Special-shaped reed assembling device

Abstract

The invention relates to the technical field of intelligent manufacturing and assembling, and provides a special-shaped reed assembling device which comprises a bottom plate, a rotating mechanism, a shell feeding work station, a secondary positioning work station, a reed press-fitting work station and a discharging work station. A lower supporting rack is fixedly connected to the lower surface of the bottom plate, and a rotating mechanism is arranged in the middle of the upper surface of the bottom plate. A secondary positioning work station, a reed press-fitting work station and an unloading work station are sequentially and uniformly arranged around the rotating mechanism in the anticlockwise direction by taking the shell feeding work station as a starting point; wherein the two reed press-fitting workstations are arranged adjacently; according to the automatic assembling device, the multiple special-shaped reeds can be automatically assembled at the same time, the labor cost is reduced through an automatic assembling mode, and the assembling efficiency and the consistency of the product quality are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing assembly technology, and in particular to an assembly device for irregularly shaped springs. Background Technology

[0002] With the rapid development of intelligent manufacturing technology, the demand for automated assembly in the precision manufacturing field is increasing. Irregularly shaped springs, as contact elements with complex geometric structures, are installed in the housings of connector components and are widely used in electronic equipment such as aerospace and new energy vehicles. However, traditional manual assembly relies on human experience, resulting in low efficiency and poor consistency. Chinese utility model patent CN202321820612.6 discloses an automated spring sheet installation device, which uses positioning grooves to position the spring sheets, reducing the risk of spring sheet misalignment and thus improving the assembly efficiency. Chinese utility model patent CN201921166969.0 discloses an automatic spring sheet assembly mechanism, which uses a clamping mechanism to clamp the spring sheets and an assembly mechanism to install them, improving assembly speed, reducing manual intervention, and meeting the needs of mass production. However, the existing technology has the following problems: most existing devices use a customized mechanism to clamp the spring sheet individually and then press the spring sheet into place, which is not very efficient; in addition, the existing equipment can only assemble spring sheets with regular shapes, which is not suitable for the irregularly shaped spring sheets involved in this invention and for products that require multiple spring sheets to be installed in the same housing. Therefore, it is necessary to design a device that can achieve efficient assembly of irregularly shaped spring sheets in order to improve assembly efficiency and quality consistency. Summary of the Invention

[0003] This invention addresses the problems existing in the prior art by proposing an irregularly shaped spring assembly device. The device involves automatic feeding of the housing, secondary positioning of the housing by a secondary positioning station, material turnover by a rotating mechanism, automatic feeding and installation of the springs into the housing by a spring pressing station, and finally, unloading of the finished products by an unloading station.

[0004] The specific technical solution adopted in this invention is as follows: This invention provides an irregularly shaped spring assembly device, including a base plate, a rotating mechanism, a housing loading station, a secondary positioning station, a spring pressing station, and an unloading station. A lower support frame is fixedly connected to the lower surface of the base plate, and a rotating mechanism is located at the center of the upper surface. Around the rotating mechanism, starting from the housing loading station, the secondary positioning station, spring pressing station, and unloading station are evenly arranged counterclockwise. Two spring pressing stations are arranged adjacent to each other. Each spring pressing station includes a spring feeding mechanism, a pressing mechanism, and a detection component. The spring feeding mechanism is fixedly connected to the upper surface of the base plate, and its outlet is aligned with the inlet of the pressing mechanism. The detection component is located directly below the pressing mechanism. The pressing mechanism includes a pressing mechanism, a combing mechanism, a clamping and positioning mechanism, and a vertical fixing plate. The bottom of the vertical fixing plate is fixedly connected to the upper surface of the base plate, and the pressing mechanism and the combing mechanism are fixedly connected to its top side from top to bottom. The clamping and positioning mechanism and the pressing mechanism are slidably connected.

[0005] Furthermore, the combing mechanism includes a first adapter plate, a first slide cylinder, a first linear guide rail, a second adapter plate, a second slide cylinder, a third adapter plate, a material feeding block, a combing plate, a guide plate, an optical fiber mounting block, and a first detection optical fiber; the bottom surface of the first adapter plate is fixedly connected to the side of the vertical fixed plate, and the opposite side is fixedly connected to the sliders of the first slide cylinder and the first linear guide rail; the bottom surface of the second adapter plate is slidably connected to the guide rails of the first slide cylinder and the first linear guide rail, and the opposite front surface is fixedly connected to the second slide cylinder and the guide plate. Fixed connection; the feeding block is slidably connected to the slider of the second slide cylinder through the third adapter plate, and the feeding block is provided with a guide notch and a feeding groove; the X-direction right end of the guide plate is aligned with the left end of the comb plate, and the Y-direction front end is aligned with the feed inlet of the spring feeding mechanism; the bottom surface of the comb plate is provided with a plurality of first guide channels, the left end of the first guide channel is horn-shaped, and the right end is a parallel and equally spaced groove; one end of the optical fiber mounting block is fixed on the vertical fixing plate, and the other end is located above the feed inlet of the guide plate and is provided with a linear array of first detection optical fibers.

[0006] Furthermore, the clamping and positioning mechanism includes a first connecting seat, a third sliding cylinder, a second connecting seat, a fourth sliding cylinder, a fourth adapter plate, a pre-pressing structure, a baffle structure, a pressing block, a sliding groove seat, a positioning rod, and a third connecting seat; the first connecting seat is composed of a base plate, a side plate, and reinforcing ribs, with the base plate and side plate vertically connected, and the base plate slidably connected to the pressing mechanism; the side plate is fixedly connected to the third sliding cylinder, the third connecting seat, and the baffle structure; the second connecting seat is composed of a vertical plate, reinforcing ribs, and a horizontal plate, with the vertical plate slidably connected to the slider of the third sliding cylinder. A flat plate is fixedly connected to a fourth slide cylinder in the X direction; the lower end of the third connecting seat is fixedly connected to a positioning rod; the bottom surface of the slide seat is fixed to the upper surface of the baffle structure, and the slide seat has a cylindrical slide groove inside that slides in cooperation with the positioning rod in the Z direction; the pre-pressing structure is slidably connected to the slider of the fourth slide cylinder through a fourth adapter plate; the pressing block is located above the pre-pressing structure and is fixedly connected to the bottom plate of the first connecting seat; the pre-pressing structure includes a first support block and a pre-pressing plate; the groove structure of the pre-pressing plate and the first support block is snapped together; the head of the pre-pressing plate is provided with several equally spaced isolation teeth.

[0007] Furthermore, the material blocking structure includes an arc-shaped fixing seat and a fixing toothed plate; the fixing toothed plate is embedded and fixed in the middle of the bottom of the arc-shaped fixing seat, and multiple equally spaced fixing teeth are provided at the end of the fixing toothed plate; the distance between each fixing tooth of the fixing toothed plate is equal to the distance between the material groove on the right side of the first guide channel; a pressing block is provided above the material blocking structure; the lower surface of the pressing block is provided with a "V"-shaped guide groove, a second guide channel, and an arc-shaped pressing groove; the "V"-shaped guide groove is aligned with the right end of the first guide channel of the comb plate; the second guide channels are arranged parallel to each other at equal intervals; the arc-shaped pressing groove is located on the right edge of the lower surface of the pressing block.

[0008] Furthermore, the pressing mechanism includes a fourth connecting seat, a fifth connecting seat, a sixth connecting seat, a vertical cylinder, a floating joint, a second support block, a second linear guide rail, a limiting post, and a comb plate fixing block; the rear side of the fourth connecting seat is fixedly connected to the vertical fixing plate, the opposite front side is fixedly connected to the sixth connecting seat, the top side is fixedly connected to the fifth connecting seat, and the lower side is fixedly connected to the comb plate fixing block; the output shaft of the vertical cylinder passes through the through hole in the top plate of the fifth connecting seat and is floatingly connected to the second support block through the floating joint; the slider of the second linear guide rail and the second support block are slidably connected to the bottom surface of the first connecting seat; the top side of the sixth connecting seat is fixedly connected to the limiting post.

[0009] Furthermore, the detection component includes an "L"-shaped mounting base, a pad, a vertical adjustment slide, a concave fixing block, and a second detection optical fiber; the long side bottom surface of the "L"-shaped mounting base is fixed to the upper surface of the base plate, the short side upper surface is fixedly connected to the pad, and one end of the upper surface of the pad is fixedly connected to the vertical adjustment slide; the lower part of the concave fixing block is fixed to the slider of the vertical adjustment slide; the second detection optical fiber is symmetrically arranged on the two opposing vertical plates at the top of the concave fixing block.

[0010] Furthermore, the rotating mechanism includes a direct-drive motor, a rotating plate, and a housing fixture; the bottom of the direct-drive motor is fixed to the upper surface of the base plate, and the top of the motor is rotatably connected to the lower surface of the rotating plate; the housing fixture is arranged in a circumferential array along the upper edge of the rotating plate; the housing fixture includes a fixed plate, a positioning post, a positioning block, a guide plate, a push rod, a detection rod, a first spring, a second spring, and an adjusting nut; the fixed plate has a through groove in the middle, and its bottom surface is fixedly connected to the upper edge of the rotating plate; the positioning block is fixedly connected to the middle position of the upper surface along the length direction opposite to the bottom surface, near the outer edge; a positioning post is provided on the other side near the middle position of the inner edge, and the positioning post coincides with the axis of the positioning rod; the guide plate is located at the bottom of the fixed plate, and has several guide holes in the middle; the upper part of the push rod has a step, and the end of the step passes through the two outermost guide holes of the guide plate; a second spring is provided between the positioning block and the upper step of the push rod; the detection rod also has a step, and the step passes through the guide hole in the middle of the guide plate; a first spring is provided between the step of the detection rod and the guide plate; a pair of adjusting nuts are threaded to the lower end of the detection rod.

[0011] Furthermore, the positioning block is provided with a guide structure, a spring groove, a first clearance groove, a second clearance groove, and a pusher groove; the middle protrusion of the positioning block is a contoured structure that fits with the inner cavity of the product, and the top edge is provided with a guide structure; the top plane is provided with equally spaced spring grooves; the inner side of the middle protrusion of the positioning block is provided with two second clearance grooves, and the opposite side is provided with a first clearance groove; the middle protrusion of the positioning block is symmetrically provided with pusher grooves on both sides along its length, and the upper part of the push rod passes through the guide plate and aligns with the pusher groove.

[0012] Furthermore, the housing loading station includes a material handling robot and a conveyor belt; the bottom of the conveyor belt is fixed to the middle position of the upper surface of the base plate in the width direction, and the material handling robot is arranged next to the conveyor belt; the material handling robot includes a mounting base, a robot body, a fixed base, a connecting plate, a mounting plate, an industrial camera, a first housing gripper, and a second housing gripper; the bottom surface of the mounting base is fixedly connected to the upper surface of the base plate, and the upper surface opposite to the bottom surface is fixedly connected to the robot body; the end shaft of the robot body is fixedly connected to the fixed base; the middle of the upper surface of the connecting plate is fixedly connected to the lower surface of the fixed base, and the first housing gripper and the second housing gripper are fixedly connected to both ends of the lower surface of the connecting plate respectively; one end of the upper surface of the connecting plate is fixedly connected to the mounting plate; the side of the mounting plate is fixedly connected to the industrial camera.

[0013] Furthermore, the unloading station includes a fixed bracket, a fifth sliding table cylinder, a seventh connecting seat, a sixth sliding table cylinder, an eighth connecting seat, a seventh sliding table cylinder, a ninth connecting seat, a third housing gripper, a feeding component, and an ejection component; the bottom of the fixed bracket is fixedly connected to the upper surface of the base plate; the fifth sliding table cylinder is fixed along the X direction to the lower surface of the top bracket of the fixed bracket; the side of the seventh connecting seat and the slider of the fifth sliding table cylinder are slidably connected, and the bottom surface of the seventh connecting seat is fixedly connected to the sixth sliding table cylinder along the Y direction; the eighth connecting seat and the slider of the sixth sliding table cylinder are slidably connected; the side of the eighth connecting seat is fixed to the seventh sliding table cylinder along the Z direction; the side of the ninth connecting seat and the seventh sliding table cylinder are slidably connected. The cylinder is slidably connected, and the bottom surface of the ninth connecting seat is fixedly connected to the third housing gripper; the feeding component is located below the third housing gripper and is fixedly connected to the upper surface of the base plate; the feeding component includes a material cylinder fixing frame, a first feeding cylinder, a second feeding cylinder, and a material box; the material cylinder fixing frame is fixedly connected to the base plate; the first feeding cylinder and the second feeding cylinder are clamped and fixed by the top plate of the material cylinder fixing frame; the material box has two material slots corresponding to the feeding ports of the first feeding cylinder and the second feeding cylinder respectively; an ejection component is provided next to the feeding component; the ejection component includes a mounting vertical plate and an ejection mechanism; the mounting vertical plate is fixedly mounted on the upper surface of the base plate; there are two ejection mechanisms located on the top side of the mounting vertical plate.

[0014] The beneficial effects of this invention are as follows: This invention achieves automatic assembly of irregularly shaped springs by automatically feeding the shell, positioning the shell in a secondary positioning station, rotating the mechanism, and simultaneously feeding and installing multiple springs into the shell by the spring pressing station. Finally, the unloading station completes the sorting and unloading of finished products. This automated assembly method reduces labor costs and greatly improves assembly efficiency and product quality consistency. Attached Figure Description

[0015] Figure 1 This is an overall structural diagram of the present invention; Figure 2 This invention relates to an exploded structural diagram of an irregularly shaped spring and its housing; Figure 3 This is a structural diagram of the spring pressing station of the present invention; Figure 4 yes Figure 3 The structural diagram of the press-fitting mechanism; Figure 5 yes Figure 4 A structural diagram of the combing mechanism; Figure 6 yes Figure 5 Diagram of the comb plate structure; Figure 7 yes Figure 5 The structural diagram of the feeding block; Figure 8 yes Figure 5A structural diagram showing the installation relationship between the guide plate, the optical fiber mounting block, and the first detection optical fiber; Figure 9 yes Figure 4 Structural diagram of the clamping and positioning mechanism; Figure 10 yes Figure 9 Partial structural diagrams of the pre-compression structure, the retaining structure, and the pressing block; Figure 11 yes Figure 9 The structural diagram of the preloaded structure; Figure 12 yes Figure 4 The structural diagram of the pressing mechanism; Figure 13 yes Figure 9 A structural diagram of the material stop structure; Figure 14 yes Figure 9 The structure diagram of the pressing block; Figure 15 yes Figure 3 Schematic diagram of the detection component; Figure 16 This is a structural diagram of the housing tooling of the present invention; Figure 17 yes Figure 16 Cross-sectional structural diagram of the housing tooling; Figure 18 yes Figure 17 The structural diagram of the detection rod and push rod; Figure 19 yes Figure 16 The structural diagram of the positioning block; Figure 20 This is a structural diagram of the material handling robot in the shell loading station of the present invention; Figure 21 This is a structural diagram of the secondary positioning workstation of the present invention; Figure 22 This is a structural diagram of the unloading station of the present invention.

[0016] In the diagram: 1-Base plate, 2-Rotating mechanism, 21-Direct drive motor, 22-Rotating plate, 23-Housing fixture, 231-Fixed plate, 2311-Through groove, 232-Positioning post, 233-Positioning block, 2331-Guide structure, 2332-Spring groove, 2333-First clearance groove, 2334-Second clearance groove, 2335-Push groove, 234-Guide plate, 235-Push rod, 236-Detection rod, 237-First spring, 238-Second spring, 239-Adjusting nut, 3-Housing loading station, 31-Material handling robot, 311-Mounting base, 312-Robot body, 313-Fixed base, 314-Connecting plate, 315-Mounting upright plate, 316-Industrial camera, 317-First housing Gripper, 318-Second housing gripper, 32-Conveyor belt, 4-Secondary positioning station, 41-Upright plate, 42-Platform, 43-Positioning mechanism, 431-First pressing cylinder, 432-"L" shaped pressure block, 5-Spring pressing station, 51-Spring feeding mechanism, 52-Pressure mechanism, 521-Pressing mechanism, 5211-Fourth connecting seat, 5212-Fifth connecting seat, 5213-Sixth connecting seat, 5214-Vertical cylinder, 5215-Floating joint, 5216-Second support block, 5217-Second linear guide rail, 5218-Limiting post, 5219-Comb plate fixing block, 522-Comb mechanism, 5221-First adapter plate, 5222-First slide cylinder, 5223-First linear guide rail 5224-Second Adapter Plate, 5225-Second Slide Cylinder, 5226-Third Adapter Plate, 5227-Material Feeding Block, 52271-Guide Notch, 52272-Material Feeding Slot, 5228-Combing Plate, 52281-First Guide Channel, 5229-Material Guide Plate, 52210-Fiber Optic Mounting Block, 52211-First Detection Fiber Optic, 523-Material Clamping and Positioning Mechanism, 5231-First Connecting Seat, 5232-Third Slide Cylinder, 5233-Second Connecting Seat, 5234-Fourth Slide Cylinder, 5235-Fourth Adapter Plate, 5236-Pre-Pressure Structure, 52361-First Support Block, 52362-Pressure Plate, 523621-Isolation Tooth, 5237-Material Stopping Structure, 52371 - Bow-shaped fixing seat, 52372-Fixed toothed plate, 523721-Fixed tooth, 5238-Pressure block, 52381-“V”-shaped guide groove, 52382-Second guide channel, 52383-Arc-shaped pressure groove, 5239-Slide seat, 52310-Positioning rod, 52311-Third connecting seat, 524-Vertical fixing plate, 53-Detection component, 531-“L”-shaped mounting seat, 532-Pad plate, 533-Vertical adjusting slide, 534-Concave fixing block, 535-Second detection fiber optic cable, 6-Unloading station, 61-Fixed bracket, 62-Fifth slide cylinder, 63-Seventh connecting seat, 64-Sixth slide cylinder, 65-Eighth connecting seat, 66-Seventh slide cylinder, 67-Ninth connecting seat68-Third housing gripper, 69-Unloading component, 691-Ball holder, 692-First unloading barrel, 693-Second unloading barrel, 694-Ball box, 610-Ejection component, 6101-Mounting vertical plate, 6102-Ejection mechanism, 61021-Ejection cylinder, 61022-Ejection plate, 61023-Ejection rod, 7-Housing, 8-Spring. Detailed Implementation

[0017] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0018] like Figure 2 As shown, one end of the spring 8 is a long rectangular sheet, and the other end is an irregular torsion structure according to the actual docking conditions; the four springs 8 are assembled in the corresponding slots of the housing 7 in a fixed direction.

[0019] The first embodiment of the present invention relates to, for example Figures 1-22 The diagram illustrates an irregularly shaped spring assembly device. It includes a base plate 1, a rotating mechanism 2, a housing loading station 3, a secondary positioning station 4, a spring pressing station 5, and an unloading station 6. A lower support frame is fixedly connected to the lower surface of the base plate 1, and the rotating mechanism 2 is positioned at the center of its upper surface. Around the rotating mechanism 2, starting from the housing loading station 3, the secondary positioning station 4, spring pressing station 5, and unloading station 6 are evenly arranged counter-clockwise. The upper surface of the base plate 1 serves as the mounting surface. The housing loading station 3 is used for automatic loading of the housing 7. The secondary positioning station 4 ensures the accurate height position of the housing 7 on the rotating mechanism 2. The spring pressing station 5 is used for automatic loading and pressing of the springs 8. The unloading station 6 is used for sorting and unloading the finished products. The rotating mechanism 2 is used to transfer materials between the various stations. The overall structure is simple and compact.

[0020] To balance the equipment's operating cycle and improve work efficiency, two adjacent reed pressing stations 5 are arranged. Each reed pressing station 5 includes a reed feeding mechanism 51, a pressing mechanism 52, and a detection component 53. The reed feeding mechanism 51 is fixedly connected to the upper surface of the base plate 1, with its outlet aligned with the inlet of the pressing mechanism 52. The detection component 53 is located directly below the pressing mechanism 52. The reed feeding mechanism 51 automatically feeds the reeds 8, arranging them with the irregularly twisted ends facing upwards. The pressing mechanism 52 automatically inserts the reeds 8 into the housing 7. The detection component 53 detects whether the reeds 8 are properly inserted. The pressing mechanism 52 includes... The assembly includes a pressing mechanism 521, a combing mechanism 522, a clamping and positioning mechanism 523, and a vertical fixing plate 524. The bottom of the vertical fixing plate 524 is fixedly connected to the upper surface of the base plate 1, and the pressing mechanism 521 and the combing mechanism 522 are fixedly connected to its top side from top to bottom. The clamping and positioning mechanism 523 and the pressing mechanism 521 are slidably connected. The pressing mechanism 521 is used to provide displacement and power for pressing in the spring 8. The combing mechanism 522 is used to separate the springs 8 that are close together into the spacing required for assembly. The clamping and positioning mechanism 523 clamps the separated springs 8 and fixes the posture and spacing of the springs 8 before installation, thereby ensuring the stability of the installation operation.

[0021] The second embodiment of the present invention is basically the same as the first embodiment, mainly in the optimization of the combing mechanism 522. The combing mechanism 522 includes a first adapter plate 5221, a first slide cylinder 5222, a first linear guide rail 5223, a second adapter plate 5224, a second slide cylinder 5225, a third adapter plate 5226, a feeding block 5227, a combing plate 5228, a guide plate 5229, an optical fiber mounting block 52210, and a first detection optical fiber 52211. The first adapter plate 5221 supports the entire combing mechanism 522. The first slide cylinder 5222 provides the power required to separate the spring 8 into the spacing needed for assembly. The first linear guide rail 5223 increases the load-bearing capacity and reduces wear and tear on the first slide cylinder 5222 during long-term operation. The second adapter plate 5224 is mainly used for... The components supporting the comb are as follows: the second slide cylinder 5225 provides the power for the pusher block 5227 to reset after pushering; the third adapter plate 5226 is used to install the pusher block 5227; the pusher block 5227 is used to simultaneously move the four springs 8 from the initial position on the left side of the comb plate 5228 to the right end position of the comb plate 5228; the comb plate 5228 is used to separate and fix the spacing of the adjacent springs 8, and at the same time, it guides the direction of the irregular torsional structure of the head of the springs 8; the guide plate 5229 is used to initially position the posture of the springs 8, and the first detection fiber optic cable 52211 is used to detect whether all the springs 8 in the guide plate 5229 have been in place; the bottom surface of the first adapter plate 5221 is fixed. The first sliding plate 5224 is fixedly connected to the side of the vertical fixed plate 524, and the opposite side of the second sliding plate 5224 is fixedly connected to the slider of the first sliding cylinder 5222 and the first linear guide rail 5223. The bottom surface of the second sliding plate 5224 is slidably connected to the guide rail of the first sliding cylinder 5222 and the first linear guide rail 5223, and the opposite front surface is fixedly connected to the second sliding cylinder 5225 and the guide plate 5229. The material-pushing block 5227 is slidably connected to the slider of the second sliding cylinder 5225 through the third sliding plate 5226. In order to ensure that the spring 8 smoothly enters the material-pushing block 5227 and realizes the material-pushing function, the material-pushing block 5227 is provided with a guide notch 52271 and a material-pushing through groove 52272. The guide plate 5229... The X-axis aligns with the right end and the left end of the comb plate 5228. To ensure smooth feeding of the guide plate 5229, the Y-axis aligns with the front end and the feed inlet of the spring feeding mechanism 51. The bottom surface of the comb plate 5228 is provided with several first guide channels 52281. The left end of the first guide channel 52281 is trumpet-shaped, and the right end is a parallel and equally spaced material groove. One end of the fiber optic mounting block 52210 is fixed on the vertical fixing plate 524, and the other end is located above the feed inlet of the guide plate 5229 and is provided with a linear array of first detection fibers 52211. The fiber optic mounting block 52210 is used to install the first detection fibers 52211, which can provide detection signals for the simultaneous action of multiple springs 8.

[0022] The third embodiment of the present invention is basically the same as the first embodiment, mainly in the optimization of the clamping and positioning mechanism 523. The clamping and positioning mechanism 523 includes a first connecting seat 5231, a third sliding cylinder 5232, a second connecting seat 5233, a fourth sliding cylinder 5234, a fourth adapter plate 5235, a pre-pressing structure 5236, a baffle structure 5237, a pressing block 5238, a sliding groove seat 5239, a positioning rod 52310, and a third connecting seat 52311. The first connecting seat 5231 is composed of a base plate, a side plate, and reinforcing ribs. The base plate and the side plate are vertically connected, and the base plate is slidably connected to the pressing mechanism 521. The side plate is fixedly connected to the third sliding cylinder 5232, the third connecting seat 52311, and the baffle structure 5237. The second connecting seat 5233 is composed of a vertical... The structure consists of a vertical plate, reinforcing ribs, and a horizontal plate. The vertical plate is slidably connected to the slider of the third slide cylinder 5232, and the horizontal plate is fixedly connected to the fourth slide cylinder 5234 in the X direction. The lower end of the third connecting seat 52311 is fixedly connected to the positioning rod 52310. The bottom surface of the slide groove seat 5239 is fixed to the upper surface of the baffle structure 5237. The slide groove seat 5239 has a cylindrical slide groove inside that slides in cooperation with the positioning rod 52310 in the Z direction. The pre-pressing structure 5236 is slidably connected to the slider of the fourth slide cylinder 5234 through the fourth adapter plate 5235. The pressing block 5238 is located above the pre-pressing structure 5236 and is fixedly connected to the bottom plate of the first connecting seat 5231. The pre-compression structure 5236 includes a first support block 52361 and a pre-compression plate 52362; the pre-compression plate 52362 and the first support block 52361 are fixedly engaged by a groove structure; the head of the pre-compression plate 52362 is provided with several equally spaced isolation teeth 523621; the first connecting seat 5231 is used to install and support the entire clamping and positioning mechanism 523; the third slide cylinder 5232 is used to provide the action required to avoid the material-pushing block 5227; the second connecting seat 5233 is mainly used to install the fourth slide cylinder 5234; the fourth slide cylinder 5234 is used to provide the power required for the pre-compression structure 5236 to compress the spring 8; the fourth adapter plate 5235 is used for The pre-compression structure 5236 is used to press the spring 8 onto the stop structure 5237 and ensure the fixed spacing of the spring 8. The stop structure 5237 is used to position the spring 8. The pressure block 5238 is used to position the spring 8 for a secondary time and acts as a contact to press the spring 8 into the housing 7. The slide seat 5239 is used to ensure that the positioning rod 52310 moves smoothly without jamming. The positioning rod 52310 is used to position the position of the clamping positioning mechanism 523 when it descends during assembly, ensuring that the spring 8 is not over-compressed when pressed into the housing, thereby reducing the defect rate. In order to ensure the fixed spacing required for the assembly of the spring 8, the spring 8 is separated by the locking isolation teeth 523621.

[0023] The material blocking structure 5237 includes an arc-shaped fixing seat 52371 and a fixing toothed plate 52372; the fixing toothed plate 52372 is embedded and fixed in the middle of the bottom of the arc-shaped fixing seat 52371, and the end of the fixing toothed plate 52372 is provided with a plurality of equally spaced fixing teeth 523721; the distance between each fixing tooth 523721 of the fixing toothed plate 52372 is equal to the distance between the material groove on the right side of the first guide channel 52281; a pressing block 5238 is provided above the material blocking structure 5237; the lower surface of the pressing block 5238 is provided with a "V" shaped guide groove 52381, a second guide channel 52382, and an arc-shaped pressing groove 52383. The right ends of the first guide channel 52281 of the “V”-shaped guide groove 52381 and the comb plate 5228 are aligned; the second guide channels 52382 are arranged parallel to each other at equal intervals; the arc-shaped pressing groove 52383 is located on the right edge of the lower surface of the pressing block 5238; the fixing tooth 523721 is used to block the side of the spring 8 sliding from the second guide channel 52382; the “V”-shaped guide groove 52381 facilitates the introduction of the irregular structure of the head of the spring 8 into the second guide channel 52382; the arc-shaped pressing groove 52383 and the arc-shaped conformal fit of the irregular torsional structure of the head of the spring 8 ensure that the force is more uniform when pressing the spring 8.

[0024] The fourth embodiment of the present invention is basically the same as the first embodiment, mainly in the optimization of the pressing mechanism 521. The pressing mechanism 521 includes a fourth connecting seat 5211, a fifth connecting seat 5212, a sixth connecting seat 5213, a vertical cylinder 5214, a floating joint 5215, a second support block 5216, a second linear guide rail 5217, a limiting post 5218, and a comb plate fixing block 5219. The rear side of the fourth connecting seat 5211 is fixedly connected to the vertical fixing plate 524, the opposite front side is fixedly connected to the sixth connecting seat 5213, the top side is fixedly connected to the fifth connecting seat 5212, and the lower side is fixedly connected to the comb plate fixing block 5219. The output shaft of the vertical cylinder 5214 passes through a hole in the top plate of the fifth connecting seat 5212 and is floatingly connected to the second support block 5216 via the floating joint 5215. The slider of the second linear guide rail 5217 and the second support block 5216 slide against the bottom surface of the first connecting seat 5211. The sixth connecting seat 5213 is fixedly connected to the top side of the limiting post 5218; the fourth connecting seat 5211 is used to fix all the components of the entire pressing mechanism 521; the fifth connecting seat 5212 is used to fix the vertical cylinder 5214; the sixth connecting seat 5213 is used to fix the limiting post 5218; the vertical cylinder 5214 is used to provide power when the spring 8 is installed into the housing 7; the floating joint 5215 mainly connects the vertical cylinder 5214 to eliminate installation errors and ensure smooth movement of the vertical cylinder 5214; the second support block 5216 and the second linear guide rail 5217 are used to ensure smooth movement of the clamping and positioning mechanism 523; the limiting post 5218 is mainly used to limit the vertical cylinder 5214 when it is reset, and its position can be adjusted to adjust the stroke of the vertical cylinder 5214; the comb plate fixing block 5219 is mainly used to fix the comb plate 5228.

[0025] The fifth embodiment of the present invention is basically the same as the first embodiment, mainly in the optimization of the detection component 53. The detection component 53 includes an "L"-shaped mounting base 531, a pad 532, a vertical adjustment slide 533, a concave fixing block 534, and a second detection optical fiber 535. The long side bottom surface of the "L"-shaped mounting base 531 is fixed to the upper surface of the base plate 1, and the short side upper surface is fixedly connected to the pad 532. One end of the upper surface of the pad 532 is fixedly connected to the vertical adjustment slide 533. The lower part of the concave fixing block 534 is fixed to the slider of the vertical adjustment slide 533. The second detection optical fiber 535 is symmetrically arranged on the two opposing upright plates at the top of the concave fixing block 534. The "L"-shaped mounting base 531 is used to support the entire detection component 53. The fixed vertical adjustment slide 533 is used to precisely adjust the vertical position of the second detection optical fiber 535. The concave fixing block 534 is mainly used to install the second detection optical fiber 535. The second detection optical fiber 535 adopts a through-beam installation method to better ensure the stability of the detection.

[0026] The sixth embodiment of the present invention is basically the same as the first embodiment, mainly in the optimization of the rotating mechanism 2. The rotating mechanism 2 includes a direct drive motor 21, a rotating plate 22, and a housing fixture 23; the bottom of the direct drive motor 21 is fixed to the upper surface of the base plate 1, and the top is rotatably connected to the lower surface of the rotating plate 22; the housing fixture 23 is arranged in a circumferential array on the edge of the upper surface of the rotating plate 22; the housing fixture 23 includes a fixing plate 231, a positioning post 232, a positioning block 233, a guide plate 234, a push rod 235, a detection rod 236, a first spring 237, a second spring 238, and an adjusting nut 239; the fixing plate 231 has a through groove 2311 in the middle, and its bottom surface is fixedly connected to the edge of the upper surface of the rotating plate 22, with the middle of the upper surface opposite to the bottom surface in the length direction. A positioning block 233 is fixedly connected near the outer edge, and a positioning post 232 is provided on the other side near the middle of the inner edge. The positioning post 232 coincides with the axis of the positioning rod 52310. A guide plate 234 is provided at the bottom of the fixed plate 231, and several guide holes are provided in the middle. A step is provided on the upper part of the push rod 235, and the end of the step passes through the two outermost guide holes of the guide plate 234. A second spring 238 is provided between the positioning block 233 and the upper step of the push rod 235. A step is also provided on the detection rod 236, and the step passes through the guide hole in the middle of the guide plate 234. A first spring 237 is provided between the step of the detection rod 236 and the guide plate 234. The lower end of 36 is threaded with a pair of adjusting nuts 239; the direct drive motor 21 is used to drive the rotating plate 22 to rotate at a fixed angle; the rotating plate 22 is used to install and fix the housing fixture 23; the housing fixture 23 is mainly used to position the housing 7 and ensure the stability of the housing 7 in each workstation; the fixing plate 231 is used to support the various parts of the housing fixture 23; the positioning column 232 cooperates with the positioning rod 52310 to limit the lower limit position of the downward pressing movement of the clamping positioning mechanism 523 when assembling the spring 8; the positioning block 233 and the internal structure of the housing 7 are conformally matched to fix the housing 7 more stably; the guide plate 234 is mainly used for the push rod 235 and the inspection The measuring rod 236 is used for positioning and guiding; the push rod 235 is used to push the housing 7 upwards during unloading for easy clamping; the main function of the detection rod 236 is to detect whether the spring 8 is installed in place. If it is installed in place, it can be detected by the second detection fiber optic 535, thereby realizing the loading quality judgment function and facilitating the classification and unloading of materials in subsequent processes; the first spring 237 and the second spring 238 are used for the elastic reset of the detection rod 236 and the push rod 235, respectively; the adjusting nut 239 is used to fine-tune the lower end of the detection rod 236 so that it can be detected by the second detection fiber optic 535. A pair of nuts is used, with the lower one used for fine-tuning and the upper one used for locking, to prevent vibration from causing the nut to loosen and resulting in misjudgment detection.

[0027] The positioning block 233 is provided with a guide structure 2331, a spring groove 2332, a first clearance groove 2333, a second clearance groove 2334, and a pusher groove 2335; the middle protrusion of the positioning block 233 is a contoured structure that fits into the inner cavity of the product, and the top edge is provided with a guide structure 2331; the top plane is provided with equally spaced spring grooves 2332; the inner side of the middle protrusion of the positioning block 233 is provided with two second clearance grooves 2334, and the opposite side is provided with a first clearance groove 2333; the middle protrusion of the positioning block 233... The pusher grooves 2335 are symmetrically arranged on both sides along the length direction. The upper part of the pusher rod 235 passes through the guide plate 234 and is aligned with the pusher groove 2335. The guide structure 2331 plays a guiding role to ensure that the housing 7 is smoothly fitted onto the positioning block 233. The first clearance groove 2333 and the second clearance groove 2334 are used to prevent fooling and ensure that the housing 7 can be installed onto the positioning block 233 in the specified direction. The pusher groove 2335 is used to make the top surface of the pusher rod 235 contact the lower surface of the housing 7 through the pusher rod 235, so as to facilitate the ejection of the housing 7 during unloading.

[0028] The seventh embodiment of the present invention is basically the same as the first embodiment, mainly in the optimization of the shell loading station 3. The housing loading station 3 includes a material handling robot 31 and a conveyor belt 32. The bottom of the conveyor belt 32 is fixed at the middle position of the width direction of the upper surface of the base plate 1, and the material handling robot 31 is arranged next to the conveyor belt 32. The material handling robot 31 includes a mounting base 311, a robot body 312, a fixed base 313, a connecting plate 314, a mounting plate 315, an industrial camera 316, a first housing gripper 317, and a second housing gripper 318. The bottom surface of the mounting base 311 is fixedly connected to the upper surface of the base plate 1, and the upper surface opposite to the bottom surface is fixedly connected to the robot body 312. The end shaft of the robot body 312 is fixedly connected to the fixed base 313. The middle of the upper surface of the connecting plate 314 is fixedly connected to the lower surface of the fixed base 313, and the first housing gripper 317 and the second housing gripper 318 are fixedly connected to both ends of the lower surface of the connecting plate 314, respectively. One end of the upper surface of the connecting plate 314 is fixedly connected to the mounting plate 315. The side of the mounting plate 315 is fixedly connected to the first housing gripper 317 and the second housing gripper 318. The industrial camera 316 is fixedly connected to the material handling robot 31, which is mainly used to pick up the housing 7 from the conveyor belt 32 and place it on the housing fixture 23. The conveyor belt 32 is mainly used to input the housing 7 prepared by the external equipment to the loading position. The mounting base 311 is used to install the robot body 312. The robot body 312 is a standard mechanism. The fixed base 313 is used to fix the connecting plate 314. The connecting plate 314 is used to install the first housing gripper 317 and the second housing gripper 318 and the mounting plate 315. The mounting plate 315 is used to fix the industrial camera 316. The industrial camera 316 can take pictures to identify the direction of the housing 7. After being picked up by the first housing gripper 317 and the second housing gripper 318, it is aligned to the specified direction and then put into the positioning block 233. In addition, two housings 7 can be picked up at the same time by the two housing grippers and placed on the housing fixture 23 at the two initial positions on the corresponding rotating mechanism 2, thereby reducing the movement range of the material handling robot 31 and improving the loading efficiency.

[0029] The eighth embodiment of the present invention is basically the same as the first embodiment, mainly in the optimization of the unloading station 6. The unloading station 6 includes a fixed bracket 61, a fifth slide cylinder 62, a seventh connecting seat 63, a sixth slide cylinder 64, an eighth connecting seat 65, a seventh slide cylinder 66, a ninth connecting seat 67, a third housing gripper 68, a feeding component 69, and an ejection component 610; the bottom of the fixed bracket 61 is fixedly connected to the upper surface of the base plate 1; the fifth slide cylinder 62 is fixed along the X direction to the lower surface of the top bracket of the fixed bracket 61; the side of the seventh connecting seat 63 is slidably connected to the slider of the fifth slide cylinder 62, and the bottom surface of the seventh connecting seat 63 is fixedly connected to the sixth slide cylinder 64 along the Y direction; the eighth connecting seat 65 is slidably connected to the slider of the sixth slide cylinder 64; the side of the eighth connecting seat 65 is fixed along the Z direction. The seventh slide cylinder 66 is slidably connected to the side of the ninth connecting seat 67 and the seventh slide cylinder 66. The bottom surface of the ninth connecting seat 67 is fixedly connected to the third housing gripper 68. The feeding component 69 is located below the third housing gripper 68 and is fixedly connected to the upper surface of the base plate 1. The feeding component 69 includes a material cylinder fixing frame 691, a first feeding cylinder 692, a second feeding cylinder 693, and a material box 694. The material cylinder fixing frame 691 is fixedly connected to the base plate 1. The first feeding cylinder 692 and the second feeding cylinder 693 are clamped and fixed by the top plate of the material cylinder fixing frame 691. The material box 694 has two material slots corresponding to the feeding ports of the first feeding cylinder 692 and the second feeding cylinder 693, respectively. The feeding component 69 is located beside the seventh slide cylinder 66. An ejector component 610 is provided on one side; the ejector component 610 includes a mounting vertical plate 6101 and an ejector mechanism 6102; the mounting vertical plate 6101 is fixedly mounted on the upper surface of the base plate 1; two ejector mechanisms 6102 are provided on the top side of the mounting vertical plate 6101; the ejector mechanism 6102 includes an ejector cylinder 61021, an ejector plate 61022 and an ejector rod 61023; the moving ends of the ejector plate 61022 and the ejector cylinder 61021 are slidably connected; two ejector rods 61023 are fixedly connected to the upper surface of the ejector plate 61022; a fixed bracket 61 is used to install the entire unloading station 6; a fifth slide cylinder 62 is used to provide the movement of the third housing gripper 68 in the X direction during unloading. Power; the sixth slide cylinder 64 provides power for the movement of the third housing gripper 68 in the Y direction during unloading, and the seventh slide cylinder 66 provides power for the movement of the third housing gripper 68 in the Z direction during unloading; the third housing gripper 68 is used to grip the assembled product; the material box 694 has two material slots for storing qualified and unqualified products respectively; the first feeding cylinder 692 and the second feeding cylinder 693 are used to transfer products to the two material slots of the corresponding material box 694; the ejection component 610 is used to eject the product from the positioning block 233 for easy gripping by the third housing gripper 68; the ejection cylinder 61021 provides the power required for ejecting the product; the ejection rod 61023 functions as an upper push rod 235.

[0030] The ninth embodiment of the present invention is basically the same as the first embodiment, mainly in further optimization. The secondary positioning station 4 includes a vertical plate 41, a platform 42, and a positioning mechanism 43; the vertical plate 41 is fixed to the upper surface of the base plate 1, and the platform 42 is fixedly connected to the top side of the vertical plate; two positioning mechanisms 43 are arranged side by side on the platform 42; the positioning mechanism 43 includes a first pressing cylinder 431 and an "L"-shaped pressing block 432; the moving ends of the "L"-shaped pressing block 432 and the first pressing cylinder 431 are slidably connected; the vertical plate 41 is a supporting frame; the platform 42 is used for the positioning mechanism 43; the positioning mechanism 43 is used for secondary positioning of the housing 7, and there are two positioning mechanisms 43, which mainly play a role in improving work efficiency; the first pressing cylinder 431 is used to provide power when the "L"-shaped pressing block 432 is pressed down; the "L"-shaped pressing block 432 is used to press the housing 7 to ensure that the housing 7 is loaded to the correct depth on the positioning block 233 to ensure the pressing quality.

[0031] Based on this, a typical working process of the present invention is as follows: S1: As Figure 1 , Figure 2 and Figure 20 As shown, the conveyor belt 32 transports the housing 7 from the external material preparation equipment to the housing loading station 3 along the length of the housing 7 with the cavity end facing down. The industrial camera 316 on the picking robot 31 takes pictures of the housing 7 in the range of the end of the conveyor belt 32. Then, the first housing gripper 317 and the second housing gripper 318 respectively pick up a housing 7. Then, the picking robot 31 moves to the position above the initial position of the rotating mechanism 2, adjusts the housing 7 to the set posture according to the image taken by the industrial camera 316, and then inserts the housing 7 into the positioning block 233 of the housing tooling 23. The above actions are repeated in sequence to realize the automatic loading of the housing 7.

[0032] S2: As Figure 1 and Figure 21 As shown, the rotating mechanism 2 drives the housing 7 to rotate to the lower position of the secondary positioning station 4; the first pressing cylinder 431 drives the "L"-shaped pressing block 432 to press the top plane of the housing 7 to ensure that the housing 7 is correctly fitted onto the positioning block 233.

[0033] S3: As Figures 1-19As shown, the rotating mechanism 2 drives the housing 7, after secondary positioning, to rotate below the spring pressing station 5; the spring feeding mechanism 51 feeds the spring 8 into the guide plate 5229 of the combing mechanism 522 with the irregular torsional structure facing upwards, at which time the lower end of the spring 8 enters the feeding groove 52272 of the feeding block 5227; when the four first detection optical fibers 52211 on the optical fiber mounting block 52210 detect four different springs 8, the first slide cylinder 5222 drives the guide plate 5229. The four springs 8 inside the feeding block 5227 move to the right of the comb plate 5228. The tops of the springs 8 that are close together enter the first guide channel 52281, pass through the comb, and then pass through the second guide channel 52382, which separates the springs 8 at equal intervals. The spacing between the springs 8 is basically the same as the spacing of the spring slots on the housing 7. Then the second slide cylinder 5225 extends downward to drive the feeding block 5227 out of the lower part of the springs 8. At this time, the third slide cylinder 5232 retracts from the initial extended state to drive the pre- The pressing structure 5236 moves to the side of the spring 8, then the first slide cylinder 5222 resets, and then the fourth slide cylinder 5234 extends to drive the pre-pressing structure 5236 to press the spring 8 onto the stop structure 5237. At this time, the isolation teeth 523621 of the pre-pressing structure 5236 extend into the gaps between the fixing teeth 523721 of the fixing tooth plate 52372, realizing the secondary positioning of the spring 8. At this time, the first slide cylinder 5222 has been reset, and then the vertical cylinder 5214 extends to drive the clamping structure 5237. The material positioning mechanism 523 moves vertically downwards as a whole. At this time, the four springs 8 are pressed into the housing 7 simultaneously under the contact action of the arc-shaped pressing groove 52383 of the pressing block 5238. The springs 8 are pressed into place by interference fit until the lower end face of the positioning rod 52310 contacts the upper end face of the positioning post 232. After the springs 8 enter the housing 7, the bottom will contact the pressing detection rod 236 and move downwards. When the adjusting nut 239 at the lower end of the pressing detection rod 236 is detected by the second detection fiber optic 535, the spring pressing is qualified; otherwise, it is unqualified.

[0034] S4: The rotating mechanism 2 drives the housing 7 of another spring to be pressed on its rotating plate to rotate to the bottom of another spring pressing station 5, and performs the same steps as in S3. When the device is running continuously, the two spring pressing stations 5 work simultaneously.

[0035] S5: As Figure 1 , Figures 16-19 and Figure 22As shown, the rotating mechanism 2 moves the product with the pressed spring to below the unloading station 6. At this time, the ejector cylinder 61021 of the ejector component 610 pushes the push rod 235 through the ejector rod 61023, and the top surface of the push rod 235 ejects the product. Then, the fifth slide cylinder 62 moves the third housing gripper 68 to above the product, and the seventh slide cylinder 66 moves the third housing gripper 68 downward along the Z direction to the gripping position. Then, the third housing gripper 68 grips the product, and the seventh slide cylinder 66 moves upward. Reset; then the fifth slide cylinder 62 resets, and according to step S3, if the product is qualified, the third housing gripper 68 opens, and the product slides down the second feed cylinder 693 into the qualified product box of the material box 694; if the product is unqualified, the sixth slide cylinder 64 extends and drives the third housing gripper 68 to move above the first feed cylinder 692, the third housing gripper 68 opens, and the product slides down the first feed cylinder 692 into the unqualified product box of the material box 694; then each cylinder resets, completing the product classification and unloading.

[0036] The above process repeats itself to achieve automatic assembly of reed 8.

[0037] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An assembly device for irregularly shaped springs, characterized in that: The system includes a base plate (1), a rotating mechanism (2), a shell loading station (3), a secondary positioning station (4), a spring pressing station (5), and an unloading station (6). The lower support frame is fixedly connected to the lower surface of the base plate (1), and the rotating mechanism (2) is located in the middle of the upper surface. The secondary positioning station (4), the spring pressing station (5), and the unloading station (6) are arranged evenly in a counterclockwise direction around the rotating mechanism (2), starting from the shell loading station (3). There are two adjacent spring pressing stations (5). The spring pressing station (5) includes a spring feeding mechanism (51), a pressing mechanism (52), and a detection component (53). The spring feeding mechanism (51) is fixedly connected to the upper surface of the base plate (1), and its outlet is aligned with the inlet of the pressing mechanism (52); the detection component (53) is located directly below the pressing mechanism (52); the pressing mechanism (52) includes a pressing mechanism (521), a combing mechanism (522), a clamping and positioning mechanism (523), and a vertical fixing plate (524); the bottom of the vertical fixing plate (524) is fixedly connected to the upper surface of the base plate (1), and the pressing mechanism (521) and the combing mechanism (522) are fixedly connected from top to bottom on its top side; the clamping and positioning mechanism (523) and the pressing mechanism (521) are slidably connected.

2. The irregularly shaped spring assembly device according to claim 1, characterized in that: The combing mechanism (522) includes a first adapter plate (5221), a first slide cylinder (5222), a first linear guide rail (5223), a second adapter plate (5224), a second slide cylinder (5225), a third adapter plate (5226), a feeding block (5227), a combing plate (5228), a guide plate (5229), an optical fiber mounting block (52210), and a first detection optical fiber (52211). The bottom surface of the first adapter plate (5221) is fixedly connected to the side of the vertical fixed plate (524), and the other side opposite to the bottom surface is fixedly connected to the sliders of the first slide cylinder (5222) and the first linear guide rail (5223). The bottom surface of the second adapter plate (5224) is slidably connected to the guide rails of the first slide cylinder (5222) and the first linear guide rail (5223), and the opposite front surface is fixedly connected to the sliders of the second slide cylinder (5225). The guide plate (5229) and the guide block (5227) are fixedly connected; the pusher block (5227) is slidably connected to the slider of the second slide cylinder (5225) through the third adapter plate (5226). The pusher block (5227) is provided with a guide notch (52271) and a pusher groove (52272); the X-direction right end of the guide plate (5229) is aligned with the left end of the comb plate (5228), and the Y-direction front end is aligned with the feed port of the spring feeding mechanism (51); the bottom surface of the comb plate (5228) is provided with a number of first guide channels (52281). The left end of the first guide channel (52281) is horn-shaped, and the right end is a parallel and equally spaced groove; one end of the fiber mounting block (52210) is fixed on the vertical fixing plate (524), and the other end is located above the feed port of the guide plate (5229) and is provided with a linear array of first detection fiber (52211).

3. The irregularly shaped spring assembly device according to claim 2, characterized in that: The clamping and positioning mechanism (523) includes a first connecting seat (5231), a third sliding cylinder (5232), a second connecting seat (5233), a fourth sliding cylinder (5234), a fourth adapter plate (5235), a pre-pressing structure (5236), a baffle structure (5237), a pressing block (5238), a sliding groove seat (5239), a positioning rod (52310), and a third connecting seat (52311). The first connecting seat (5231) is composed of a base plate, a side plate, and a reinforcing rib. The base plate and the side plate are vertically connected, and the base plate is slidably connected to the pressing mechanism (521). The side plate is fixedly connected to the third sliding cylinder (5232), the third connecting seat (52311), and the baffle structure (5237). The second connecting seat (5233) is composed of a vertical plate, a reinforcing rib, and a horizontal plate. The vertical plate is slidably connected to the slider of the third sliding cylinder (5232), and the horizontal plate is fixedly connected to the first sliding cylinder (5234) in the X direction. The fourth slide cylinder (5234); the lower end of the third connecting seat (52311) is fixedly connected to the positioning rod (52310); the bottom surface of the slide seat (5239) is fixed to the upper surface of the baffle structure (5237), and the slide seat (5239) has a cylindrical slide groove inside that slides in cooperation with the positioning rod (52310) in the Z direction; the pre-pressing structure (5236) is slidably connected to the slider of the fourth slide cylinder (5234) through the fourth adapter plate (5235). The pressing block (5238) is located above the pre-pressing structure (5236) and is fixedly connected to the bottom plate of the first connecting seat (5231); the pre-pressing structure (5236) includes a first support block (52361) and a pre-pressing plate (52362); the groove structure of the pre-pressing plate (52362) and the first support block (52361) is engaged and fixed; the head of the pre-pressing plate (52362) is provided with several equally spaced isolation teeth (523621).

4. The irregularly shaped spring assembly device according to claim 3, characterized in that: The material blocking structure (5237) includes an arc-shaped fixing seat (52371) and a fixing toothed plate (52372); the fixing toothed plate (52372) is embedded and fixed in the middle of the bottom of the arc-shaped fixing seat (52371), and the end of the fixing toothed plate (52372) is provided with multiple equally spaced fixing teeth (523721); the distance between each fixing tooth (523721) of the fixing toothed plate (52372) is equal to the distance between the right side groove of the first guide channel (52281); the upper part of the material blocking structure (5237) The material is provided with a pressing block (5238); the lower surface of the pressing block (5238) is provided with a "V" shaped guide groove (52381), a second guide channel (52382) and an arc-shaped pressing groove (52383); the right end of the "V" shaped guide groove (52381) and the first guide channel (52281) of the comb plate (5228) are aligned; the second guide channels (52382) are arranged parallel to each other at equal intervals; the arc-shaped pressing groove (52383) is located on the right edge of the lower surface of the pressing block (5238).

5. The irregularly shaped spring assembly device according to claim 3, characterized in that: The pressing mechanism (521) includes a fourth connecting seat (5211), a fifth connecting seat (5212), a sixth connecting seat (5213), a vertical cylinder (5214), a floating joint (5215), a second support block (5216), a second linear guide rail (5217), a limiting post (5218), and a comb plate fixing block (5219); the rear side of the fourth connecting seat (5211) is fixedly connected to the vertical fixing plate (524), and the opposite front side is fixedly connected to the sixth connecting seat (5213), and the top... The side is fixedly connected to the fifth connecting seat (5212), and the lower side is fixedly connected to the comb plate fixing block (5219); the output shaft of the vertical cylinder (5214) passes through the hole in the top plate of the fifth connecting seat (5212) and is floatingly connected to the second support block (5216) through the floating joint (5215); the slider of the second linear guide (5217) and the second support block (5216) are slidably connected to the bottom surface of the first connecting seat (5231); the top side of the sixth connecting seat (5213) is fixedly connected to the limiting post (5218).

6. The irregularly shaped spring assembly device according to claim 5, characterized in that: The detection component (53) includes an "L"-shaped mounting base (531), a pad (532), a vertical adjustment slide (533), a concave fixing block (534), and a second detection optical fiber (535); the long side bottom surface of the "L"-shaped mounting base (531) is fixed to the upper surface of the base plate (1), the short side upper surface is fixedly connected to the pad (532), and one end of the upper surface of the pad (532) is fixedly connected to the vertical adjustment slide (533); the lower part of the concave fixing block (534) is fixed to the slider of the vertical adjustment slide (533); the second detection optical fiber (535) is symmetrically arranged on the two opposing upright plates at the top of the concave fixing block (534).

7. The irregularly shaped spring assembly device according to claim 1, characterized in that: The rotating mechanism (2) includes a direct drive motor (21), a rotating plate (22), and a housing fixture (23). The bottom of the direct drive motor (21) is fixed to the upper surface of the base plate (1), and the top is rotatably connected to the lower surface of the rotating plate (22). The housing fixture (23) is arranged in a circumferential array on the edge of the upper surface of the rotating plate (22). The housing fixture (23) includes a fixed plate (231), a positioning post (232), a positioning block (233), a guide plate (234), a push rod (235), a detection rod (236), a first spring (237), a second spring (238), and an adjusting nut (239). The fixed plate (231) has a through groove (2311) in the middle, and its bottom surface is fixedly connected to the edge of the upper surface of the rotating plate (22). The middle position of the upper surface in the length direction opposite to the bottom surface is close to the outer edge. A fixed connection positioning block (233) is provided on the other side near the middle of the inner edge, and the positioning post (232) is aligned with the axis of the positioning rod (52310). A guide plate (234) is provided at the bottom of the fixed plate (231), and several guide holes are provided in the middle. A step is provided on the upper part of the push rod (235), and the end of the step passes through the two outermost guide holes of the guide plate (234). A second spring (238) is provided between the upper step of the positioning block (233) and the push rod (235). A step is also provided on the detection rod (236), and the step passes through the guide hole in the middle of the guide plate (234). A first spring (237) is provided between the step of the detection rod (236) and the guide plate (234). A pair of adjusting nuts (239) are threadedly connected to the lower end of the detection rod (236).

8. The irregularly shaped spring assembly device according to claim 7, characterized in that: The positioning block (233) is provided with a guide structure (2331), a spring groove (2332), a first clearance groove (2333), a second clearance groove (2334), and a pusher groove (2335); the middle protrusion of the positioning block (233) is a contoured structure that fits with the inner cavity of the product, and the top edge is provided with a guide structure (2331); the top plane is provided with spring grooves (2332) at equal intervals; the inner side of the middle protrusion of the positioning block (233) is provided with two second clearance grooves (2334), and the opposite side is provided with a first clearance groove (2333); the middle protrusion of the positioning block (233) is symmetrically provided with pusher grooves (2335) on both sides of the length direction, and the upper part of the push rod (235) passes through the guide plate (234) and is aligned with the pusher groove (2335).

9. The irregularly shaped spring assembly device according to claim 1, characterized in that: The housing loading station (3) includes a material handling robot (31) and a conveyor belt (32); the bottom of the conveyor belt (32) is fixed at the middle position of the width direction on the upper surface of the base plate (1), and the material handling robot (31) is set next to the conveyor belt (32); the material handling robot (31) includes a mounting base (311), a robot body (312), a fixed base (313), a connecting plate (314), a mounting upright plate (315), an industrial camera (316), a first housing gripper (317), and a second housing gripper (318); the bottom surface of the mounting base (311) is fixedly connected to the robot body (312), the robot body (313), the fixed base (314), the connecting plate (315), the connecting plate (316), the industrial camera (317), and the first housing gripper (318). The upper surface of the base plate (1) is fixedly connected to the robot body (312) on the upper surface opposite to the bottom surface; the end shaft of the robot body (312) is fixedly connected to the fixed seat (313); the middle of the upper surface of the connecting plate (314) is fixedly connected to the lower surface of the fixed seat (313); the first housing gripper (317) and the second housing gripper (318) are fixedly connected to the two ends of the lower surface of the connecting plate (314); one end of the upper surface of the connecting plate (314) is fixedly connected to the mounting plate (315); the side of the mounting plate (315) is fixedly connected to the industrial camera (316).

10. The irregularly shaped spring assembly device according to claim 1, characterized in that: The unloading station (6) includes a fixed bracket (61), a fifth slide cylinder (62), a seventh connecting seat (63), a sixth slide cylinder (64), an eighth connecting seat (65), a seventh slide cylinder (66), a ninth connecting seat (67), a third housing gripper (68), a feeding component (69), and an ejection component (610); the bottom of the fixed bracket (61) is fixedly connected to the upper surface of the base plate (1); the fifth slide cylinder (62) is fixed to the top of the fixed bracket (61) along the X direction. The lower surface of the bracket; the side of the seventh connecting seat (63) and the slider of the fifth sliding cylinder (62) are slidably connected, and the bottom surface of the seventh connecting seat (63) is fixedly connected to the sixth sliding cylinder (64) along the Y direction; the eighth connecting seat (65) and the slider of the sixth sliding cylinder (64) are slidably connected; the side of the eighth connecting seat (65) is fixed to the seventh sliding cylinder (66) along the Z direction; the side of the ninth connecting seat (67) and the seventh sliding cylinder (66) are slidably connected, and the bottom surface of the ninth connecting seat (67) is fixedly connected to the slider of the sixth sliding cylinder (64) along the Y direction; the side of the ninth connecting seat (67) and the slider of the sixth sliding cylinder (64) are slidably connected, and the bottom surface of the ninth connecting seat (67) is fixedly connected to the slider of the sixth sliding cylinder (64) along the Y direction; the side of the ninth connecting seat (65) and the slider of the sixth sliding cylinder (64) are slidably connected, and the bottom surface of the ninth connecting seat (67) is fixedly connected to the slider of the sixth sliding cylinder (64) along the Y direction; the side of the ninth connecting seat (65) and the slider of the sixth sliding cylinder (64) are slidably connected, and the bottom surface of the ninth connecting seat (65 ... slider of the sixth sliding cylinder (64) along the Y direction is fixedly connected. A third housing gripper (68) is fixedly connected to the surface; the unloading component (69) is located below the third housing gripper (68) and fixedly connected to the upper surface of the base plate (1); the unloading component (69) includes a material cylinder fixing frame (691), a first unloading cylinder (692), a second unloading cylinder (693), and a material box (694); the material cylinder fixing frame (691) is fixedly connected to the base plate (1); the first unloading cylinder (692) and the second unloading cylinder (693) are connected by the top of the material cylinder fixing frame (691). The flat plate is clamped and fixed; the material box (694) is provided with two material slots corresponding to the discharge ports of the first discharge cylinder (692) and the second discharge cylinder (693) respectively; the discharge component (69) is provided with an ejector component (610) next to it; the ejector component (610) includes a mounting vertical plate (6101) and an ejector mechanism (6102); the mounting vertical plate (6101) is fixedly installed on the upper surface of the base plate (1); there are two ejector mechanisms (6102) located on the top side of the mounting vertical plate (6101).

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