An assembly apparatus and method for a strut assembly

Abstract

The application discloses an assembling device and method of a strut assembly, and relates to the field of vehicle manufacturing devices.The assembling device comprises a rotating disc, a nut block lifting assembly, a strut assembling assembly, a positioning assembly, a connecting pin assembling assembly and a pin assembling assembly; the nut block and the strut assembled together are placed on the positioning assembly in the assembling method, two embedded blocks of the positioning assembly are inserted into the open slot of the nut block, the end part of the strut in the open slot is corrected in position through the symmetrically distributed embedded blocks, the joint bearing of the end part of the strut and the connecting hole are coaxially positioned when the connecting pin is assembled subsequently, the embedded blocks are embedded between the end part of the strut and the inner wall of the open slot, the relative position of the end part of the strut and the nut block can be prevented from being slightly changed before and during the assembling of the connecting pin, so that the assembling success rate of the connecting pin can be improved, and the pin is assembled into the nut block and the connecting pin through the pin assembling assembly after the assembling of the connecting pin is completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle manufacturing equipment, and particularly relates to an assembly device and method of a stay rod assembly. BACKGROUND

[0002] The stay rod assembly is an important component of an automatic door of an automobile. Components of the stay rod assembly that need to be assembled together include a nut block, a stay rod, a connecting pin and a pin. The end of the stay rod is assembled with a joint bearing in a previous process. The end of the stay rod and the joint bearing at the end need to be inserted into an open slot of the nut block. The connecting pin needs to pass through the nut block and the joint bearing. The pin needs to pass through the nut block and the connecting pin.

[0003] The assembly difficulty of the stay rod assembly is that: 1. The connecting pin needs to be coaxially assembled with the connecting hole on the nut block and the joint bearing on the stay rod. Meanwhile, the lower end of the connecting pin is provided with a flat part. The flat part needs to be aligned with the angle of the flat hole at the bottom of the connecting hole and then inserted. Therefore, the assembly requirement is high. 2. The stay rod and the nut block that are assembled together may have a slight position offset of the stay rod relative to the nut block when the components are delivered to the connecting pin assembly station. This leads to the failure of the assembly of the connecting pin. SUMMARY

[0004] The embodiment of the present application provides an assembly device and method of a stay rod assembly. The stay rod assembly can be automatically and efficiently assembled.

[0005] In a first aspect, the application provides an assembling device for a strut assembly, the strut assembly comprising a nut block, a strut, a connecting pin and a pin, the assembling device comprising a rotating disc, a nut block lifting assembly, a strut assembling assembly, a positioning assembly, a connecting pin assembling assembly and a pin assembling assembly; the nut block lifting assembly comprising a second lifting module and a first clamping jaw; the second lifting module is arranged on the rotating disc; the first clamping jaw is connected to the second lifting module and used for clamping the nut block; the strut assembling assembly comprising a first horizontal module and a second clamping jaw; the first horizontal module is arranged on one side of the rotating disc; the second clamping jaw is connected to the first horizontal module and used for clamping the strut to be assembled; the first horizontal module drives the strut to be inserted into the opening slot of the nut block in the horizontal direction; the positioning assembly comprising a first positioning block, an embedded block and an embedded block driving assembly; the first positioning block is arranged on the rotating disc and provided with a first positioning slot for positioning the nut block; two embedded blocks are slidingly arranged on the first positioning block and used for being inserted into the opening slot of the nut block in the horizontal direction; the two embedded blocks are symmetrically distributed on both sides of the strut; one side of the embedded block in the horizontal direction is used for contacting the inner wall of the opening slot, and the other side is used for contacting the end of the strut; the embedded block driving assembly is connected to the embedded block and used for driving the embedded block to be inserted into or withdrawn from the opening slot; the connecting pin assembling assembly comprising a stand and a press-fitting device; the stand is arranged on one side of the rotating disc; the press-fitting device is connected to the stand and used for driving the connecting pin to be assembled to be inserted into the connecting hole of the nut block and the strut; the pin assembling assembly comprising a second positioning block and a thimble device; the second positioning block is provided with a second positioning slot for positioning the nut block; the thimble device is arranged on one side of the second positioning slot; the pin hole of the nut block, the pin to be assembled and the thimble device are coaxially corresponding in sequence.

[0006] Preferably, the assembling device further comprises a nut block feeding assembly; the nut block feeding assembly comprising a second horizontal module, a first lifting module, a first rotating module and a third clamping jaw; the second horizontal module is arranged on one side of the rotating disc; the first lifting module is connected to the second horizontal module; the first rotating module is connected to the first lifting module; the third clamping jaw is connected to the first rotating module and used for clamping the nut block to be assembled.

[0007] Preferably, the nut block lifting assembly further comprises a second rotating module and a fourth clamping jaw; the second rotating module is connected to the second lifting module; the first clamping jaw and the fourth clamping jaw are both connected to the second rotating module; the first clamping jaw and the fourth clamping jaw are arranged in the horizontal direction; the first clamping jaw is used for clamping the nut block; the fourth clamping jaw is used for clamping the strut.

[0008] Preferably, the strut assembling assembly further comprises a third lifting module and a support assembly; the third lifting module is connected to the first horizontal module; the second clamping jaw is connected to the third lifting module; the support assembly comprising a fourth lifting module and a first support plate; the fourth lifting module is arranged on one side of the rotating disc; the first support plate is connected to the fourth lifting module and used for supporting the end of the strut away from the nut block.

[0009] Preferably, the support rod assembly further comprises a shaping device and a flattening device;

[0010] The shaping device comprises a shaping workbench, a fixing plate, a shaping plate, a shaping plate driving member, a rotating down-pressing member and a first pressing component; the shaping workbench is arranged at one side of the second clamping jaw along the length direction of the first horizontal module; the shaping workbench is provided with positioning holes for positioning the end of the support rod; the fixing plate and the shaping plate are arranged on the shaping workbench in opposition; the support rod to be assembled is arranged between the fixing plate and the shaping plate; the shaping plate driving member is connected with the shaping plate for driving the shaping plate to slide towards the fixing plate; the rotating down-pressing member is connected with the shaping workbench, and the first pressing component is connected with the rotating down-pressing member, so that the rotating down-pressing member drives the first pressing component to rotate and press down the support rod.

[0011] The flattening device comprises a mounting frame, a first pressing plate, a first pressing plate driving member, a second pressing component and a first elastic member; the mounting frame is arranged at one side of the shaping workbench; the first pressing plate is slidingly connected with the mounting frame; the first pressing plate driving member is connected with the first pressing plate for driving the first pressing plate to move in the height direction; the second pressing component is slidingly connected with the first pressing plate in the height direction, and the lower end surface of the second pressing component is used for pressing the joint bearing of the support rod; the first elastic member is connected between the second pressing component and the first pressing plate.

[0012] Preferably, the support rod assembly further comprises a floating height detection device; the floating height detection device comprises a floating height detection frame, a first pressing cylinder, a floating head, a second elastic member and a displacement sensor; the floating height detection frame is connected with the third lifting module; the first pressing cylinder is connected with the floating height detection frame, and the lower end surface of the first pressing cylinder is used for pressing the upper surface of the end of the support rod; the floating head is coaxially arranged in the first pressing cylinder, and the floating head is used for pressing the upper end surface of the joint bearing of the support rod; the second elastic member is connected between the floating head and the first pressing cylinder; the detection end of the displacement sensor corresponds to the floating head in the height direction for detecting the displacement amount of the floating head in the height direction.

[0013] Preferably, the inner block driving assembly of the positioning assembly comprises a guide rod frame, a third elastic member, a guide wheel, a wedge-shaped plate and a wedge-shaped plate driving member; the guide rod frame is slidingly connected with the first positioning block; two inner blocks are symmetrically arranged on the guide rod frame, and the opening slots of the two inner blocks and the nut block are located at the same height; the two ends of the third elastic member are respectively connected with the guide rod frame and the first positioning block for driving the inner blocks to be inserted into the opening slots of the nut block; the guide wheel is rotatably connected with the guide rod frame; the wedge-shaped surface of the wedge-shaped plate is used for slidingly contacting the outer circumference of the guide wheel; the wedge-shaped plate driving member is arranged on the rotating disc and connected with the wedge-shaped plate; the wedge-shaped plate driving member drives the wedge-shaped plate to slide relative to the guide wheel, so that the guide rod frame drives the inner blocks to exit from the opening slots of the nut block.

[0014] Preferably, the connecting pin assembly assembly further comprises a connecting pin taking device and a connecting pin positioning device;

[0015] The connecting pin taking device comprises a third horizontal module, a downward taking module and a fifth clamping jaw. The third horizontal module is connected to the stand. The downward taking module is connected to the third horizontal module. The fifth clamping jaw is connected to the downward taking module.

[0016] The connecting pin positioning device comprises a first sliding plate, a fourth horizontal module, a placing table and a sixth clamping jaw. The first sliding plate is slidingly connected to the stand. The fourth horizontal module is connected to the stand and the first sliding plate respectively, and is used to drive the first sliding plate to move towards the rotary disc. The placing table is arranged on the first sliding plate, and is provided with a placing hole for placing the connecting pin. The sixth clamping jaw is arranged on the first sliding plate, and is used to clamp the flat part of the connecting pin.

[0017] Preferably, the press-fitting device comprises a second pressing plate, a second pressing plate driving member, a pressure sensor, a second sliding plate, a fifth horizontal module, a first connecting column, a profiling piece and a second connecting column.

[0018] The second pressing plate is slidingly connected to the stand in the height direction. The pressure sensor is arranged on the second pressing plate. The second pressing plate driving member is connected to the pressure sensor, and drives the second pressing plate to move in the height direction. The second sliding plate is slidingly connected to the second pressing plate. The fifth horizontal module is connected to the second sliding plate and the second pressing plate respectively, and is used to drive the second sliding plate to slide relative to the second pressing plate. The first connecting column and the second connecting column are arranged on the second sliding plate in the sliding direction of the second sliding plate. The profiling piece is connected to the lower end of the first connecting column, and the shape of the profiling piece is the same as that of the connecting pin to be assembled. The lower end of the profiling piece is provided with a chamfer. The lower end surface of the second connecting column is used to abut against the connecting pin to be assembled.

[0019] Preferably, the press-fitting device further comprises a second pressing cylinder, a fourth elastic piece, a fifth elastic piece, a third pressing cylinder, a sixth elastic piece, a seventh elastic piece and an eighth elastic piece. The first connecting column is slidingly connected to the second sliding plate in the height direction. The upper end of the first connecting column corresponds to the pressure sensor. The second pressing cylinder is coaxially slidingly connected to the lower end of the first connecting column. The lower end surface of the second pressing cylinder is used to press against the upper surface of the nut block. The first connecting column is provided with a first shaft shoulder part. The two ends of the fourth elastic piece are connected to the first shaft shoulder part and the second pressing cylinder respectively. The two ends of the fifth elastic piece are connected to the first shaft shoulder part and the second sliding plate respectively.

[0020] The second connecting column is slidingly connected to the second sliding plate in the height direction. The upper end of the second connecting column corresponds to the pressure sensor. The third pressing cylinder is coaxially slidingly connected to the lower end of the second connecting column. The lower surface of the third pressing cylinder is used to press against the upper surface of the nut block. The second connecting column is provided with a second shaft shoulder part. The two ends of the sixth elastic piece are connected to the second shaft shoulder part and the third pressing cylinder respectively. The two ends of the seventh elastic piece are connected to the second shaft shoulder part and the second sliding plate respectively.

[0021] The seventh clamping jaw is connected to the second sliding plate in the height direction, and the two ends of the eighth elastic member are connected to the seventh clamping jaw and the second sliding plate respectively. The third pressing cylinder is provided with a avoiding gap for avoiding the seventh clamping jaw, and the seventh clamping jaw clamps the connecting pin to be assembled through the avoiding gap.

[0022] Preferably, the stiffness coefficient of the fourth elastic member is greater than that of the fifth elastic member, and the stiffness coefficient of the sixth elastic member is greater than that of the seventh elastic member.

[0023] Preferably, the pin assembly assembly further comprises a blanking device for transferring the nut block and the support rod from the turntable to the second positioning block; the blanking device comprises a sixth horizontal module, a fifth lifting module, an eighth clamping jaw and a ninth clamping jaw; the sixth horizontal module is arranged on one side of the turntable; the fifth lifting module is connected to the sixth horizontal module; the eighth clamping jaw and the ninth clamping jaw are connected to the fifth lifting module at intervals, the eighth clamping jaw is used for clamping the nut block, and the ninth clamping jaw is used for clamping the support rod.

[0024] Preferably, the pin assembly assembly further comprises a blanking device for transferring the nut block and the support rod from the turntable to the second positioning block; the blanking device comprises a sixth horizontal module, a fifth lifting module, an eighth clamping jaw and a ninth clamping jaw; the sixth horizontal module is arranged on one side of the turntable; the fifth lifting module is connected to the sixth horizontal module; the eighth clamping jaw and the ninth clamping jaw are connected to the fifth lifting module at intervals, the eighth clamping jaw is used for clamping the nut block, and the ninth clamping jaw is used for clamping the support rod.

[0025] The pin is slidingly connected to the assembly table, and the pin is coaxially arranged with the pin hole; the end of the pin is coaxially provided with a spherical part; the ninth elastic member is connected to the spherical part and the assembly table respectively; the pin driving member is arranged on one side of the pin, and the extension end of the pin driving member is provided with a push plate; the pin driving member is used to drive the push plate to contact the spherical surface of the spherical part and push the pin to slide.

[0026] In a second aspect, the application provides an assembly method of a support rod assembly, which uses the assembly device, and the assembly method comprises:

[0027] In step S100, the nut block is fed to the positioning assembly by the nut block feeding assembly, the turntable is rotated, and the positioning assembly is rotated to the working range of the support rod assembly.

[0028] Step S200, the second clamping jaw of the brace rod assembly clamps the brace rod to be assembled, the nut block lifting assembly lifts the nut block to be assembled to the same height as the brace rod, the first horizontal module drives the brace rod to move in the horizontal direction and inserts the end of the brace rod into the open slot of the nut block, the nut block lifting assembly places the assembled nut block and brace rod on the positioning assembly, the rotating disc rotates, and the positioning assembly is rotated to the working range of the connecting pin assembly;

[0029] Step S300, the press-fitting device is connected with the connecting pin to be assembled and drives the connecting pin to move downward until the connecting pin to be assembled is inserted into the connecting hole of the nut block and the joint bearing of the brace rod, the rotating disc rotates, and the positioning assembly is rotated to the working range of the pin assembly;

[0030] Step S400, the nut block with the assembled brace rod and connecting pin is placed on the second positioning block, the pin is pushed into the nut block and brace rod by the ejector pin device, and the assembly is completed.

[0031] The assembly equipment and method have at least the following beneficial effects:

[0032] The assembly equipment of the present application solves the actual problem, first, the nut block is fed into the first positioning slot of the positioning assembly, then the rotating disc drives the positioning assembly and the nut block to rotate to the working range of the brace rod assembly, the inner block of the positioning assembly is first withdrawn from the open slot of the nut block, so that the first clamping jaw of the nut block lifting assembly can lift the nut block upward, then the second clamping jaw clamps the brace rod and inserts the end of the brace rod into the open slot of the nut block, the first clamping jaw places the assembled nut block and brace rod on the positioning assembly together, and the two inner blocks of the positioning assembly are reinserted into the open slot of the nut block. At this time, because the end of the brace rod is located in the open slot, the inner block can be embedded between the end of the brace rod and the inner wall of the open slot. On the one hand, the symmetrically distributed inner blocks can correct the position of the end of the brace rod in the open slot, ensuring that the joint bearing of the end of the brace rod and the connecting hole are coaxial during the subsequent assembly of the connecting pin. On the other hand, the inner block is embedded between the end of the brace rod and the inner wall of the open slot, which can prevent the relative position of the end of the brace rod and the nut block from changing slightly before and during the assembly of the connecting pin, thereby improving the success rate of the connecting pin assembly. After the assembly of the connecting pin is completed, the pin assembly assembly is used to assemble the pin into the nut block and the connecting pin. BRIEF DESCRIPTION OF DRAWINGS

[0033] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The detailed description is made with reference to the accompanying drawings.

[0034] Figure 1 is the assembly schematic diagram of the strut assembly of the present application;

[0035] Figure 2 is the top view of the assembly equipment of the present application;

[0036] Figure 3 is Figure 2 is the axonometric view of the nut block loading assembly in the middle;

[0037] Figure 4 is Figure 2 is the schematic diagram of the transfer disc, nut block lifting assembly and positioning assembly in the middle;

[0038] Figure 5 is Figure 4 is the axonometric view of the positioning assembly in the middle;

[0039] Figure 6 is the schematic diagram of the process of inserting the inner block into the open slot;

[0040] Figure 7 is Figure 2 is the axonometric view of the strut assembly in the middle;

[0041] Figure 8 is Figure 7 is the axonometric view of the shaping device in the middle;

[0042] Figure 9 is Figure 7 is the structural schematic diagram of the shaping device and the flattening device in the middle;

[0043] Figure 10 is the sectional view of the first horizontal module, the third lifting module, the floating height detection device and the second clamping jaw;

[0044] Figure 11 is Figure 10 is the enlarged view of A in the middle;

[0045] Figure 12 is the axonometric view of the connecting pin assembly assembly and the positioning assembly in the middle;

[0046] Figure 13 is Figure 12 is the partial schematic diagram;

[0047] Figure 14 is the bottom view of the pressing device;

[0048] Figure 15 is the partial sectional view of the pressing device;

[0049] Figure 16 is Figure 2 is the axonometric view of the pin assembly assembly in the middle;

[0050] Figure 17is Figure 16 Axonometric view of the centering pin device;

[0051] Figure 18 is Figure 17 Enlarged view of B in the center;

[0052] Figure 19 is a schematic view of the movement of the cut piece from the first position to the second position, Figure (A) is a schematic view of the cross-sectional view of the first position, Figure (B) is a schematic view of the cross-sectional view of the second position;

[0053] The explanation of the reference signs is as follows:

[0054] 100, strut assembly; 110, nut block; 110a, connecting hole; 110b, flat hole; 110c, open slot; 110d, pin hole; 120, strut; 121, bearing mounting portion; 122, knuckle bearing; 130, connecting pin; 131, head portion; 132, cylindrical main body portion; 133, flat portion; 140, pin;

[0055] 200, turntable;

[0056] 300, nut block lifting assembly; 310, second lifting module; 320, first clamping jaw; 330, second rotating module; 340, fourth clamping jaw;

[0057] 400, strut assembly assembly; 410, first horizontal module; 420, second clamping jaw; 430, third lifting module; 440, support assembly; 441, fourth lifting module; 442, first support plate; 450, shaping device; 451, shaping workbench; 451a, positioning hole; 452, fixing plate; 453, shaping plate; 454, shaping plate driving member; 455, rotating down-pressing member; 456, first pressing component; 460, flattening device; 461, mounting frame; 462, first pressing plate; 463, first pressing plate driving member; 464, second pressing component; 465, first elastic member; 470, floating height detection device; 471, floating height detection frame; 472, first pressing cylinder; 473, floating height head; 474, second elastic member; 475, displacement sensor;

[0058] 500, positioning assembly; 510, first positioning block; 510a, first positioning slot; 520, inlay block; 530, inlay block driving assembly; 531, guide rod frame; 532, third elastic member; 533, guide wheel; 534, wedge-shaped plate; 535, wedge-shaped plate driving member; C1, first cut point; C2, second cut point;

[0059] 600, connecting pin assembly total assembly; 610, stand; 620, pressing device; 621, second pressing plate; 622, second pressing plate driving part; 623, pressure sensor; 624, second sliding plate; 625, fifth horizontal module; 626, first connecting column; 627, profiling part; 628, second connecting column; 629, second pressing cylinder; 6210, fourth elastic part; 6211, fifth elastic part; 6213, third pressing cylinder; 6214, sixth elastic part; 6215, seventh elastic part; 6216, seventh clamping jaw; 6217, eighth elastic part; 630, connecting pin taking device; 631, third horizontal module; 632, downward taking module; 633, fifth clamping jaw; 640, connecting pin positioning device; 641, first sliding plate; 642, fourth horizontal module; 643, placing table; 643a, placing hole; 644, sixth clamping jaw;

[0060] 700, pin assembly total assembly; 710, second positioning block; 710a, second positioning groove; 720, thimble device; 721, assembly table; 721a, cutting slot; 721b, pin feeding hole; 721c, thimble hole; 721d, pin discharging hole; 722, cutting block; 722a, cutting hole; 723, cutting driving part; 724, thimble; 7241, spherical part; 725, ninth elastic part; 726, thimble driving part; 7261, push plate; 730, blanking device; 731, sixth horizontal module; 732, fifth lifting module; 733, eighth clamping jaw; 734, ninth clamping jaw; 735, second support plate; 736, tenth elastic part; 737, swing pressing device;

[0061] 800, nut block feeding assembly; 810, second horizontal module; 820, first lifting module; 830, first rotating module; 840, third clamping jaw;

[0062] P1, nut block feeding station;

[0063] P2, support rod assembly station;

[0064] P3, connecting pin assembly station;

[0065] P4, pin assembly station. DETAILED DESCRIPTION

[0066] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0067] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0068] This embodiment discloses an assembly device and method for a strut assembly. To facilitate understanding of the strut assembly 100 in this embodiment, the structure of the strut assembly 100 is described below.

[0069] like Figure 1As shown, the brace assembly 100 includes a nut block 110, a brace 120, a connecting pin 130, and a pin 140; the upper surface of the nut block 110 is provided with a connecting hole 110a, the inner bottom surface of the connecting hole 110a is provided with a downwardly recessed flat hole 110b, the side surface of the nut block 110 is further provided with an open slot 110c (blind slot), and the connecting hole 110a penetrates the open slot 110c downwardly; the end of the brace 120 is provided with a circular bearing mounting portion 121, and the bearing mounting portion 121 is provided with an articulated bearing 122, which has been assembled with the brace 120 in the previous process; during assembly, the end of the brace 120 and the articulated bearing 122 on the end are inserted into the open slot 110c, and the coaxiality of the connecting hole 110a and the articulated bearing 122 needs to be ensured; the connecting pin 130 includes a head portion 131, a cylindrical main body portion 132, and a flat portion 133 connected in sequence; during assembly, the cylindrical main body portion 132 is coaxially inserted into the connecting hole 110a and the articulated bearing 122 downwardly, and the flat portion 133 needs to be inserted after being aligned with the flat hole 110b at an angle; the pin 140 is used to be inserted into the flat portion 133 of the nut block 110 and the pin 140 from the side surface of the nut block 110; specifically, the side surface of the nut block 110 and the flat portion 133 of the connecting pin 130 are both provided with corresponding pin holes 110d, and during assembly, the pin 140 is inserted into the pin holes 110d of the nut block 110 and the pin holes 110d of the flat portion 133 from the side surface of the nut block 110.

[0070] As shown in the figure, Figure 1 The assembly sequence of the brace assembly 100 of the present embodiment is as follows: first, the end of the brace 120 is assembled into the open slot 110c of the nut block 110, as indicated by arrow Q1; then, the connecting pin 130 is assembled into the articulated bearing 122 of the nut block 110 and the brace 120, as indicated by arrow Q2; finally, the pin 140 is assembled into the pin holes 110d of the nut block 110 and the pin holes 110d of the flat portion 133, as indicated by arrow Q3.

[0071] As shown in the figure, Figure 2 The assembly equipment of the present embodiment includes a turntable 200, a nut block lifting assembly 300, a brace assembly assembly 400, a positioning assembly 500, a connecting pin assembly assembly 600, a pin assembly assembly 700, and a nut block feeding assembly 800.

[0072] As shown in the figure, Figure 2As shown, the rotating disc 200 is rotatably arranged on the ground or other base surface, and the rotating disc 200 can rotate under the driving of the external structure, and the rotating disc 200 is used to realize the circulation of the workpiece in each station. In the embodiment, the nut block feeding station P1, the support rod assembly station P2, the connecting pin assembly station P3 and the pin assembly station P4 are sequentially arranged along the circumference of the rotating disc 200, the nut block feeding assembly 800 is arranged at the nut block feeding station, the support rod assembly assembly 400 is arranged at the support rod assembly station, the connecting pin assembly assembly 600 is arranged at the connecting pin assembly station, and the pin assembly assembly 700 is arranged at the pin assembly station.

[0073] As shown in the figure, Figure 3 The nut block feeding assembly 800 includes a second horizontal module 810, a first lifting module 820, a first rotating module 830 and a third jaw 840; the second horizontal module 810 is arranged on one side of the rotating disc 200 and can drive the first lifting module 820 to move close to and away from the rotating disc 200 in the radial direction of the rotating disc 200; the first lifting module 820 is connected to the second horizontal module 810 and is used to drive the first rotating module 830 and the third jaw 840 to move in the height direction; the first rotating module 830 is connected to the first lifting module 820 and is used to drive the third jaw 840 to rotate around the height direction, and the third jaw 840 is used to clamp the nut block 110 to be assembled.

[0074] In the embodiment, through the cooperation of the second horizontal module 810, the first lifting module 820 and the first rotating module 830, the third jaw 840 has the freedom degrees of horizontal direction, height direction and rotation around the height direction, so that the nut block 110 to be assembled can be transferred from the feeding position to the positioning assembly 500 on the surface of the rotating disc 200, and the nut block feeding assembly 800 of the embodiment also has the first rotating module 830, which can identify the front and back surfaces of the nut block 110 through the external camera recognition module, and when the front surface of the nut block 110 is not facing the correct direction when it is fed, the nut block 110 is rotated one hundred and eighty degrees through the first rotating module 830 and then placed on the positioning assembly 500.

[0075] As shown in the figure, Figure 4As shown, the nut block lifting assembly 300 includes a second lifting module 310, a first clamping jaw 320, a second rotating module 330, and a fourth clamping jaw 340. The second lifting module 310 is arranged on the turntable 200, specifically at the center portion of the turntable 200. The center portion is not rotatable, or the second lifting module 310 is arranged on an external structure and does not rotate with the turntable 200. Along the radial direction of the turntable 200, the second lifting module 310 is located on one side of the strut assembly 400. The second lifting module 310 drives the first clamping jaw 320 to move in the height direction. The second rotating module 330 is connected to the second lifting module 310 and drives the first clamping jaw 320 to rotate around the height direction. The first clamping jaw 320 is connected to the second rotating module 330 and is used to clamp the side surface of the nut block 110. The fourth clamping jaw 340 is also arranged on the second rotating module 330, and the first clamping jaw 320 and the fourth clamping jaw 340 are arranged on the second rotating module 330 in a spaced manner. The fourth clamping jaw 340 is used to clamp the end of the strut 120 close to the joint bearing 122.

[0076] When it is necessary to assemble the strut 120 on the nut block 110, the nut block 110 needs to be lifted from the positioning assembly 500. Specifically, the second lifting module 310 drives the first clamping jaw 320 to move downward, and the first clamping jaw 320 clamps the two sides of the nut block 110. The second lifting module 310 drives the nut block 110 to move upward to a position at the same height as the strut 120. Then, the second rotating module 330 drives the first clamping jaw 320 and the nut block 110 to rotate around the height direction, so that the open slot 110c of the nut block 110 faces the strut 120, facilitating the insertion of the strut 120 into the open slot 110c. Further, when the strut 120 is inserted into the open slot 110c, the fourth clamping jaw 340 can clamp the end of the strut 120 close to the open slot 110c to prevent the strut 120 from falling. Then, the second rotating module 330 drives the first clamping jaw 320, the fourth clamping jaw 340, and the assembled strut 120 and nut block 110 to rotate by ninety degrees. The nut block 110 is placed back on the positioning assembly 500, and the turntable 200 is transferred to the next station.

[0077] As shown in FIG. 6, the positioning assembly 500 includes a first rotating module 510, a second rotating module 520, a third rotating module 530, a fourth rotating module 540, a first clamping jaw 550, a second clamping jaw 560, a third clamping jaw 570, and a fourth clamping jaw 580. The first rotating module 510 is arranged on the turntable 200, specifically at the center portion of the turntable 200. The center portion is not rotatable, or the first rotating module 510 is arranged on an external structure and does not rotate with the turntable 200. Along the radial direction of the turntable 200, the first rotating module 510 is located on one side of the strut assembly 400. The first rotating module 510 drives the second rotating module 520 to rotate around the height direction. Figure 5As shown, the positioning assembly 500 includes a first positioning block 510, an embedded block 520, and an embedded block driving assembly 530. The first positioning block 510 is arranged at the edge of the turntable 200, and is provided with a first positioning groove 510a recessed downward, which is used for mounting and limiting the nut block 110. The embedded block 520 is two in number, and is slidably connected to the first positioning block 510. The sliding direction of the embedded block 520 is consistent with the thickness direction of the first positioning block 510. Further, the sliding direction of the embedded block 520 is consistent with the opening direction of the opening groove 110c of the nut block 110. The two embedded blocks 520 are symmetrically distributed on both sides of the support rod 120 with respect to the sliding direction of the embedded block 520. The embedded block 520 can be slidably inserted into or withdrawn from the opening groove 110c of the nut block 110. The embedded block driving assembly 530 is connected to the first positioning block 510 and connected to the embedded block 520. The embedded block 520 is driven to slide by the embedded block driving assembly 530.

[0078] As shown in Figure 6 , Figure 6 (A) shows that the embedded block 520 is not inserted into the opening groove 110c, Figure 6 (B) shows that the embedded block 520 is inserted into the opening groove 110c. The embedded block 520 has two side surfaces in the horizontal direction. The first side surface of the first embedded block 520 is in sliding contact with the first inner side wall of the opening groove 110c, and the second side surface of the first embedded block 520 is used to be in tangential contact with the end portion (specifically, the bearing mounting portion 121) of the support rod 120. Similarly, the first side surface of the second embedded block 520 is in sliding contact with the second inner side wall of the opening groove 110c, and the second side surface of the second embedded block 520 is used to be in tangential contact with the end portion (specifically, the bearing mounting portion 121) of the support rod 120. The two embedded blocks 520 of the present embodiment are symmetrically distributed on both sides of the bearing mounting portion 121, so that the bearing mounting portion 121 is forced to be centered in the opening groove 110c, and the joint bearing 122 in the bearing mounting portion 121 is in coaxial state with the connecting hole 110a.

[0079] The working principle of the positioning assembly 500 of the present embodiment is as follows:

[0080] When the nut block 110 is being fed: the inner block drive assembly 530 drives the inner block 520 to slide, so that the inner block 520 moves away from the first positioning groove 510a. Then the nut block feeding assembly 800 places the nut block 110 in the first positioning groove 510a. The inner block 520 is reset and inserted into the opening groove 110c of the nut block 110. Then the nut block 110 follows the positioning assembly 500 to the strut assembly station. During this process, the first positioning groove 510a positions the nut block 110, and at the same time the inner block 520 is inserted into the opening groove 110c of the nut block 110 to restrict the position of the nut block 110.

[0081] When the nut block lifting assembly 300 lifts the nut block 110: the inner block drive assembly 530 drives the inner block 520 to exit from the opening slot 110c of the nut block 110 again, and then the first gripper 320 lifts the nut block 110 on the first positioning block 510 upward.

[0082] like Figure 6 As shown, after the support rod 120 is assembled on the nut block 110: the nut block loading assembly 800 places the nut block 110 in the first positioning groove 510a, and the insert block 520 is reset and inserted into the opening groove 110c of the nut block 110. Since the bearing mounting part 121 of the support rod 120 is already inserted into the opening groove 110c of the nut block 110 at this time, during the process of inserting the insert block 520 into the opening groove 110c, the first side of the insert block 520 slides in contact with the first inner sidewall of the opening groove 110c. The second side of the insert 520 contacts the outer circumferential surface of the bearing mounting part 121, and the friction between the two drives the bearing mounting part 121 to move forward slightly, so that the bearing mounting part 121 contacts the inner front wall of the opening groove 110c. At this time, the bearing mounting part 121 can be positioned at three points: the two first tangent points C1 where the two inserts 520 contact the outer circumferential surface of the bearing mounting part 121, and the second tangent point C2 where the outer circumferential surface of the bearing mounting part 121 contacts the inner front wall of the opening groove 110c.

[0083] like Figure 6 As shown, in this embodiment, since the nut block 110 and the support rod 120 need to be transferred to the connecting pin assembly station along with the turntable 200, the support rod 120 inside the nut block 110 may undergo slight displacement during the transfer process, which may cause the spherical bearing 122 to shift from the connecting hole 110a on the nut block 110. Therefore, this embodiment designs an insert block 520. On the one hand, the insert block 520 can be inserted into the opening slot 110c to achieve three-point positioning of the end of the support rod 120, ensuring that the two will not shift during the transfer process. On the other hand, during the subsequent assembly of the connecting pin 130, due to the presence of the insert block 520, the spherical bearing 122 at the end of the support rod 120 will not shift.

[0084] As Figure 5 shown, in the preferred embodiment of the present application, the inlaid block driving assembly 530 comprises a guide rod holder 531, a third elastic member 532, a guide wheel 533, a wedge-shaped plate 534 and a wedge-shaped plate driving member 535;

[0085] The guide rod holder 531 is slidingly connected to the first positioning block 510, the sliding direction of the guide rod holder 531 is configured as the sliding direction of the inlaid block 520, and both inlaid blocks 520 are connected to the guide rod holder 531; the third elastic member 532 is coaxially sleeved on the guide rod holder 531, and both ends of the third elastic member 532 are respectively abutted against the side wall of the guide rod holder 531 and the first positioning block 510; after being compressed, the third elastic member 532 has a tendency to drive the inlaid block 520 disposed on the guide rod holder 531 to move towards the first positioning groove 510a and the nut block 110; the third elastic member 532 is preferably a spring; the guide wheel 533 is rotationally connected to the guide rod holder 531, and the axial direction of the guide wheel 533 is configured as the height direction; the wedge-shaped plate 534 has a wedge surface, which can be in contact with the outer circumference of the guide wheel 533 under the driving of the wedge-shaped plate driving member 535; with the relative sliding contact between the wedge surface and the guide wheel 533, the wedge-shaped plate 534 will push the guide wheel 533 and the guide rod holder 531 to slide, at this time, the inlaid block 520 moves away from the first positioning groove 510a or the nut block 110, and the third elastic member 532 is compressed; the wedge-shaped plate driving member 535 is arranged on the rotating disc 200, and is located on the horizontal side of the first positioning block 510; the wedge-shaped plate driving member 535 is configured as an extension and retraction pneumatic cylinder or an electric push rod; the wedge-shaped plate 534 is connected to the extension and retraction end of the wedge-shaped plate driving member 535; the driving direction of the wedge-shaped plate driving member 535 is perpendicular to the sliding direction of the inlaid block 520 in the horizontal plane, and the wedge-shaped plate 534 is driven by the wedge-shaped plate driving member 535 to move relative to the guide wheel 533.

[0086] In the present embodiment, when the inlaid block 520 needs to move away from the first positioning groove 510a or the nut block 110, the wedge-shaped plate driving member 535 is driven, and when the inlaid block 520 needs to be reset and inserted into the open slot 110c of the nut block 110, the elastic reset force of the third elastic member 532 is used, which can make the inlaid block 520 elastically inserted into the open slot 110c of the nut block 110, and the position of the bearing mounting portion 121 in the open slot 110c can be elastically adjusted; if a rigid contact mode is used, the inlaid block 520 may be stuck or damaged.

[0087] As Figure 7As shown, the support rod assembly 400 includes a first horizontal module 410, a second clamping jaw 420, a third lifting module 430, and a support assembly 440; the first horizontal module 410 is arranged on the horizontal side of the turntable 200, and the first horizontal module 410 extends along the radial direction of the turntable 200; the third lifting module 430 is connected to the first horizontal module 410, and the third lifting module 430 is driven by the first horizontal module 410 to move in the radial direction of the turntable 200; the second clamping jaw 420 is connected to the third lifting module 430, and the second clamping jaw 420 is driven by the first horizontal module 410 and the third lifting module 430 to move in the horizontal direction (i.e., the radial direction of the turntable 200) and the height direction, facilitating the clamping of the support rod 120 to be assembled.

[0088] As shown, Figure 7 the working principle of the support rod 120 assembly is as follows: the first horizontal module 410 drives the second clamping jaw 420 to move to the upper side of the support rod 120 to be assembled, the third lifting module 430 drives the second clamping jaw 420 to move downward, the second clamping jaw 420 clamps the support rod 120 to be assembled and moves along the radial direction of the turntable 200 to approach the turntable 200, then the nut block lifting assembly 300 drives the nut block 110 on the turntable 200 to align with the support rod 120, and the first horizontal module 410 drives the bearing mounting portion 121 of the support rod 120 to be inserted into the opening slot 110c of the nut block 110.

[0089] As shown, Figure 7 the support assembly 440 is arranged on the radial side of the turntable 200 and is used to support the end of the support rod 120 away from the nut block 110; the support assembly 440 includes a fourth lifting module 441 and a first support plate 442; the fourth lifting module 441 is arranged on the radial side of the turntable 200, and the first support plate 442 is horizontally arranged and connected to the fourth lifting module 441; the fourth lifting module 441 drives the first support plate 442 to move in the height direction, and the upper surface of the first support plate 442 supports the support rod 120.

[0090] The reason for designing the support assembly 440 is as follows: before the support rod 120 is assembled into the nut block 110, the first clamping jaw 320 of the nut block lifting assembly 300 needs to lift the nut block 110 upward to the same height as the support rod 120 and rotate the opening slot 110c to align with the support rod 120, and then the second clamping jaw 420 inserts the support rod 120 into the opening slot 110c; however, during this waiting process, the support rod 120 is only clamped by the second clamping jaw 420, and the stress points are too few; in addition, the support rod 120 is an elongated workpiece, and therefore the first support plate 442 is designed to support the support rod 120 upward to prevent the support rod 120 from deforming due to being suspended; on the other hand, the suspended support rod 120 is not conducive to stably inserting the end of the support rod 120 into the opening slot 110c of the nut block 110; such a design can reduce the probability of errors.

[0091] like Figure 7 As shown, in some preferred embodiments, the strut assembly 400 further includes a shaping device 450 and a flattening device 460, as detailed below:

[0092] like Figure 8 As shown, the shaping device 450 includes a shaping worktable 451, a fixing plate 452, a shaping plate 453, a shaping plate drive 454, a rotating pressing member 455, and a first clamping member 456; the shaping worktable 451 is disposed on one side of the second gripper 420, and the second gripper 420 can move to directly above the shaping worktable 451 under the drive of the first horizontal module 410; the shaping worktable 451 is provided with positioning holes 4 that match the bearing mounting portion 121 of the support rod 120. 51a; The fixed plate 452 is fixedly mounted on the shaping worktable 451, and the shaping plate 453 is slidably mounted on the shaping worktable 451. The shaping plate 453 and the fixed plate 452 are arranged opposite to each other in the sliding direction of the shaping plate 453. The support rod 120 to be assembled is located between the fixed plate 452 and the shaping plate 453. The shaping plate 453 pushes the support rod 120 toward the fixed plate 452 and makes it abut against the fixed plate 452, thereby realizing the position shaping of the support rod 120; the shaping plate drives... The actuator 454 can be a telescopic cylinder, a linear module, etc.; the shaping plate drive 454 is disposed on one side of the shaping worktable 451, and is connected to the shaping plate 453, driving the shaping plate 453 to slide; the rotating pressing component 455 is configured as an existing rotating pressing cylinder, and is connected to one side of the shaping worktable 451. The output end of the rotating pressing component 455 is connected to the first pressing component 456, and the rotating pressing component 455 drives the shaping plate 453 to slide. After the first pressing component 456 rotates, it presses the support rod 120 to be assembled onto the shaping worktable 451 to ensure the stability of the position of the support rod 120. The specific working principle of the rotating pressing component 455 is as follows: the rotating pressing component 455 first drives the first pressing component 456 to rotate around the height direction so that the first pressing component 456 is directly above the support rod 120. Then, the rotating pressing component 455 drives the first pressing component 456 to descend and press the upper surface of the support rod 120.

[0093] like Figure 9As shown, the flattening device 460 comprises a mounting frame 461, a first pressing plate 462, a first pressing plate driving member 463, a second pressing member 464 and a first elastic member 465; the mounting frame 461 is arranged on the horizontal side of the shaping workbench 451; the first pressing plate 462 is slidingly connected to the mounting frame 461, and the sliding direction of the first pressing plate 462 is configured as the height direction; the first pressing plate driving member 463 is configured as a servo press or a telescopic air cylinder or an electric cylinder, etc., and is arranged on the mounting frame 461 and connected with the first pressing plate 462 to drive the first pressing plate 462 to move in the height direction; the second pressing member 464 is slidingly connected to the first pressing plate 462 along the height direction, and is coaxially corresponding to the joint bearing 122 at the end of the support rod 120; the first elastic member 465 is configured as a spring, coaxially sleeved on the outer periphery of the second pressing member 464, and the two ends of the first elastic member 465 are respectively abutted with the first pressing plate 462 and the second pressing member 464. The working principle of the flattening device 460 is that the first pressing plate 462 drives the second pressing member 464 to move downward, and the lower end surface of the second pressing member 464 presses the upper end surface of the joint bearing 122 of the support rod 120 (the first elastic member 465 avoids the rigid contact between the second pressing member 464 and the joint bearing 122), so that the joint bearing 122 is in a horizontal state, that is, its axis is consistent with the height direction, which is convenient for subsequent insertion into the open slot 110c of the nut block 110.

[0094] As Figure 10 and Figure 11As shown, in some preferred embodiments, the support rod assembly 400 further comprises a float height detection device 470, which comprises a float height detection frame 471, a first pressing cylinder 472, a float head 473, a second elastic member 474, and a displacement sensor 475; the float height detection frame 471 is connected to the third lifting module 430; the upper end of the first pressing cylinder 472 is connected to the float height detection frame 471, the inner diameter of the first pressing cylinder 472 is greater than the outer diameter of the joint bearing 122 of the support rod 120, and the lower end surface of the first pressing cylinder 472 presses the upper surface of the bearing mounting portion 121 of the support rod 120 against the shaping workbench 451; the float head 473 is coaxially arranged in the first pressing cylinder 472 and slides through the float height detection frame 471 and can move relative to the float height detection frame 471 in the height direction; the second elastic member 474 is configured as a spring, the second elastic member 474 is coaxially sleeved on the outer periphery of the float head 473, and the two ends of the second elastic member 474 are respectively in abutment with the first pressing cylinder 472 and the float head 473; the displacement sensor 475 is arranged on the float height detection frame 471, and the detection end of the displacement sensor 475 corresponds to the float head 473 up and down. The principle of float height detection is as follows: the first horizontal module 410 drives the third lifting module 430 and the float height detection frame 471 to move to the exact position above the bearing mounting portion 121 of the support rod 120, the first pressing cylinder 472 is coaxially arranged with the bearing mounting portion 121, the third lifting module 430 drives the float head 473 and the first pressing cylinder 472 to move downward, because the lower surface of the float head 473 and the lower end surface of the first pressing cylinder 472 are flush, and the upper end surface of the bearing mounting portion 121 is generally higher than the upper surface of the bearing mounting portion 121, therefore, during the downward movement of the float head 473 and the first pressing cylinder 472, the float head 473 is first lifted upward by the joint bearing 122, and the displacement sensor 475 records the displacement amount, when the lower end surface of the first pressing cylinder 472 is pressed against the upper surface of the bearing mounting portion 121, the displacement amount recorded by the displacement sensor 475 at this time is the distance between the upper end surface of the joint bearing 122 and the upper surface of the bearing mounting portion 121.

[0095] The purpose of designing the float height detection in this embodiment is to ensure that the position of the joint bearing 122 in the bearing mounting portion 121 meets the requirements and to avoid errors in subsequent assembly to the nut block 110.

[0096] As can be seen from the above, in some embodiments, the support rod assembly assembly 400 includes a first horizontal module 410, a second clamping jaw 420, a third lifting module 430, a support assembly 440, a shaping device 450, a flattening device 460, and a floating height detection device 470, and the working order of each component is as follows: the support rod 120 to be assembled is placed on the shaping workbench 451 of the shaping device 450, is shaped first, is then pressed by the rotating lower pressing piece 455, is then flattened by the flattening device 460, is then subjected to floating height detection by the floating height detection device 470, and is then clamped by the second clamping jaw 420 above the shaping workbench 451 to perform subsequent assembly of the support rod 120 and the nut block 110.

[0097] As shown in Figure 12 , the connecting pin assembly assembly 600 includes a stand 610 and a press-fitting device 620, the stand 610 is arranged on a radial side of the turntable 200 to provide a mounting position for the press-fitting device 620, and the press-fitting device 620 is used to press the connecting pin 130 into the joint bearing 122 of the nut block 110 and the support rod 120.

[0098] As shown in Figure 12 , first, the connecting pin assembly assembly 600 further includes a connecting pin taking device 630 and a connecting pin positioning device 640, which are specifically as follows:

[0099] As shown in Figure 12 , the connecting pin taking device 630 includes a third horizontal module 631, a downward taking module 632, and a fifth clamping jaw 633; the third horizontal module 631 is connected to the stand 610 and is used to drive the downward taking module 632 and the fifth clamping jaw 633 to move horizontally along the horizontal direction to a connecting pin taking position, the downward taking module 632 is used to drive the fifth clamping jaw 633 to move in the height direction, the downward taking module 632 refers to an existing linear module, and the fifth clamping jaw 633 is used to clamp the connecting pin 130 to be assembled, and the fifth clamping jaw 633 is driven by the third horizontal module 631 and the downward taking module 632 to move in the horizontal direction and the height direction to realize taking of the connecting pin 130.

[0100] As shown in Figure 13As shown, the connecting pin positioning device 640 comprises a first sliding plate 641, a fourth horizontal module 642, a placement table 643 and a sixth clamp jaw 644. The first sliding plate 641 is slidingly connected to the stand 610, and the sliding direction of the first sliding plate 641 is configured as the radial direction of the turntable 200. The fourth horizontal module 642 is connected to the first sliding plate 641 and the stand 610 respectively, and is used to drive the first sliding plate 641 to move towards the turntable 200. Through the fourth horizontal module 642, the first sliding plate 641 and the components arranged on the first sliding plate 641 can be driven to move directly below the press-fitting device 620, facilitating the press-fitting device 620 to take the connecting pin 130. The placement table 643 is arranged on the first sliding plate 641, and the upper surface of the placement table 643 is provided with a placement hole 643a for placing the connecting pin 130. The sixth clamp jaw 644 is arranged on the first sliding plate 641, and the two fingers of the sixth clamp jaw 644 can clamp the flat part 133 of the connecting pin 130 from the horizontal direction. Because the length-width difference of the flat part 133 is large, if the two fingers of the sixth clamp jaw 644 do not clamp the two flat sides of the flat part 133, the sixth clamp jaw 644 will report an error, or if the flat part 133 is not directly opposite the two fingers of the sixth clamp jaw 644, when the two fingers of the sixth clamp jaw 644 are clamped towards the flat part 133, the flat part 133 will be forced to rotate, so that the two flat sides of the flat part 133 are clamped by the two fingers of the sixth clamp jaw 644. At this time, the offset angle of the connecting pin 130 will be corrected, which can ensure that the flat part 133 is aligned with the oblong hole 110b of the nut block 110 during subsequent press-fitting.

[0101] As shown in Figure 14 The press-fitting device 620 comprises a second press plate 621, a second press plate driving member 622, a pressure sensor 623, a second sliding plate 624, a fifth horizontal module 625, a first connecting column 626, a profiling member 627 and a second connecting column 628.

[0102] As shown in Figure 14As shown, the second pressing plate 621 is slidingly connected to the stand 610, and the sliding direction of the second pressing plate 621 is configured as the height direction; the second pressing plate driving member 622 is configured as a servo press, an electric cylinder or the like; the output end of the second pressing plate driving member 622 is connected with the second pressing plate 621, and the second pressing plate 621 is driven to slide in the height direction by the second pressing plate driving member 622; in the embodiment, the pressure sensor 623 is arranged on the back surface of the second pressing plate 621, the output end of the second pressing plate driving member 622 is connected with the second pressing plate 621 through the pressure sensor 623, and the pressure sensor 623 is used to monitor the pressure assembly force; the second sliding plate 624 is slidingly connected to the lower surface of the second pressing plate 621 along the horizontal direction; the fifth horizontal module 625 is connected with the second sliding plate 624 and the second pressing plate 621 respectively, and the second sliding plate 624 is driven to slide relative to the second pressing plate 621 by the fifth horizontal module 625; the first connecting column 626 and the second connecting column 628 are both arranged vertically downward, and the first connecting column 626 and the second connecting column 628 are arranged on the second sliding plate 624 along the sliding direction of the second sliding plate 624; the shape of the profiling part 627 is the same as that of the connecting pin 130 to be assembled, and the same shape herein refers to partial same rather than complete same; the upper end of the profiling part 627 is coaxially connected with the first connecting column 626, the lower end of the profiling part 627 is provided with a flat part 133 which is the same as the connecting pin 130, and the lower end of the flat part 133 of the profiling part 627 is provided with a chamfer, which facilitates the smooth introduction of the flat part 133 of the profiling part 627 into the flat hole 110b of the nut block 110, and if there is a slight deviation in the angle of the nut block 110, the flat part 133 of the profiling part 627 can force the nut block 110 to rotate back to normal; the lower end surface of the second connecting column 628 is used to abut and connect the upper surface of the connecting pin 130 to be assembled, and the connection mode of the second connecting column 628 and the connecting pin 130 can be electromagnetic adsorption, negative pressure adsorption or clamping by the seventh clamping jaw 6216 as described in the embodiment, which are all optional and feasible modes.

[0103] The working principle of the pressure assembly device 620 of the embodiment is as follows:

[0104] Correction: The positioning assembly 500 and the assembled strut 120 and nut block 110 flow to the lower side of the pressure assembly device 620, the second sliding plate 624 slides to make the profiling part 627 coaxial with the connecting hole 110a of the nut block 110, the second pressing plate 621 drives the profiling part 627 to move downward and insert into the connecting hole 110a of the nut block 110, the profiling part 627 passes through the connecting hole 110a of the nut block 110 and the joint bearing 122 of the strut 120 at the same time, which can correct the coaxiality of the joint bearing 122 and the connecting hole 110a, and the flat part 133 of the profiling part 627 is introduced into the flat hole 110b of the nut block 110 to correct the angle of the flat hole 110b.

[0105] Pressing: after the correction is completed, the profiled part 627 is reset upward, then the second connecting column 628 moves downward, the connecting pin 130 to be assembled is located directly below the second connecting column 628, the second connecting column 628 moves downward to complete the connection with the connecting pin 130, then the second sliding plate 624 slides to make the second connecting column 628 coaxial with the connecting hole 110a of the nut block 110, the second pressing plate 621 drives the second connecting column 628 and the connecting pin 130 to move downward, until the connecting pin 130 is coaxially inserted into the connecting hole 110a of the nut block 110 and the joint bearing 122 of the supporting rod 120, and the flat part 133 at the lower end of the connecting pin 130 is inserted into the flat hole 110b of the nut block 110, completing the assembly of the connecting pin 130.

[0106] As shown in Figure 15 some preferred embodiments, the pressing device 620 further comprises a second pressing cylinder 629, a fourth elastic member 6210, a fifth elastic member 6211, a third pressing cylinder 6213, a sixth elastic member 6214, a seventh elastic member 6215, a seventh clamping jaw 6216, and an eighth elastic member 6217, as follows:

[0107] As shown in Figure 15 the first connecting column 626 can slide in the height direction relative to the second sliding plate 624, the upper end of the first connecting column 626 corresponds to the pressure sensor 623 in the vertical direction, the second pressing cylinder 629 is coaxially sleeved on the outer periphery of the lower end of the first connecting column 626, and the second pressing cylinder 629 can slide in the height direction relative to the first connecting column 626, the first connecting column 626 is provided with a first shaft shoulder portion; the fourth elastic member 6210 is coaxially sleeved on the outer periphery of the first connecting column 626, and the two ends of the fourth elastic member 6210 are connected to the first shaft shoulder portion and the second pressing cylinder 629 respectively; the fifth elastic member 6211 is coaxially sleeved on the outer periphery of the first connecting column 626, and the two ends of the fifth elastic member 6211 are connected to the first shaft shoulder portion and the second sliding plate 624 respectively;

[0108] Similarly, the second connecting column 628 can slide in the height direction relative to the second sliding plate 624, the upper end of the second connecting column 628 corresponds to the pressure sensor 623 in the vertical direction, the third pressing cylinder 6213 is coaxially sleeved on the outer periphery of the lower end of the second connecting column 628, and the third pressing cylinder 6213 can slide in the height direction relative to the second connecting column 628, the second connecting column 628 is provided with a second shaft shoulder portion; the sixth elastic member 6214 is coaxially sleeved on the outer periphery of the second connecting column 628, and the two ends of the sixth elastic member 6214 are connected to the second shaft shoulder portion and the third pressing cylinder 6213 respectively; the seventh elastic member 6215 is coaxially sleeved on the outer periphery of the second connecting column 628, and the two ends of the seventh elastic member 6215 are connected to the second shaft shoulder portion and the second sliding plate 624 respectively;

[0109] In the embodiment, the stiffness coefficient of the fourth elastic member 6210 is much greater than that of the fifth elastic member 6211, and the stiffness coefficient of the sixth elastic member 6214 is much greater than that of the seventh elastic member 6215. For example, the stiffness coefficient of the fourth elastic member 6210 is 3 to 10 times that of the fifth elastic member 6211, and the stiffness coefficient of the sixth elastic member 6214 is 3 to 10 times that of the seventh elastic member 6215. In the embodiment, the stiffness coefficient of the fourth elastic member 6210 is preferably 100 N / m, and the stiffness coefficient of the sixth elastic member 6214 is preferably 100 N / m.

[0110] In the embodiment, when the first connecting column 626 and the profiling member 627 move downward, the lower end surface of the second pressing cylinder 629 first contacts the upper surface of the nut block 110, the second pressing cylinder 629 presses the nut block 110 tightly on the first positioning block 510, so that the nut block 110 does not deviate in position during correction, and the fourth elastic member 6210 and the fifth elastic member 6211 are used to avoid rigid contact between the second pressing cylinder 629 and the nut block 110. Similarly, when the second connecting column 628 and the connecting pin 130 to be assembled move downward, the lower end surface of the third pressing cylinder 6213 first elastically contacts and presses the upper surface of the nut block 110.

[0111] Further, since the contact pressure of the second pressing cylinder 629 and the nut block 110 and the contact pressure of the third pressing cylinder 6213 and the nut block 110 need to be monitored in the present embodiment, the first connecting column 626 and the second connecting column 628 are designed to be slidable up and down in the present embodiment. Taking the third pressing cylinder 6213 as an example, when the third pressing cylinder 6213 contacts the upper surface of the nut block 110, the third pressing cylinder 6213 is retracted upward, so that the sixth elastic member 6214 and the seventh elastic member 6215 are compressed, and at the same time, the second connecting column 628 slides upward and contacts the pressure sensor 623, so that the pressure sensor 623 can monitor the contact pressure of the third pressing cylinder 6213. The principle of the second pressing cylinder 629 is the same. When the second pressing plate 621 of the press fitting device 620 is reset upward, the sixth elastic member 6214 and the seventh elastic member 6215 give the nut block 110 a downward pressing force through the third pressing cylinder 6213, so that the nut block 110 and the press fitting device 620 can be smoothly separated from each other. However, there is a contradiction. If the stiffness coefficients of the sixth elastic member 6214 and the seventh elastic member 6215 are the same and the values are large, then the third pressing cylinder 6213 needs to have a large contact pressure with the nut block 110, and the second connecting column 628 can only slide upward, which may damage the nut block 110. If the stiffness coefficients of the sixth elastic member 6214 and the seventh elastic member 6215 are the same and the values are small, then when the second pressing plate 621 of the press fitting device 620 is reset upward, the sixth elastic member 6214 and the seventh elastic member 6215 give the nut block 110 a downward pressing force, which is too small, so that the nut block 110 may be lifted upward. In the present embodiment, the stiffness coefficient of the sixth elastic member 6214 is selected to be much larger than that of the seventh elastic member 6215. When the third pressing cylinder 6213 contacts the nut block 110 downward, the third pressing cylinder 6213, the second connecting column 628 and the sixth elastic member 6214 can be regarded as a rigid body. The rigid body can retract upward together with the third pressing cylinder 6213 when the third pressing cylinder 6213 just contacts the nut block 110, and compress the seventh elastic member 6215, so that the upper end of the second connecting column 628 contacts the pressure sensor 623. As the second pressing plate 621 moves downward, the compression amount of the seventh elastic member 6215 gradually increases, and at the same time, the sixth elastic member 6214 starts to deform and compress, and provides a large separation force for the later separation action. That is, the seventh elastic member 6215 is easy to be compressed, so that the second connecting column 628 can easily contact the pressure sensor 623 upward. The sixth elastic member 6214 is not easy to be compressed, so that it can provide a large separation force when reset upward. It can be understood that the fourth elastic member 6210 and the fifth elastic member 6211 in the present embodiment can have similar technical effects as the sixth elastic member 6214 and the seventh elastic member 6215.

[0112] As Figure 14 and Figure 15As shown, the seventh gripper 6216 is connected to the second sliding plate 624 through a slide post, and the sliding direction of the seventh gripper 6216 is configured as the height direction; the two fingers of the seventh gripper 6216 are located at the lower end of the second connecting post 628, and are used for clamping the head 131 of the connecting pin 130; the eighth elastic member 6217 is coaxially sleeved on the slide post, and the two ends of the eighth elastic member 6217 are respectively abutted against the second sliding plate 624 and the seventh gripper 6216.

[0113] In the embodiment, when it is needed to transfer the connecting pin 130 to be assembled from the placement table 643 of the connecting pin positioning device 640 to the lower end of the second connecting post 628, the specific process is as follows: the placement table 643 and the connecting pin 130 arranged on the placement table 643 are driven by the first sliding plate 641 to move to the position directly below the second connecting post 628, the second pressing plate 621 drives the second connecting post 628 and the seventh gripper 6216 to move downward, the lower end surface of the second connecting post 628 is in contact with the upper surface of the connecting pin 130, then the seventh gripper 6216 clamps the head 131 of the connecting pin 130, and then the second connecting post 628 clamps the connecting pin 130 and moves upward synchronously with the seventh gripper 6216, and finally the placement table 643 is reset.

[0114] In the embodiment, when the second connecting post 628 and the seventh gripper 6216 drive the connecting pin 130 to be inserted downward into the mounting hole of the nut block 110, the seventh gripper 6216 can ensure that the connecting pin 130 does not rotate, and the eighth elastic member 6217 can avoid the rigid contact between the seventh gripper 6216 and the nut block 110.

[0115] As shown in the figure, Figure 16 The pin assembly assembly 700 includes a second positioning block 710 and a ejector pin device 720, the second positioning block 710 is arranged on the radial side of the turntable 200, the second positioning block 710 is provided with a second positioning groove 710a for positioning the nut block 110, and the second positioning groove 710a is the same as the first positioning groove 510a; the ejector pin device 720 is arranged on the horizontal side of the second positioning groove 710a, the pin hole 110d of the nut block 110, the pin 140 to be assembled and the ejector pin device 720 are coaxially corresponding in sequence, and the pin 140 to be assembled is coaxially inserted into the pin hole 110d of the nut block 110 and the pin hole 110d of the connecting pin 130 through the ejector pin device 720.

[0116] As shown in the figure, Figure 16 In the embodiment, preferably, the pin assembly assembly 700 further includes a discharging device 730 for transferring the nut block 110 and the support rod 120 from the positioning assembly 500 on the turntable 200 to the second positioning block 710.

[0117] As shown in the figure, Figure 16As shown, the blanking device 730 includes a sixth horizontal module 731, a fifth lifting module 732, an eighth clamping jaw 733, and a ninth clamping jaw 734. The sixth horizontal module 731 is arranged at one side of the turntable 200 and is configured to drive the fifth lifting module 732 to move in the radial or horizontal direction of the turntable 200. The fifth lifting module 732 is connected to the sixth horizontal module 731 and is configured to drive the eighth clamping jaw 733 and the ninth clamping jaw 734 to move in the height direction. The eighth clamping jaw 733 and the ninth clamping jaw 734 are connected to the fifth lifting module 732 at intervals and are configured to clamp the nut block 110 and the support rod 120, respectively.

[0118] As shown in Figure 16 , the working principle of the blanking device 730 is as follows: the sixth horizontal module 731 drives the eighth clamping jaw 733 and the ninth clamping jaw 734 to move horizontally above the positioning assembly 500, the fifth lifting module 732 drives the eighth clamping jaw 733 and the ninth clamping jaw 734 to move downward, and after the eighth clamping jaw 733 and the ninth clamping jaw 734 respectively grab the nut block 110 and the support rod 120 on the positioning assembly 500, the sixth horizontal module 731 and the fifth lifting module 732 cooperate to place the nut block 110 with the assembled support rod 120 in the second positioning groove 710a of the second positioning block 710.

[0119] As shown in Figure 17 and Figure 18 , the ejector pin device 720 includes an assembly table 721, a cutting block 722, a cutting driving member 723, an ejector pin 724, a ninth elastic member 725, and an ejector pin driving member 726, which are specifically as follows:

[0120] The assembly table 721 is arranged on the horizontal side of the second positioning block 710 and is provided with a rectangular cutting groove 721a. The cutting block 722 is slidingly arranged in the cutting groove 721a. The cutting driving member 723 is connected to one side of the assembly table 721 and is configured as an extension cylinder or an electric push rod. The output end of the cutting driving member 723 is connected to the cutting block 722 and is configured to drive the cutting block 722 to slide in the cutting groove 721a to cut the material.

[0121] As shown in Figure 19As shown, the assembly table 721 is provided with the pin feeding hole 721b, the ejector pin hole 721c and the pin discharging hole 721d which are communicated with the cutting groove 721a; the cutting block 722 is provided with the cutting hole 722a, when the cutting block 722 slides to the first position, the cutting hole 722a is coaxially communicated with the pin feeding hole 721b, the pin 140 to be assembled can be blown into the cutting hole 722a of the cutting block 722 from the pin feeding hole 721b in the air blowing mode, then the cutting block 722 slides to the second position, at this time, the ejector pin hole 721c, the cutting hole 722a and the pin discharging hole 721d are coaxially corresponding in turn, the pin hole 110d of the nut block 110 is coaxially communicated with the pin discharging hole 721d, the ejector pin 724 passes through the ejector pin hole 721c, the cutting hole 722a and the pin discharging hole 721d coaxially in turn, and pushes the pin 140 in the cutting hole 722a from the pin discharging hole 721d into the pin hole 110d of the nut block 110.

[0122] As shown in Figure 19 , the ejector pin 724 is slidingly connected to the assembly table 721, the ejector pin 724 is coaxially arranged with the ejector pin hole 721c, the ejector pin 724 can slide in the ejector pin hole 721c, the first end of the ejector pin 724 is used for pushing the pin 140, the second end of the ejector pin 724 is provided with a spherical part 7241, the ninth elastic member 725 is coaxially sleeved on the outer circumference of the ejector pin 724, and the two ends of the ninth elastic member 725 are respectively abutted with the assembly table 721 and the spherical part 7241, after the connecting pin 130 is pushed into the nut block 110 by the ejector pin 724, the ninth elastic member 725 drives the ejector pin 724 to reset; the ejector pin driving member 726 is arranged on one side of the ejector pin 724, the ejector pin driving member 726 is configured as a telescopic air cylinder or an electric push rod; the telescopic end of the ejector pin driving member 726 is provided with a push plate 7261, the push plate 7261 has a vertical surface, under the driving of the ejector pin driving member 726, the vertical surface of the push plate 7261 can contact the spherical surface of the spherical part 7241 and push the ejector pin 724 to slide, through the contact between the spherical surface and the vertical surface, the lateral pushing force on the ejector pin 724 can be reduced, so that the ejector pin 724 can slide coaxially with the ejector pin hole 721c as much as possible.

[0123] As shown in Figure 17 , preferably, the horizontal side of the second positioning block 710 is provided with the second supporting plate 735 and the tenth elastic member 736, the second supporting plate 735 is used for supporting the part of the supporting rod 120 away from the nut block 110; the upper end of the tenth elastic member 736 is connected with the second supporting plate 735, the telescopic direction of the tenth elastic member 736 is configured as the height direction, the second supporting plate 735 is elastically supported by the tenth elastic member 736.

[0124] As shown in Figure 17As shown, preferably, the pin assembly assembly 700 further comprises a swing-down pressing device 737, which swings and presses down on the nut block 110 on the second positioning block 710 under the drive of a telescopic cylinder or an electric push rod, so that the nut block 110 is pressed in the second positioning groove 710a, and at the same time, since the tenth elastic member 736 elastically supports the second support plate 735, when the swing-down pressing device 737 presses down the nut block 110, the support rod 120 does not rigidly contact the second support plate 735, so that the deformation of the support rod 120 can be avoided. The swing-down pressing device 737 of the embodiment can refer to the prior art.

[0125] In the embodiment, all horizontal modules and all lifting modules refer to the linear modules in the prior art, and all clamping jaws can refer to the existing cylinder fingers; all rotating modules refer to the existing rotating cylinders, motors, etc.

[0126] The embodiment also discloses an assembly method of a support rod assembly, which uses the assembly equipment of the embodiment, and the assembly method comprises the following steps:

[0127] Step S100: The third clamping jaw 840 is driven to the nut block material taking position by cooperation of the second horizontal module 810 and the first lifting module 820 to clamp the nut block 110 to be assembled. The front and back surfaces of the nut block 110 can be identified by an external camera identification module. When the front surface of the nut block 110 is not facing the right direction when the nut block 110 is fed, the nut block 110 is rotated by one hundred and eighty degrees by the first rotating module 830 and then placed on the first positioning block 510 of the positioning assembly 500. Then, the turntable 200 is rotated to rotate the positioning assembly 500 to the support rod assembly station.

[0128] Step S200:

[0129] Preparation work:

[0130] I. Shaping: The external mechanical hand places the support rod 120 to be assembled on the shaping workbench 451, pushes the support rod 120 to the fixed plate 452 through the shaping plate 453, and makes the support rod 120 abut against the fixed plate 452, so as to realize the position shaping of the support rod 120. After the shaping is completed, the first pressing part 456 is rotated downward to press the support rod 120 to be assembled on the shaping workbench 451 by the rotating pressing part 455.

[0131] II. Flattening: The first pressing plate 462 drives the second pressing part 464 to move downward, and the lower end surface of the second pressing part 464 presses the upper end surface of the joint bearing 122 of the support rod 120, so that the joint bearing 122 is in a horizontal state.

[0132] III. Float height detection: The first horizontal module 410 drives the third lifting module 430 and the float height detection frame 471 to move to the top of the bearing mounting portion 121 of the strut 120, the first pressure cylinder 472 is coaxial with the bearing mounting portion 121, the third lifting module 430 drives the float head 473 and the first pressure cylinder 472 to move downward, the float head 473 is lifted upward by the joint bearing 122, and the displacement sensor 475 records the displacement amount; when the lower end surface of the first pressure cylinder 472 is tightly pressed against the upper surface of the bearing mounting portion 121, the displacement amount recorded by the displacement sensor 475 at this time is the distance between the upper end surface of the joint bearing 122 and the upper surface of the bearing mounting portion 121; if the displacement amount is not up to standard, an NG signal is sent out;

[0133] Strut assembly:

[0134] The first horizontal module 410 drives the second jaw 420 to move to the top of the shaping workbench 451, the third lifting module 430 drives the second jaw 420 to move downward, the second jaw 420 clamps the strut 120 to be assembled and moves along the radial direction of the turntable 200 to approach the turntable 200, and the first support plate 442 of the support assembly 440 supports the strut 120 to be assembled upward;

[0135] Then the second lifting module 310 of the nut block lifting assembly 300 drives the first jaw 320 to move downward, clamps the two sides of the nut block 110 through the first jaw 320, and drives the nut block 110 to move upward to a position with the same height as the strut 120 through the second lifting module 310, and then the second rotating module 330 drives the first jaw 320 and the nut block 110 to rotate around the height direction, so that the open slot 110c of the nut block 110 faces the strut 120, facilitating the insertion of the strut 120 into the open slot 110c; after the strut 120 is inserted into the open slot 110c, the fourth jaw 340 can clamp the end of the strut 120 close to the open slot 110c to prevent the strut 120 from falling; then the second rotating module 330 drives the first jaw 320, the fourth jaw 340, and the strut 120 and the nut block 110 assembled together to rotate by 90 degrees, and then the nut block 110 is placed back on the positioning assembly 500 and flows with the turntable 200 to the connecting pin assembly station.

[0136] Step S300:

[0137] Connecting pin feeding: the fifth jaw 633 is driven by the third horizontal module 631 and the downward feeding module 632 to move in the horizontal direction and the height direction, and the connecting pin 130 to be assembled is placed on the placement table 643 of the connecting pin positioning device 640;

[0138] Connecting pin positioning: the two fingers of the sixth jaw 644 clamp the flat part 133 of the pin 140, and correct the angle of the connecting pin 130;

[0139] Pre-correction before pressing: the second slide plate 624 slides to make the profiling piece 627 coaxial with the connecting hole 110a of the nut block 110, the second pressing plate 621 drives the profiling piece 627 to move downward and insert into the connecting hole 110a of the nut block 110, the profiling piece 627 passes through the connecting hole 110a of the nut block 110 and the joint bearing 122 of the strut 120 at the same time, which can correct the coaxiality of the joint bearing 122 and the connecting hole 110a, the flat part 133 of the profiling piece 627 is guided into the flat hole 110b of the nut block 110 to correct the angle of the flat hole 110b, and after the correction is completed, the profiling piece 627 is reset upward;

[0140] Connecting pin taking: the second connecting column 628 and the seventh clamping jaw 6216 move downward, the placing table 643 and the connecting pin 130 on the placing table move to the position directly below the second connecting column 628 under the drive of the first slide plate, the second connecting column 628 moves downward and contacts the upper surface of the connecting pin 130, then the seventh clamping jaw 6216 clamps the head 131 of the connecting pin 130, and then the second connecting column 628, the seventh clamping jaw 6216 and the connecting pin 130 move upward synchronously, and the placing table 643 is reset.

[0141] Pressing: the second slide plate 624 slides to make the second connecting column 628 and the assembled connecting pin 130 coaxial with the connecting hole 110a of the nut block 110, the second pressing plate 621 drives the second connecting column 628 and the connecting pin 130 to move downward until the connecting pin 130 is coaxially inserted into the connecting hole 110a of the nut block 110 and the joint bearing 122 of the strut 120, and the flat part 133 at the lower end of the connecting pin 130 is inserted into the flat hole 110b of the nut block 110, completing the assembly of the connecting pin 130, and the workpiece continues to flow to the next station.

[0142] Step S400:

[0143] Discharging of the assembled nut block 110, strut 120 and connecting pin 130: the sixth horizontal module 731 drives the eighth clamping jaw 733 and the ninth clamping jaw 734 to move horizontally to the upper side of the positioning assembly 500, the fifth lifting module 732 drives the eighth clamping jaw 733 and the ninth clamping jaw 734 to move downward, after the eighth clamping jaw 733 and the ninth clamping jaw 734 respectively grab the nut block 110 and the strut 120 on the positioning assembly 500, the sixth horizontal module 731 and the fifth lifting module 732 cooperate to place the nut block 110 with the assembled strut 120 in the second positioning groove 710a of the second positioning block 710.

[0144] Pin assembly:

[0145] The cutting block 722 slides to the first position, the cutting hole 722a is coaxially communicated with the pin feeding hole 721b, and the pin 140 to be assembled is blown into the cutting hole 722a of the cutting block 722 from the pin feeding hole 721b in a blowing manner;

[0146] The cutting block 722 slides to the second position, the ejector pin hole 721c, the cutting hole 722a and the pin discharging hole 721d are coaxially corresponding in sequence, the ejector pin driving member 726 drives the ejector pin 724 to coaxially pass through the ejector pin hole 721c, the cutting hole 722a and the pin discharging hole 721d in sequence, and pushes the pin 140 in the cutting hole 722a into the pin hole 110d of the nut block 110 from the pin discharging hole 721d, the ejector pin 724 is reset, and the support rod assembly 100 is completely assembled.

[0147] The above is only a specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described herein. It should be understood that the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. An assembly apparatus for a strut assembly, the strut assembly (100) comprising a nut block (110), a strut (120), a connecting pin (130) and a pin (140), characterized in that, The utility model relates to a nut block assembly device, including: A rotating disc (200); A nut block lifting assembly (300) including a second lifting module (310) and a first clamping jaw (320), the second lifting module (310) is arranged on the rotating disc (200), and the first clamping jaw (320) is connected to the second lifting module (310) and used for clamping a nut block (110); A support rod assembly device (400) including a first horizontal module (410) and a second clamping jaw (420), the first horizontal module (410) is arranged on one side of the rotating disc (200), the second clamping jaw (420) is connected to the first horizontal module (410) and used for clamping a support rod (120) to be assembled, and the first horizontal module (410) drives the support rod (120) to be inserted into an open slot (110c) of the nut block (110) along the horizontal direction; A positioning assembly (500) including a first positioning block (510), an embedded block (520) and an embedded block driving assembly (530), the first positioning block (510) is arranged on the rotating disc (200), the first positioning block (510) is provided with a first positioning slot (510a) used for positioning the nut block (110), two embedded blocks (520) are slidingly arranged on the first positioning block (510) and used for being inserted into the open slot (110c) of the nut block (110) along the horizontal direction, the two embedded blocks (520) are symmetrically distributed on two sides of the support rod (120), one side of the embedded block (520) along the horizontal direction is used for contacting the inner wall of the open slot (110c), and the other side is used for contacting the end of the support rod (120), and the embedded block driving assembly (530) is connected with the embedded block (520) and used for driving the embedded block (520) to be inserted into or withdrawn from the open slot (110c); A connecting pin assembly device (600) including a stand (610) and a press fitting device (620), the stand (610) is arranged on one side of the rotating disc (200), and the press fitting device (620) is connected to the stand (610) and used for driving a connecting pin (130) to be assembled to be inserted into the connecting hole (110a) of the nut block (110) and the support rod (120); A pin assembly device (700) including a second positioning block (710) and a thimble device (720), the second positioning block (710) is provided with a second positioning slot (710a) used for positioning the nut block (110), and the thimble device (720) is arranged on one side of the second positioning slot (710a), a pin hole (110d) of the nut block (110), a pin (140) to be assembled and the thimble device (720) coaxially correspond in sequence.

2. The assembly apparatus of claim 1, wherein, The nut block feeding assembly (800) comprises a second horizontal module (810), a first lifting module (820), a first rotating module (830) and a third clamping jaw (840). The second horizontal module (810) is arranged on one side of the turntable (200). The first lifting module (820) is connected to the second horizontal module (810). The first rotating module (830) is connected to the first lifting module (820). The third clamping jaw (840) is connected to the first rotating module (830) and is used for clamping the nut block (110) to be assembled.

3. The assembly apparatus of claim 1, wherein, The nut block lifting assembly (300) further comprises a second rotating module (330) and a fourth clamping jaw (340). The second rotating module (330) is connected to the second lifting module (310). The first clamping jaw (320) and the fourth clamping jaw (340) are both connected to the second rotating module (330). The first clamping jaw (320) and the fourth clamping jaw (340) are arranged in a horizontal direction. The first clamping jaw (320) is used for clamping the nut block (110). The fourth clamping jaw (340) is used for clamping the support rod (120).

4. The assembly apparatus of claim 1, wherein, The support rod assembly (400) further comprises a third lifting module (430) and a supporting assembly (440). The third lifting module (430) is connected to the first horizontal module (410). The second clamping jaw (420) is connected to the third lifting module (430). The supporting assembly (440) comprises a fourth lifting module (441) and a first supporting plate (442). The fourth lifting module (441) is arranged on one side of the turntable (200). The first supporting plate (442) is connected to the fourth lifting module (441) and is used for supporting the end of the support rod (120) away from the nut block (110).

5. The assembly apparatus of claim 4, wherein, The support rod assembly (400) further comprises a shaping device (450) and a flattening device (460). The shaping device (450) comprises a shaping workbench (451), a fixed plate (452), a shaping plate (453), a shaping plate driving member (454), a rotating pressing member (455) and a first pressing member (456). Along the length direction of the first horizontal module (410), the shaping workbench (451) is arranged on one side of the second clamping jaw (420). The shaping workbench (451) is provided with a positioning hole (451a) for positioning the end of the support rod (120). The fixed plate (452) and the shaping plate (453) are arranged on the shaping workbench (451) in opposition. The support rod (120) to be assembled is arranged between the fixed plate (452) and the shaping plate (453). The shaping plate driving member (454) is connected to the shaping plate (453) and is used for driving the shaping plate (453) to slide towards the fixed plate (452). The rotating pressing member (455) is connected to the shaping workbench (451). The first pressing member (456) is connected to the rotating pressing member (455). The first pressing member (456) is rotated and pressed down on the support rod (120) by the rotating pressing member (455). The flattening device (460) comprises a mounting frame (461), a first pressing plate (462), a first pressing plate driving member (463), a second pressing member (464) and a first elastic member (465); the mounting frame (461) is arranged on one side of the shaping workbench (451); the first pressing plate (462) is slidingly connected to the mounting frame (461); the first pressing plate driving member (463) is connected to the first pressing plate (462) and is used for driving the first pressing plate (462) to move in the height direction; the second pressing member (464) is slidingly connected to the first pressing plate (462) in the height direction, and a lower end surface of the second pressing member (464) is used for pressing the joint bearing (122) of the strutting rod (120); and the first elastic member (465) is connected to the second pressing member (464) and the first pressing plate (462) respectively.

6. The assembly apparatus of claim 5, wherein, The strutting rod assembly (400) further comprises a float height detection device (470); the float height detection device (470) comprises a float height detection frame (471), a first pressing cylinder (472), a float head (473), a second elastic member (474) and a displacement sensor (475); the float height detection frame (471) is connected to the third lifting module (430); the first pressing cylinder (472) is connected to the float height detection frame (471), and a lower end surface of the first pressing cylinder (472) is used for pressing the upper surface of the end portion of the strutting rod (120); the float head (473) is coaxially arranged in the first pressing cylinder (472), and the float head (473) is used for pressing the upper end surface of the joint bearing (122) of the strutting rod (120); the second elastic member (474) is connected between the float head (473) and the first pressing cylinder (472); and a detection end of the displacement sensor (475) corresponds to the float head (473) up and down, and is used for detecting the displacement amount of the float head (473) in the height direction.

7. The assembly apparatus of claim 1, wherein, The inner block driving assembly (530) of the positioning assembly (500) comprises a guide rod frame (531), a third elastic member (532), a guide wheel (533), a wedge-shaped plate (534) and a wedge-shaped plate driving member (535); The guide rod frame (531) is slidingly connected to the first positioning block (510); two inner blocks (520) are symmetrically arranged on the guide rod frame (531), and the two inner blocks (520) are located at the same height as the open slot (110c) of the nut block (110); the two ends of the third elastic member (532) are connected to the guide rod frame (531) and the first positioning block (510) respectively, and are used for driving the inner blocks (520) to be inserted into the open slot (110c) of the nut block (110); the guide wheel (533) is rotatably connected to the guide rod frame (531); the wedge surface of the wedge-shaped plate (534) is used for slidingly contacting the outer circumference of the guide wheel (533); the wedge-shaped plate driving member (535) is arranged on the turntable (200) and is connected to the wedge-shaped plate (534); the wedge-shaped plate driving member (535) drives the wedge-shaped plate (534) to relatively slide with the guide wheel (533), so that the guide rod frame (531) drives the inner blocks (520) to exit from the open slot (110c) of the nut block (110).

8. The assembly apparatus of claim 1, wherein, The connecting pin assembly assembly (600) further comprises a connecting pin taking device (630) and a connecting pin positioning device (640); The connecting pin taking device (630) comprises a third horizontal module (631), a downward taking module (632) and a fifth clamping jaw (633), the third horizontal module (631) is connected to the stand (610), the downward taking module (632) is connected to the third horizontal module (631), and the fifth clamping jaw (633) is connected to the downward taking module (632); The connecting pin positioning device (640) comprises a first sliding plate (641), a fourth horizontal module (642), a placing table (643) and a sixth clamping jaw (644); the first sliding plate (641) is slidingly connected to the stand (610); the fourth horizontal module (642) is connected to the stand (610) and the first sliding plate (641) respectively, and is used for driving the first sliding plate (641) to move towards the turntable (200); the placing table (643) is arranged on the first sliding plate (641), and the placing table (643) is provided with a placing hole (643a) used for placing the connecting pin (130); and the sixth clamping jaw (644) is arranged on the first sliding plate (641) and is used for clamping the flat part (133) of the connecting pin (130).

9. The assembly apparatus according to any one of claims 1 to 8, characterized in that The press-fitting device (620) comprises a second pressing plate (621), a second pressing plate driving element (622), a pressure sensor (623), a second sliding plate (624), a fifth horizontal module (625), a first connecting column (626), a profiling element (627) and a second connecting column (628); The second pressing plate (621) is slidingly connected to the stand (610) in the height direction; the pressure sensor (623) is arranged on the second pressing plate (621); the second pressing plate driving element (622) is connected to the pressure sensor (623), and the second pressing plate (621) is driven to move in the height direction through the second pressing plate driving element (622); the second sliding plate (624) is slidingly connected to the second pressing plate (621); the fifth horizontal module (625) is connected to the second sliding plate (624) and the second pressing plate (621) respectively, and is used for driving the second sliding plate (624) to slide relative to the second pressing plate (621); the first connecting column (626) and the second connecting column (628) are arranged on the second sliding plate (624) in the sliding direction of the second sliding plate (624); the profiling element (627) is connected to the lower end of the first connecting column (626), the shape of the profiling element (627) is the same as that of the connecting pin (130) to be assembled, and the lower end of the profiling element (627) is provided with a chamfer; and the lower end surface of the second connecting column (628) is used for abutting against the connecting pin (130) to be assembled.

10. The assembly apparatus of claim 9, wherein, The press-fitting device (620) further comprises a second pressing cylinder (629), a fourth elastic element (6210), a fifth elastic element (6211), a third pressing cylinder (6213), a sixth elastic element (6214), a seventh elastic element (6215), a seventh clamping jaw (6216) and an eighth elastic element (6217); The first connecting column (626) is connected to the second sliding plate (624) in the height direction, the upper end of the first connecting column (626) corresponds to the pressure sensor (623), the second pressure cylinder (629) is coaxially connected to the lower end of the first connecting column (626) in a sliding manner, and the lower end surface of the second pressure cylinder (629) is used for pressing the upper surface of the nut block (110); the first connecting column (626) is provided with a first shaft shoulder portion; the two ends of the fourth elastic element (6210) are connected to the first shaft shoulder portion and the second pressure cylinder (629) respectively; the two ends of the fifth elastic element (6211) are connected to the first shaft shoulder portion and the second sliding plate (624) respectively; The second connecting column (628) is connected to the second sliding plate (624) in the height direction, the upper end of the second connecting column (628) corresponds to the pressure sensor (623), the third pressure cylinder (6213) is coaxially connected to the lower end of the second connecting column (628) in a sliding manner, and the lower surface of the third pressure cylinder (6213) is used for pressing the upper surface of the nut block (110); the second connecting column (628) is provided with a second shaft shoulder portion; the two ends of the sixth elastic element (6214) are connected to the second shaft shoulder portion and the third pressure cylinder (6213) respectively; the two ends of the seventh elastic element (6215) are connected to the second shaft shoulder portion and the second sliding plate (624) respectively; The seventh clamping jaw (6216) is connected to the second sliding plate (624) in the height direction; the two ends of the eighth elastic element (6217) are connected to the seventh clamping jaw (6216) and the second sliding plate (624) respectively, the third pressure cylinder (6213) is provided with a avoiding gap for avoiding the seventh clamping jaw (6216), and the seventh clamping jaw (6216) clamps the connecting pin (130) to be assembled through the avoiding gap; Wherein, the stiffness coefficient of the fourth elastic element (6210) is greater than that of the fifth elastic element (6211), and the stiffness coefficient of the sixth elastic element (6214) is greater than that of the seventh elastic element (6215).

11. The assembly apparatus of claim 1, wherein, The pin assembly assembly (700) further comprises a blanking device (730) for transferring the nut block (110) and the support rod (120) from the turntable (200) to the second positioning block (710); The blanking device (730) comprises a sixth horizontal module (731), a fifth lifting module (732), an eighth clamping jaw (733) and a ninth clamping jaw (734); the sixth horizontal module (731) is arranged on one side of the turntable (200); the fifth lifting module (732) is connected to the sixth horizontal module (731); the eighth clamping jaw (733) and the ninth clamping jaw (734) are connected to the fifth lifting module (732) at intervals, the eighth clamping jaw (733) is used for clamping the nut block (110), and the ninth clamping jaw (734) is used for clamping the support rod (120).

12. The assembly apparatus of claim 1 or 11, wherein, The ejector pin device (720) comprises an assembly table (721), a cutting block (722), a cutting driving element (723), an ejector pin (724), a ninth elastic element (725) and an ejector pin driving element (726); The assembling table (721) is arranged on one side of the second positioning block (710); the assembling table (721) is provided with a cutting groove (721a), and a cutting block (722) is slidingly connected in the cutting groove (721a); the assembling table (721) is provided with a pin feeding hole (721b), a thimble hole (721c) and a pin discharging hole (721d) which are communicated with the cutting groove (721a), and the cutting block (722) is provided with a cutting hole (722a); when the cutting block (722) is in a first position, the cutting hole (722a) is coaxially and correspondingly communicated with the pin feeding hole (721b); when the cutting block (722) is in a second position, the thimble hole (721c), the cutting hole (722a) and the pin discharging hole (721d) are coaxially and correspondingly arranged in sequence; the pin hole (110d) of the nut block (110) is coaxially and correspondingly communicated with the pin discharging hole (721d); The thimble (724) is slidingly connected to the assembling table (721), and the thimble (724) is coaxially arranged with the thimble hole (721c); the end of the thimble (724) is coaxially provided with a spherical part (7241); the ninth elastic member (725) is connected to the spherical part (7241) and the assembling table (721) respectively; the thimble driving member (726) is arranged on one side of the thimble (724), and the telescopic end of the thimble driving member (726) is provided with a push plate (7261); the thimble driving member (726) is used for driving the push plate (7261) to contact the spherical surface of the spherical part (7241) and push the thimble (724) to slide.

13. A method of assembling a strut assembly, characterized by, The assembling equipment of any one of claims 1-11 is used, comprising: In step S100, the nut block (110) is fed to the positioning assembly (500) by the nut block feeding assembly (800), the rotating disc (200) rotates, and the positioning assembly (500) is rotated to the working range of the strutting rod assembling assembly (400); In step S200, the second clamping jaw (420) of the strutting rod assembling assembly (400) clamps the strutting rod (120) to be assembled, the nut block lifting assembly (300) lifts the nut block (110) to be assembled to the same height as the strutting rod (120), the first horizontal module (410) drives the strutting rod (120) to move in the horizontal direction and inserts the end of the strutting rod (120) into the opening groove (110c) of the nut block (110), the nut block lifting assembly (300) places the nut block (110) and the strutting rod (120) assembled together on the positioning assembly (500), and the rotating disc (200) rotates, and the positioning assembly (500) is rotated to the working range of the connecting pin assembling assembly (600); In step S300, the press-fitting device (620) is connected with the connecting pin (130) to be assembled and drives the connecting pin (130) to move downward until the connecting pin (130) to be assembled is inserted into the connecting hole (110a) of the nut block (110) and the joint bearing (122) of the strutting rod (120), the rotating disc (200) rotates, and the positioning assembly (500) is rotated to the working range of the pin assembling assembly (700); Step S400, the nut block (110) which has assembled the support rod (120) and the connecting pin (130) is placed on the second positioning block (710), the pin (140) is punched into the nut block (110) and the support rod (120) through the pin punching device (720), and the assembly is completed.

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