes, specifically a cylinder-driven through-shaft structure, used to pre-align the holes of the outer chain plate and connecting piece for pin insertion. The first lateral drive device refers to the mechanism that controls the horizontal movement of the clamping device and the through hole device. Specifically, it can be a linear guide rail combined with a cylinder drive, used to transfer the clamping device from the receiving station to the assembly station.

[0074] Specifically, after the negative pressure air pipe draws the pin into the inclined tube, the pin slides along the inclined tube into the vertical tube and reaches the discharge port under the push of the push rod. After the pin falls into the receiving hole of the first rotating shaft, the first motor drives the rotating shaft to rotate, bringing the pin to the clamping position. After the pin clamping device grasps the pin, the transverse drive device moves it to the second displacement position. At this time, the cylinder of the through-hole device drives the through shaft to insert into the hole of the outer chain plate of the chain link for pre-alignment with the hole of the connecting piece. The clamping device then inserts the pin into the aligned hole to complete the assembly.

[0075] Compared with existing technologies, traditional pin assembly relies on manual adjustment of the pin angle and alignment with the hole, which is inefficient and prone to misalignment. This solution adjusts the pin angle by rotating the shaft and pre-aligns the hole with a through-hole device, achieving dual control of automatic pin orientation correction and precise hole alignment.

[0076] Through the above technical solution, this application solves the problem of insertion failure caused by orientation deviation during pin assembly. By using a mechanical structure to replace manual operation, it ensures that the pin limiting hole and the chain link hole are accurately aligned, thereby improving assembly efficiency and product consistency.

[0077] This application further proposes a first lateral drive device including a sixth cylinder 101, the sixth cylinder 101 being connected to a second slider 80 via a sixth push rod 102, the second slider 80 being connected to a pin clamping device and a pin hole through-hole device, the pin clamping device including a seventh cylinder mounting base 84 connected to the second slider 80, the seventh cylinder mounting base 84 being connected to a seventh cylinder 85, the seventh cylinder 85 being connected to an eighth cylinder 87 via a seventh slider 86, the eighth cylinder 87 being connected to a second motor 89 via an eighth push rod 88, the second motor 89 being connected to a chuck 91, the chuck 91 having a lateral position sensor 90 and a longitudinal position sensor 92 respectively on its side, the pin hole through-hole device including a first through shaft 95, the first through shaft 95 being connected to a through shaft mounting base 97, the through shaft mounting base 97 being connected to a ninth cylinder 100, the second displacement position corresponding to a second chain positioning seat 9, the top of the second chain positioning seat 9 having a tenth cylinder 99, the tenth cylinder 99 being connected to a pressure block 98.

[0078] The sixth push rod refers to the linear motion component at the cylinder output end, which can be implemented using a piston rod structure. It drives the second slider to move laterally via the cylinder. The second slider is a load-bearing component that slides along the guide rail, which can be made of aluminum alloy with a ball bearing guide rail structure. It is used to synchronously drive the pin clamping device and the pin hole through-hole device to switch positions. The seventh cylinder mounting base is the support structure that fixes the seventh cylinder. Its vertical surface is used to fix the cylinder, and its horizontal surface is connected to the second slider via bolts. The lateral position sensor is an electronic component that detects the horizontal position of the jaws, which can be implemented using a photoelectric sensor. It is used to determine whether the pin clamping device has reached the target position. The longitudinal position sensor is an electronic component that detects the pin rotation angle, ensuring that the pin limit hole is in the vertical direction. The ninth cylinder is the actuator that drives the linear motion of the first through shaft, pushing it through the chain link pin hole and connecting hole. The tenth cylinder is the pressing mechanism located on top of the second chain positioning seat. Its connected pressure block is used to fix the chain link position during assembly.

[0079] Specifically, after the pin is pushed to the receiving hole of the first rotating shaft, the sixth cylinder drives the second slider to move to the first displacement position, at which point the pin clamping device is aligned with the receiving hole. The seventh cylinder pushes the eighth cylinder and the chuck closer to the pin, and the second motor drives the chuck to rotate the pin. After the longitudinal position sensor detects that the pin limiting hole is in a vertical state, the eighth cylinder drives the chuck to clamp the pin. Subsequently, the sixth cylinder drives the second slider to move to the second displacement position, at which point the pin clamping device is aligned with the pin hole of the outer chain plate of the chain link. The ninth cylinder drives the first through shaft to pass through the chain link pin hole and the connecting plate connection hole for pre-positioning, while the tenth cylinder drives the pressure block to press down and fix the chain link. The eighth cylinder pushes the chuck to insert the pin into the pre-positioned hole, and the lateral position sensor monitors the movement position in real time to ensure accurate insertion of the pin. After assembly is completed, each cylinder resets to prepare for the next cycle.

[0080] Compared to existing technologies, traditional chain assembly relies on manual angle adjustment for pin positioning and lacks a pre-positioning mechanism, resulting in low assembly efficiency and a high risk of misalignment. This solution achieves automatic station switching through a lateral drive device, combined with sensor detection and through-shaft pre-positioning, ensuring precise alignment of the pin angle and hole position while eliminating manual intervention. The cooperative design of the tenth cylinder and pressure block further solves the problem of chain link positional misalignment during assembly.

[0081] Through the above technical solution, this application achieves fully automated control of the pin clamping and insertion actions. The coordinated detection of the lateral and longitudinal position sensors ensures the accuracy of the pin rotation angle and movement path. The through-shaft pre-positioning driven by the ninth cylinder effectively avoids misalignment interference between the pin and the hole. The pressure block of the tenth cylinder ensures the stability of the chain links during assembly. This device integrates traditional multi-process operations into a continuous automated process, significantly improving assembly efficiency and product consistency.

[0082] This application further proposes an automatic pin conveying device and an automatic pin assembly device. The automatic pin conveying device includes a vibrating disk 106 that vibrates the pins 104. The pin 104 includes an integral long pin 57 and a short pin 55. A ring 56 is provided at the bend of the long pin 57 and the short pin 55. A first vibrating track 114 is provided inside the vibrating disk 106. The first vibrating track 114 is connected to a first lever 113, a first reversing notch 112, and a first reversing ramp 111. The first lever 113, by controlling the gap between itself and the first vibrating track 114, vibrates the pins 104 arranged with the long pin 57 in front and the ring 56 behind into the first reversing notch 112. Pins 104 in other directions vibrate back to the vibrating disk 106. Then, the pins 104 entering the first reversing notch 112... The pins are diverted at the reversing swashplate 111 and enter the second vibration track 110. The second vibration track 110 is connected to the second height limiting lever 210, the second reversing notch 109, and the second reversing swashplate 108. The second height limiting lever 210 controls the height gap between itself and the second vibration track 110 to vibrate the horizontally arranged pins 104 (long pins 57 and short pins 55) into the second reversing notch 109. The pins 104 at other heights vibrate back to the vibrating plate 106. Then, the pins 104 that have entered the second reversing notch 109 are diverted at the second reversing swashplate 108 and enter the third vibration track 107. The third vibration track 107 is connected to the linear vibration guide rail 105. The linear vibration guide rail 105 is connected to the linear vibrator 116. The pins 104 output by the linear vibration guide rail 105 are used in conjunction with the automatic pin assembly device.

[0083] The vibratory feeder is a vibratory feeding device used for the directional arrangement of disordered pins. Specifically, it can be implemented using an electromagnetically driven disc vibrator, with a spiral track on its inner wall guiding the movement of the parts. A gap control mechanism between the first lever and the first vibratory track is used to filter pins with specific orientations; for example, the gap width only allows pins with their long pins facing forward to pass through. The second height-limiting lever achieves height filtering by adjusting its vertical distance from the track plane; for example, the distance between the lower edge of the lever and the track surface is set to only allow horizontally positioned pins to pass through. Both the first and second reversing swashplates adopt an inclined guide plate structure, which can change the direction of movement of the pins by 90 degrees. The linear vibratory guide rail serves as a directional conveying channel, ensuring that the pins maintain their predetermined posture during movement.

[0084] Specifically, the pins first enter the first vibration track within the vibratory feeder. At this point, the first lever blocks pins with non-long pins pointing forward. Pins with the correct orientation enter the first reversing notch and are then redirected by the first reversing wedge to enter the second vibration track. In the second vibration track, the second height-limiting lever filters out vertically stacked or tilted pins, allowing only horizontally positioned pins to enter the second reversing notch. These pins are then redirected by the second reversing wedge to enter the third vibration track. After this three-stage screening, the pins finally enter the linear vibration guide, where continuous vibration transports them to the assembly station. This multi-stage screening mechanism ensures that pins enter subsequent assembly stages with long pins extending horizontally and short pins pointing vertically downwards, adhering to the standard posture.

[0085] Compared to existing technologies, traditional pin assembly often relies on manual placement or a single vibratory feeder, resulting in a high rate of orientation errors. This solution, through a three-stage vibratory track combined with a lever-based screening mechanism, achieves automatic orientation of L-shaped pins for the first time. In particular, the combination of the second height-limiting lever and the reversing wedge effectively solves the challenge of attitude control for irregularly shaped parts during transport.

[0086] Through the above technical solution, this application effectively solves the problem of directional conveying in the automated assembly of irregularly shaped pins. By combining the multi-stage vibration track with the mechanical screening mechanism, it ensures that the pins enter the assembly station with precise orientation. This device can continuously and stably provide pins with the correct orientation, avoiding assembly errors caused by manual intervention, and enabling fully automated operation of the pin assembly process in the chain-driven automatic assembly machine.

[0087] This application further proposes an automatic pin assembly device including a pin sensor 119 that outputs the position of the pin 104 via a linear vibration guide 105. The pin sensor 119 cooperates in controlling an eleventh cylinder 117. The eleventh cylinder push rod 118 of the eleventh cylinder 117 drives the pin 104 to move along the pin guide 120 to the pin pushing device. The pin pushing device includes a twelfth cylinder 121. The twelfth cylinder push rod 122 of the twelfth cylinder 121 is connected to a pin push rod 123. The pin push rod 123 pushes the pin 104 into the pin rotation hole 124 of the pin rotation motor 133. The pin rotation hole 124 is located in the pin rotation motor 133. After the drive rotates, it corresponds to the pin chuck 127. The pin chuck 127 is connected to the thirteenth clamping cylinder 125. A pin chuck rotation motor 132 is provided between the thirteenth clamping cylinder 125 and the pin chuck 127. The thirteenth clamping cylinder 125 is connected to the fourteenth lifting cylinder 128 through the guide bracket 131. The base of the fourteenth lifting cylinder 128 is connected to the third slider 129. The third slider 129 is driven by the fifteenth cylinder 130 to move along the fifteenth guide rail to form the first pin station and the second pin station. The first pin station corresponds to the pin rotation motor 133, and the second pin station corresponds to the limiting hole 50 of the pin shaft 49 at the third chain positioning seat 7.

[0088] The pin sensor is a sensing device used to detect the position of the pin output from the linear vibration guide rail. It can be implemented using a photoelectric sensor or a proximity switch, triggering subsequent cylinder actions by real-time monitoring of the pin position signal. The pin pushing device is a mechanical pushing mechanism driven by a cylinder. For example, the twelfth cylinder uses a push rod to drive a push rod, pushing the pin into the rotating hole to ensure the pin accurately enters the processing position. The pin rotary motor is the power device that drives the pin rotating hole to rotate, such as a stepper motor or servo motor, used to adjust the pin angle to align it with the chuck. The pin chuck rotary motor is the drive component that controls the rotation of the chuck, such as a micro geared motor, used to adjust its spatial posture after clamping the pin. The combination of the fourteenth lifting cylinder and the third slider is a composite drive device that realizes the vertical lifting and horizontal movement of the clamping mechanism. For example, the cylinder drives the slider to move along the guide rail, allowing the pin to switch between different work positions.

[0089] Specifically, when the pin sensor detects that the pin output from the linear vibration guide has reached the predetermined position, the eleventh cylinder push rod extends and pushes the pin along the pin guide to the pin pushing device area. The twelfth cylinder push rod drives the pin push rod to push the pin into the pin rotation hole of the pin rotary motor. The pin rotary motor drives the rotation hole to rotate, adjusting the pin to a preset angle. Subsequently, the thirteenth clamping cylinder drives the pin chuck to engage with the pin, and then the pin chuck rotary motor drives the pin chuck to clamp and rotate the pin to the required angle. Then, the fourteenth lifting cylinder drives the clamping mechanism to rise and disengage from the pin rotation hole. The fifteenth cylinder pushes the third slider to move along the guide to the second pin station. At this time, the pin carried by the pin chuck is precisely aligned with the limiting hole of the pin shaft on the third chain positioning seat. After the chuck releases the pin and completes the assembly, all drive components reset and enter the next working cycle.

[0090] Compared with existing technologies, traditional pin assembly relies on manual adjustment of the pin angle and position, resulting in low efficiency and insufficient positioning accuracy. This solution achieves automatic adjustment and precise positioning of the pin posture through the coordinated control of sensors, multi-stage cylinders, and motors, thus solving the technical bottleneck of difficult alignment between the pin and the pin shaft limiting hole.

[0091] Through the above technical solution, this application can achieve fully automated control of the pin assembly process. The multi-degree-of-freedom motion design of the pin clamping mechanism effectively avoids the positional deviation of the pin during the transfer process. The dual angle adjustment mechanism of the pin rotation hole and the chuck rotation motor ensures the precise alignment of the pin and the limiting hole, increasing the assembly qualification rate to over 99.2%.

[0092] The preferred pin bending device includes a cylinder-driven U-shaped mounting base 12. A pin rotating device is mounted on one side of the fourth chain positioning seat 3, and a pin bending device is mounted on the other side of the same mounting base. The pin rotating device includes a sixteenth cylinder 140 driving a second rotary motor 139 to move back and forth. The second rotary motor 139 is connected to a second rotary chuck 134. The pin bending device includes a seventeenth cylinder 136 driving a seventeenth push rod 137 to move up and down. An eighteenth cylinder 16 is inclined on the side of the seventeenth push rod 137, and the eighteenth push rod 138 of the eighteenth cylinder 16 corresponds to the long pin 57 of the pin 104. The pin bending device specifically rotates the pin so that the long pin 57 is on top and the ring (56) is on the bottom through the pin rotation device. Then the eighteenth push rod 138 bends the long pin 57 of the pin 104. Then the seventeenth push rod 137 further bends the long pin 57 and the short pin 55 along the guide seat 135 to prevent the pin 104 from disengaging from the pin shaft 49 to complete the bending.

[0093] The chain disengagement device includes a nineteenth cylinder 146 mounted on a mounting bracket 148 on the top of the base 1. The nineteenth cylinder 146 drives a twentieth cylinder 144 to move back and forth via a nineteenth push rod 145. The twentieth push rod 143 of the twentieth cylinder 144 is connected to a chain separation plate 142. A separation lever 141 is provided at the bottom of the chain separation plate 142. The chain disengagement device drives the twentieth cylinder 144 to the gap between the screw and the chain link via the nineteenth push rod 145. Then, the twentieth push rod 143 drives the separation lever 141 of the chain separation plate 142 to move forward and hook the screw and the chain link. Then, the nineteenth push rod 145 lifts the chain separation plate 142. Then, the separation lever 141 moves backward and disengages from the screw and the chain link, so that the screw and the chain link are automatically assembled and output through the conveyor chain 2.

[0094] A chain assembly method based on the automatic assembly of pins and chain links in an automatic chain assembly machine:

[0095] Step 1: The chain is installed on the fixed seat 30 by the screw and chain link automatic assembly device, and the screw 34 is installed on the movable seat 36. Then, the first push rod 24 drives the movable seat 36 to realize the screw 34 and the chain link are inserted, and the first connecting post 37 is moved from the second arc 46 at one end of the limiting ring 39 to the first arc 47 to fix the assembly relationship between the screw 34 and the chain link.

[0096] Step Two: The conveyor motor 14 drives the conveyor belt 11 to move the screw 34 and chain link of the first chain positioning seat 13 to form the second chain positioning seat 9. Then, the automatic pin feeding device of the automatic pin and chain link assembly device is started. The pin 49 is sucked into the inclined tube 103 of the pin assembly device through the negative pressure air pipe 58. Then, it is pushed to the receiving hole 94 of the first rotating shaft 93 through the push rod 79 in cooperation with the vertical pipe 81. Then, the first rotating shaft 93 drives the pin 49 to rotate and cooperate with the pin clamping device. The pin clamping device drives the claw 91 to cooperate with the pin 49 through the eighth cylinder 87. Then, the second motor 89 drives the claw to cooperate with the pin 49. 91 grips the pin 49 and rotates the pin 49 so that the limiting hole 50 of the pin 49 is sensed by the longitudinal position sensor 92, so that the limiting hole 50 is in a vertically through state. Then, the first transverse drive device moves the pin clamping device and the pin hole through hole device from the first displacement position to the second displacement position. Then, the pin hole through hole device passes through the pin hole 96 of the outer chain plate of the chain link and the connecting hole 38 of the connecting piece 32 through the first through shaft 95 under the drive of the ninth cylinder 100. Then, the eighth cylinder 87 drives the pawl 91 to insert the pin 49 into the pin hole 96 of the outer chain plate of the chain link and the connecting hole 38 of the connecting piece 32.

[0097] Step 3: After completing step 2, the conveyor motor 14 drives the conveyor belt 11 to move the pin, screw and chain link of the second chain positioning seat 9 to form the third chain positioning seat 7. Then, the automatic pin conveying device of the automatic pin assembly device is started to insert the pin 104 into the limiting hole 50 of the pin 49 in cooperation with the automatic pin assembly device.

[0098] Step 4: After completing Step 3, the conveyor motor 14 drives the conveyor belt 11 to move the pin, pin shaft, screw, and chain link of the third chain positioning seat 7 to form the fourth chain positioning seat 3. Then, the pin bending device of the automatic assembly device for pins and chain links is activated to bend the long pin 57 under the drive of the eighteenth push rod 138. Then, the seventeenth push rod 137 bends both the long pin 57 and the short pin 55 to prevent the pin 104 from disengaging from the pin shaft 49. After bending, the chain disengagement device drives the twentieth cylinder 144 through the nineteenth push rod 145 to reach the gap between the screw and the chain link. Then, the twentieth push rod 143 drives the separation lever 141 of the chain separation plate 142 to move forward and hook the screw and chain link. Then, the nineteenth push rod 145 lifts the chain separation plate 142. Then, the separation lever 141 moves backward to disengage from the screw and chain link, so that the screw and chain link are automatically assembled and output through the conveyor chain 2.

[0099] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pin shaft and link based automatic chain assembly machine comprising a program control panel (6), a machine base (1), characterized in that: The machine base (1) is provided with a conveying chain (2) on both sides, the conveying chain (2) is connected with a conveying belt (11), the conveying belt (11) is connected with a chain positioning seat, the chain positioning seat forms four chain positioning seat stations under the driving of a conveying motor (14) to move the conveying belt (11), the four chain positioning seat stations correspond to a first chain positioning seat (13), a second chain positioning seat (9), a third chain positioning seat (7) and a fourth chain positioning seat (3) respectively, the first chain positioning seat (13) corresponds to a screw rod and a link automatic assembling device, the second chain positioning seat (9) corresponds to a pin shaft and a link automatic assembling device, the third chain positioning seat (7) corresponds to a pin and a pin shaft automatic assembling device, and the fourth chain positioning seat (3) corresponds to a pin and a link automatic assembling device; the pin shaft and the link automatic assembling device comprises a pin shaft automatic feeding device and a pin shaft assembling device, the pin shaft automatic feeding device comprises a feeding box (71), the bottom of the feeding box (71) is provided with a pin shaft (49) to be conveyed, one end of the pin shaft (49) is provided with a flange (98) with an expanded diameter, the other end of the pin shaft (49) is provided with a limiting hole (50) perpendicular to the axis of the pin shaft, the side of the feeding box (71) is provided with a lifting groove (73), the lifting groove (73) is driven to move up and down by a cylinder, the lower limiting end of the lifting groove (73) moving up and down is matched with the pin shaft (49) at the bottom of the feeding box (71), the upper limiting end of the lifting groove (73) moving up and down is matched with a pin shaft feeding chute (70) at the top of the feeding box (71), the pin shaft (49) enters the pin shaft feeding chute (70) and then slides into a pin shaft feeding groove (64), the top of the pin shaft feeding groove (64) is provided with a pin shaft stirring and cleaning device, the pin shaft feeding groove (64) is provided with a pin shaft negative pressure conveying control device at the end in the moving direction of the pin shaft, and the pin shaft negative pressure conveying control device is connected with the pin shaft assembling device through a negative pressure air pipe (58); the pin shaft stirring and cleaning device comprises a stirring motor (65), the stirring motor (65) is connected with a stirring shaft (68), the stirring shaft (68) is wrapped with a woven belt (69) in the axial direction, and the woven belt (69) is provided with a stirring broom (67) on the outer periphery; the pin shaft negative pressure conveying control device comprises a pressing rod (66), the pressing rod (66) is connected with the pin shaft (49), the pin shaft (49) is arranged into a negative pressure control box (60), the side of the negative pressure control box (60) is connected with a pin shaft control cylinder (59), the top rod of the pin shaft control cylinder (59) is matched with a push control pin (61) to enter a control groove (62), the control groove (62) is provided with a return spring connected with the control pin (61), and the control pin (61) enters the control groove (62), so that the pin shaft (49) is sucked into the negative pressure air pipe (58) through negative pressure.

2. The automatic chain assembling machine based on pin shaft and link automatic assembly according to claim 1, characterized in that: The chain link comprises first, second and third outer chain plates (44, 51, 52) arranged in parallel and spaced apart, the gap between the first, second and third outer chain plates (44, 51, 52) is inserted into the inner chain plate (54) at one end and connected by the first pin shaft (53), and is inserted into the connecting piece (32) at the other end of the screw rod and connected by the pin shaft (49), the top of the movable seat (36) is respectively provided with a first screw rod mounting seat (35) and a second screw rod mounting seat (33), the gap between the first screw rod mounting seat (35) and the second screw rod mounting seat (33) is provided with a first limiting nut (45) of the connecting screw rod (34), the side of the movable seat (36) is connected with the first arc (47) or the second arc (46) at one end of the limiting ring (39) through the first connecting column (37), the other end of the limiting ring (39) is connected with the screw rod mounting seat (41) on the side of the fixed seat (30) through the screw rod (444), the end of the screw rod (444) is provided with a second limiting nut (48), the fixed seat (30) and the screw rod mounting seat (41) are connected through the second connecting column (42), and the fixed seat (30) is provided with three spaced apart arc-shaped protrusions (31) in the form of a sheet, and the three arc-shaped protrusions (31) correspond to the first, second and third outer chain plates (44, 51, 52) respectively.

3. The automatic chain assembling machine based on pin shaft and link automatic assembly according to claim 2, characterized in that: The gap between the first, second and third outer chain plates (44, 51, 52) is provided with a chain plate gap positioning device, and the chain plate gap positioning device comprises a first support (20), the side of the first support (20) is provided with a first guide rail (21), the first guide rail (21) is connected with a first sliding block (19) in a matched mode, the first sliding block (19) is connected with a second support (25), the top of the second support (25) is connected with a second top rod (18), and the second top rod (18) is connected with a second cylinder (17), the bottom of the second support (25) is connected with a second sliding plate (22), one end of the second sliding plate (22) is connected with a third cylinder (23), the other end of the second sliding plate (22) is connected with a clamping block mounting seat (28), the top of the clamping block mounting seat (28) is connected with a fourth cylinder (27), the fourth cylinder (27) controls the opening and closing of a clamping block group (29) matched with the gap between the first, second and third outer chain plates (44, 51, 52); the second sliding plate (22) is provided with a limiting hole (26) inside, and the limiting hole (26) is connected with the second support (25) in a matched mode; and the fourth cylinder (27) is arranged above and below the first chain positioning seat (13).

4. The automatic chain assembling machine based on pin shaft and link automatic assembly according to claim 1, characterized in that: The screw rod and chain link automatic assembly device comprises a first chain positioning seat (13), the first chain positioning seat (13) comprises a base (43), the base (43) is provided with a movable seat (36) connected with a spring (40) and a fixed seat (30), the movable seat (36) is provided with a screw rod (34), the fixed seat (30) is provided with a chain link, and the movable seat (36) is connected with a first top rod (24) of a first cylinder (10) to complete the insertion and connection of the screw rod (34) and the chain link.

5. The automatic chain assembling machine based on pin shaft and link automatic assembly according to claim 1, characterized in that: The pin shaft assembly device includes a connecting negative pressure air pipe (58) inclined pipe (103), the inclined pipe (103) is communicated with an integral vertical pipe (81), the vertical pipe (81) is axially communicated with a push rod (79), the push rod (79) is connected with the fifth cylinder top rod (76) through the push connecting plate (78), the fifth cylinder top rod (76) is connected with the fifth cylinder (75), the bottom of the vertical pipe (81) is the discharge port of the pin shaft (49), the discharge port is located in the receiving hole (94) of the first rotating shaft (93), the first rotating shaft (93) is connected with the first motor (82), one side of the first motor (82) is provided with a pin shaft clamping device, and the other side is provided with a pin shaft hole through hole device, the pin shaft clamping device and the pin shaft hole through hole device are driven to displace by the first transverse driving device, the first transverse driving device drives to form a first displacement position and a second displacement position, the pin shaft clamping device corresponds to the receiving hole (94) in the first displacement position, and the pin shaft clamping device corresponds to the pin shaft hole (96) of the outer chain plate of the chain link and the connecting hole (38) of the connecting piece (32) in the second displacement position.

6. The automatic chain assembling machine based on pin shaft and link automatic assembly according to claim 5, characterized in that: The first transverse driving device includes the sixth cylinder (101), the sixth cylinder (101) is connected with the second sliding block (80) through the sixth top rod (102), the second sliding block (80) is connected with the pin shaft clamping device and the pin shaft hole through hole device respectively, the pin shaft clamping device includes the seventh cylinder mounting seat (84) connected with the second sliding block (80), the seventh cylinder mounting seat (84) is connected with the seventh cylinder (85), the seventh cylinder (85) is connected with the eighth cylinder (87) through the seventh sliding block (86), the eighth cylinder (87) is connected with the second motor (89) through the eighth top rod (88), the second motor (89) is connected with the claw (91), the claw (91) is provided with the transverse position sensor (90) and the longitudinal position sensor (92) on the side, the pin shaft hole through hole device includes the first through shaft (95), the first through shaft (95) is connected with the through shaft mounting seat (97), the through shaft mounting seat (97) is connected with the ninth cylinder (100), the second displacement position corresponds to the second chain positioning seat (9), the top of the second chain positioning seat (9) is provided with the tenth cylinder (99), and the tenth cylinder (99) is connected with the pressing block (98).

7. The automatic chain assembling machine based on pin shaft and link automatic assembly according to claim 1, characterized in that: The latch and pin shaft automatic assembly device comprises a latch automatic conveying device and a latch automatic assembly device, the latch automatic conveying device comprises a vibrating disc (106) that vibrates the latch (104), the latch (104) comprises an integral long pin rod (57) and a short pin rod (55), a circular ring (56) is arranged at the bending position of the long pin rod (57) and the short pin rod (55), a first vibrating track (114) is arranged in the vibrating disc (106), the first vibrating track (114) is connected with a first shifting lever (113), a first reversing notch (112) and a first reversing inclined plate (111) in a matched mode, the first shifting lever (113) vibrates the latches (104) with the long pin rod (57) arranged in front of the circular ring (56) and the latches (104) arranged in back into the latches (104) with other directions in the first reversing notch (112) through controlling the gap between the first shifting lever (113) and the first vibrating track (114), and then the latches (104) in the first reversing notch (112) are reversed into a second vibrating track (110) at the first reversing inclined plate (111), the second vibrating track (110) is connected with a second height limiting shifting lever (210), a second reversing notch (109) and a second reversing inclined plate (108) in a matched mode, the second height limiting shifting lever (210) vibrates the latches (104) with the long pin rod (57) and the short pin rod (55) arranged in a horizontal mode into the latches (104) with other heights in the second reversing notch (109) through controlling the height gap between the second height limiting shifting lever (210) and the second vibrating track (110), and then the latches (104) in the second reversing notch (109) are reversed into a third vibrating track (107) at the second reversing inclined plate (108), the third vibrating track (107) is connected with a straight line vibrating guide rail (105), the straight line vibrating guide rail (105) is connected with a straight line vibrator (116), and the latches (104) output by the straight line vibrating guide rail (105) are matched with the latch automatic assembly device.

8. The automatic chain assembling machine based on pin shaft and link automatic assembly according to claim 7, characterized in that: The automatic assembly device of the bolt includes a bolt sensor (119) for sensing the linear vibration guide rail (105) to output the position of the bolt (104), the bolt sensor (119) is matched with a control eleventh cylinder (117), the eleventh cylinder (117) is provided with an eleventh cylinder top rod (118) for driving the bolt (104) to move along a bolt guide rail (120) to a bolt pushing device, the bolt pushing device includes a twelfth cylinder (121), the twelfth cylinder (121) is provided with a twelfth cylinder top rod (122) connected with a bolt pushing rod (123), the bolt pushing rod (123) pushes the bolt (104) into a bolt rotating hole (124) of a bolt rotating motor (133), the bolt rotating hole (124) corresponds to a bolt chuck (127) after the bolt rotating motor (133) is driven to rotate, the bolt chuck (127) is connected with a thirteenth clamping cylinder (125), a bolt chuck rotating motor (132) is arranged between the thirteenth clamping cylinder (125) and the bolt chuck (127), the thirteenth clamping cylinder (125) is connected with a fourteenth lifting cylinder (128) through a guide support (131), the bottom of the fourteenth lifting cylinder (128) is connected with a third sliding block (129), the third sliding block (129) is driven by a fifteenth cylinder (130) to move along a fifteenth guide rail to form a bolt first station and a bolt second station, the bolt first station corresponds to the bolt rotating motor (133), and the bolt second station corresponds to a limiting hole (50) of a pin shaft (49) at a third chain positioning seat (7).

9. The automatic chain assembling machine based on pin shaft and link automatic assembly according to claim 1, characterized in that: The automatic assembly device of the bolt and the chain link includes a bolt bending device and a chain separating device, the bolt bending device includes a U-shaped mounting seat (12) driven by a cylinder, the U-shaped mounting seat (12) is provided with a bolt rotating device on one side of a fourth chain positioning seat (3), and the U-shaped mounting seat (12) is provided with a bolt bending device on the other side of the fourth chain positioning seat (3), the bolt rotating device includes a sixteenth cylinder (140) for driving a second rotating motor (139) to move forward and backward, and the second rotating motor (139) is connected with a second rotating chuck (134), the bolt bending device includes a seventeenth cylinder (136) for driving a seventeenth top rod (137) to move up and down, the seventeenth top rod (137) is provided with an eighteenth cylinder (16) arranged obliquely on the side, and an eighteenth top rod (138) of the eighteenth cylinder (16) corresponds to a long pin rod (57) of the bolt (104); the chain separating device includes a nineteenth cylinder (146) mounted on a mounting frame (148) at the top of a machine base (1), the nineteenth cylinder (146) drives a twentieth cylinder (144) to move forward and backward through a lifting driving of a nineteenth top rod (145), a twentieth top rod (143) of the twentieth cylinder (144) is connected with a chain separating plate (142), and the chain separating plate (142) is provided with a separating lever (141) at the bottom.

10. A chain assembly method of the chain automatic assembly machine based on the pin shaft and the chain link according to any one of claims 1 to 9. Step one: through the screw and link automatic assembly device chain installed in the fixed seat (30), the movable seat (36) installation screw (34), and then the first top rod (24) drive movable seat (36) to achieve screw (34) and link plug-in, and the first connecting column (37) from the second circular (46) one end of the limiting ring (39) to the first circular (47), fixed screw (34) and chain between the assembly relationship; Step two: conveying motor (14) drive conveying belt (11) will be the first chain positioning seat (13) complete assembly screw (34) and chain to form the second chain positioning seat (9), and then start the pin shaft and link automatic assembly device pin shaft automatic feeding device through the negative pressure air pipe (58) suction pin shaft (49) input pin shaft assembly device inclined pipe (103), and then through the vertical pipe (81) push rod (79) push to the first shaft (93) of the receiving hole (94), and then the first shaft (93) drive pin shaft (49) rotation pin shaft clamping device, pin shaft clamping device through the eighth cylinder (87) drive jaw (91) cooperate pin shaft (49), and then the second motor (89) through the jaw (91) grab pin shaft (49), and rotate pin shaft (49) through the longitudinal position sensor (92) sensing to make the pin shaft (49) limit hole (50), so that the limit hole (50) is in the upper and lower through state, and then the first horizontal drive device moves the pin shaft clamping device and pin shaft hole through hole device from the first displacement position to the second displacement position, and then the pin shaft hole through hole device through the first through shaft (95) in the ninth cylinder (100) drive through the pin shaft hole (96) of the chain plate outside the link and the connecting hole (38) of the connecting piece (32), and then the eighth cylinder (87) drive jaw (91) will pin shaft (49) inserted into the pin shaft hole (96) of the chain plate outside the link and the connecting hole (38) of the connecting piece (32); Step three: after completing step two, conveying motor (14) drive conveying belt (11) will be the second chain positioning seat (9) complete assembly pin shaft, screw and chain to form the third chain positioning seat (7), and then start the pin and pin shaft automatic assembly device pin automatic conveying device cooperate pin automatic assembly device will pin (104) inserted into the limit hole (50) of the pin shaft (49); Step four: after the completion of step three, the conveyor motor (14) drives the conveyor belt (11) to move the third chain positioning seat (7) to form the fourth chain positioning seat (3) after the assembly of the pin, pin shaft, screw rod and chain link, and then the pin bending device of the pin and chain automatic assembly device is started to bend the long pin rod (57) under the drive of the eighteenth ejector rod (138), and then the seventeenth ejector rod (137) bends the long pin rod (57) and the short pin rod (55) to avoid the pin (104) from being separated from the pin shaft (49). After the bending is completed, the chain disengaging device drives the twentieth cylinder (144) to reach the gap between the screw rod and the chain link through the nineteenth ejector rod (145), and then the twentieth ejector rod (143) drives the disengaging lever (141) of the chain disengaging plate (142) to move forward to hook the screw rod and the chain link, and then the nineteenth ejector rod (145) lifts the chain disengaging plate (142), and then the disengaging lever (141) moves backward to disengage the screw rod and the chain link, so that the screw rod and the chain link are automatically assembled and output through the conveying chain (2).

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