A draw pin assembly apparatus
By designing an automated pin-pulling assembly equipment and utilizing various automated mechanisms and robotic gripping technologies, the problem of low efficiency in existing manual pin-pulling assembly has been solved, achieving highly efficient automated assembly.
Patent Information
- Application Number
- CN202511689986.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-18
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2045-11-18
Smart Images
Figure CN121132279B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of pull pin assembly technology, and in particular to a pull pin assembly device. Background Technology
[0002] The pull pin consists of a ball seat, washer, locking device, spring, handle, and multiple balls. The current assembly is mainly done manually on an assembly line, which is inefficient and has poor performance, and cannot meet the needs of enterprises for long-term processing.
[0003] In view of the above, it is necessary to improve the existing pull pin assembly method so that it can meet the current needs of pull pin assembly. Summary of the Invention
[0004] To solve the above-mentioned technical problems, the present invention provides a pin drawing assembly device, including a workbench, a divider fixture disposed on the workbench, a ball bearing seat feeding mechanism disposed on the workbench and located on one side of the divider fixture, a washer feeding assembly mechanism disposed on the workbench and located on one side of the ball bearing seat feeding mechanism, a locking device and spring feeding assembly mechanism disposed on the workbench and located on one side of the washer feeding assembly mechanism, a handle feeding assembly mechanism disposed on the workbench and located on one side of the locking device and spring feeding assembly mechanism, a handle riveting mechanism disposed on the workbench and located on one side of the handle riveting mechanism, and a ball bearing feeding assembly mechanism disposed on the workbench and located on one side of the handle riveting mechanism. A protective frame is also fixedly installed on the workbench. The ball bearing seat feeding mechanism, the washer feeding assembly mechanism, the locking device and spring feeding assembly mechanism, the handle feeding assembly mechanism, the handle riveting mechanism, and the ball bearing feeding assembly mechanism are disposed on one side of the divider fixture and located within the protective frame.
[0005] Further supplementing this technical solution, the divider fixture includes a first driving mechanism, a turntable connected to the first driving mechanism, and multiple mounting fixtures disposed on the turntable. The mounting fixtures include a handle riveting elastic mechanism disposed on the turntable and a steel ball seat fixture disposed on the handle riveting elastic mechanism. The handle riveting elastic mechanism includes a first connecting block, first connecting shafts disposed on the left and right sides above the first connecting block, a first connecting seat sleeved on the upper side of the first connecting shaft, a first spring sleeved on the first connecting shaft, a second connecting block disposed above the first connecting shaft, and a mounting base block disposed above the second connecting block. The lower end of the first connecting seat is mounted on the first connecting block, and the first connecting seat penetrates the upper and lower surfaces of the turntable with its upper end mounted on the turntable. The lower end of the first connecting shaft is fixedly mounted on the first connecting block. One end of the first spring is connected to the upper end of the first connecting seat, and the other end of the first spring is connected to the lower surface of the second connecting block. The mounting base is fixedly installed on the second connecting block, and the steel ball seat fixture is installed on the mounting base. The steel ball seat fixture includes a third connecting block, a second connecting shaft disposed on the left and right sides above the third connecting block, a second spring sleeved on the second connecting shaft, and a fourth connecting block disposed on the second connecting shaft. The second connecting shaft passes through the upper and lower surfaces of the fourth connecting block and is installed on the turntable. One end of the second spring is connected to the third connecting block, and the other end of the second spring is connected to the fourth connecting block. The lower end of the second connecting shaft is connected to the third connecting block. The third connecting block and the fourth connecting block are disposed directly below the mounting base, and the fourth connecting block, the mounting base, and the second connecting block are provided with through holes.
[0006] As a further supplement to this technical solution, the steel ball seat feeding mechanism includes a first base plate, a first X-axis moving mechanism disposed above the first base plate, a full-load hopper feeding mechanism disposed on one side of the first base plate, a plurality of first support columns disposed below the first base plate, a first lifting mechanism disposed on the first base plate and located below the full-load hopper feeding mechanism, a first blocking mechanism disposed around the full-load hopper feeding mechanism, an empty-load hopper collecting mechanism disposed on the other side of the first base plate, a second lifting mechanism disposed below the first base plate and located below the empty-load hopper collecting mechanism, a second blocking mechanism disposed on the empty-load hopper collecting mechanism, and a first gripper disposed on the worktable and located on one side of the first X-axis moving mechanism. The mechanism comprises: a first X-axis moving mechanism fixedly mounted on a first base plate; the lower ends of the full hopper loading mechanism and the empty hopper collecting mechanism fixedly mounted on the first base plate; the lower end of the first support column fixedly mounted on a workbench; a first blocking mechanism and a second blocking mechanism respectively mounted on the full hopper loading mechanism and the empty hopper collecting mechanism; a first lifting mechanism and a second lifting mechanism respectively disposed within the full hopper loading mechanism and the empty hopper collecting mechanism; the first lifting mechanism including a second driving mechanism and a support shaft disposed around the upper perimeter of the second driving mechanism; the support shaft penetrating the upper and lower surfaces of the first base plate and slidingly contacting it; and the first lifting mechanism and the second lifting mechanism having the same structure.
[0007] As a further supplement to this technical solution, the first gripping mechanism includes a first Y-axis moving mechanism, a first Z-axis moving mechanism connected to the first Y-axis moving mechanism, and a first gripper mechanism connected to the first Z-axis moving mechanism. The first Y-axis moving mechanism is fixedly installed on the workbench, and the handle feeding assembly mechanism has the same structure as the steel ball seat feeding mechanism.
[0008] As a further supplement to this technical solution, the washer feeding and assembly mechanism includes a washer feeding mechanism disposed on the workbench and a second gripping mechanism disposed on one side of the washer feeding mechanism. The washer feeding mechanism is a vibratory feeder feeding mechanism. The second gripping mechanism includes a second Y-axis moving mechanism, a second Z-axis moving mechanism connected to the second Y-axis moving mechanism, and a second gripper mechanism connected to the second Z-axis moving mechanism. The second Y-axis moving mechanism is fixedly installed on the workbench.
[0009] Further supplementing this technical solution, the locking device and spring feeding assembly mechanism includes a locking device feeding mechanism, a spring feeding mechanism, and an assembly fixture located on the worktable and on one side of the locking device feeding mechanism. The structure of the locking device feeding mechanism is the same as that of the ball bearing feeding mechanism. The spring feeding mechanism uses a vibratory feeder and blows the spring onto the assembly fixture via an air pipe. The assembly fixture includes a first mounting block, an auxiliary material mechanism, and a positioning post on the first mounting block. The first mounting block is fixedly mounted on the locking device feeding mechanism, and the auxiliary material mechanism is fixedly mounted on the first mounting block. The positioning post has mounting holes for placing the spring and locking device. A detection sensor is also provided on the first mounting block on one side of the positioning post. The detection sensor is fixedly mounted on the first mounting block. The locking device feeding mechanism also has a spring blowing fixing mechanism, through which the air pipe passes.
[0010] Further supplementing this technical solution, the steel ball feeding and assembly mechanism includes a steel ball feeding mechanism, a steel ball feeding mechanism set on the worktable, a third gripping mechanism set on the worktable, a steel ball positioning mechanism set on the worktable and located to one side of the steel ball feeding mechanism, a steel ball assembly mechanism set on the worktable and located to one side of the steel ball positioning mechanism, a steel ball pressing mechanism set on the worktable and located to one side of the steel ball assembly mechanism, and a camera detection mechanism set on the worktable and located to one side of the steel ball assembly mechanism. The camera detection mechanism is arranged perpendicularly to the steel ball assembly mechanism and parallel to the steel ball pressing mechanism. The steel ball feeding mechanism, steel ball feeding mechanism, third gripping mechanism, steel ball assembly mechanism, steel ball pressing mechanism, and camera detection mechanism are fixedly installed on the worktable. The steel ball feeding mechanism is inclined. The steel ball feeding mechanism and the steel ball feeding mechanism are connected by an air pipe.
[0011] Further supplementing this technical solution, the third gripping mechanism includes a robot, a mounting frame mounted on the robot, a first gripping mechanism mounted on one side of the mounting frame, and a second gripping mechanism mounted on the other side of the mounting frame. The first gripping mechanism and the second gripping mechanism are fixedly mounted on the mounting frame. The first gripping mechanism includes a first bidirectional cylinder and a first gripper connected to the first bidirectional cylinder; the first bidirectional cylinder is fixedly mounted on the mounting frame. The second gripping mechanism includes a first rotating mechanism, a second bidirectional cylinder connected to the first rotating mechanism, and a second gripper connected to the second bidirectional cylinder; the first rotating mechanism... The mechanism is fixedly installed on the mounting frame. The steel ball feeding mechanism includes a fixed frame, a third lifting mechanism set on the fixed frame, a first axial moving mechanism connected to the third lifting mechanism, a first moving frame connected to the first axial moving mechanism, a feeding block set on one side of the first moving frame, and a discharging mechanism set on one side of the first moving frame. The fixed frame is fixedly installed on the workbench, the third lifting mechanism is fixedly installed on the fixed frame, the feeding block is fixedly installed on the side of the first moving frame near the steel ball assembly mechanism, the feeding block has a through hole in the center to facilitate feeding, and the discharging mechanism is fixedly installed on the first moving frame.
[0012] Further supplementing this technical solution, the feeding mechanism includes a lifting cylinder, a second mounting block connected to the lifting cylinder, and a feeding rod fixedly connected to the second mounting block. The lifting cylinder is fixedly mounted on the first movable frame. The feeding rod is positioned directly above the feeding block and is hollow. The feeding rod can be aligned with the through hole on the feeding block to facilitate the connection between the material tube and the feeding rod for feeding. The steel ball positioning mechanism includes a fixing block, second support columns arranged around the bottom of the fixing block, a positioning block arranged on the central axis of the fixing block, an ejection mechanism arranged below the positioning block, a pressing mechanism arranged on the fixing block and located above the positioning block, and a limiting block arranged on the upper side of the fixing block and located on one side of the positioning block. The ejection mechanism is fixedly mounted on the fixing block, with one end passing through the positioning block. The lower end of the second support column is provided with a second base plate. The second support column is fixed. The pressing mechanism is fixedly installed on the second base plate. A through hole is provided at the center of the positioning block. Fiber optic sensors are provided on both sides of the pressing mechanism. The limiting block is vertically arranged and fixedly installed on the side of the fixed block. The ejection mechanism includes a first driving cylinder and a push rod connected to the first driving cylinder. The first driving cylinder is fixedly installed below the fixed block. The push rod passes through the upper and lower surfaces of the fixed block and the positioning block and slides in contact with them. The pressing mechanism includes a second driving cylinder, a push block connected to the second driving cylinder, moving rods located on the left and right sides above the push block, and pressing blocks located above the moving rods on both sides. The second driving cylinder is fixedly installed on the second base plate. The moving rods are slidably installed on the fixed block. The lower surface of the pressing block is fixedly connected to the upper end of the moving rod. The fiber optic sensors are located on the moving rods.
[0013] Further supplementing this technical solution, the steel ball assembly mechanism is fixedly installed on the second base plate. The steel ball assembly mechanism includes a second axial moving mechanism, a second moving frame connected to the second axial moving mechanism, a second rotating mechanism disposed on the second moving frame, a three-jaw chuck connected to the second rotating mechanism, and a push rod disposed at the center of the three-jaw chuck. The second axial moving mechanism is fixedly installed on the second base plate, the second rotating mechanism is fixedly installed on the second moving frame, and the push rod is fixedly installed on the central axis of the three-jaw chuck. The camera detection mechanism includes a third axial moving mechanism, a connecting frame connected to the third axial moving mechanism, and a camera fixedly connected to the connecting frame. The third axial moving mechanism is fixedly installed on the worktable, and the camera is disposed above the steel ball positioning mechanism. The structure of the steel ball pressing mechanism is the same as that of the handle riveting mechanism.
[0014] Its advantages include the ability to assemble pull pins efficiently, with excellent performance, and no need for direct manual contact with the product, making it easy for enterprises to promote and use. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention;
[0016] Figure 2 This is a schematic diagram of the internal structure of the protective frame of this invention before it is installed;
[0017] Figure 3 This is a schematic diagram of the structure of the divider tooling of the present invention;
[0018] Figure 4 This is a schematic diagram of the steel ball seat feeding mechanism of the present invention;
[0019] Figure 5 This is a schematic diagram of the structure of the second gripping mechanism of the present invention;
[0020] Figure 6 This is a schematic diagram of the structure of the locking device and spring feeding assembly mechanism of the present invention;
[0021] Figure 7 yes Figure 6 A magnified view of part A in the image;
[0022] Figure 8 This is a schematic diagram of the steel ball feeding and assembly mechanism of the present invention;
[0023] Figure 9 This is a schematic diagram of the installation structure of the feeding mechanism and the steel ball feeding mechanism of the present invention;
[0024] Figure 10 This is a schematic diagram of the structure of the third gripping mechanism of the present invention;
[0025] Figure 11 This is a schematic diagram of the first angle structure of the steel ball positioning mechanism of the present invention;
[0026] Figure 12 This is a schematic diagram of the second angle structure of the steel ball positioning mechanism of the present invention;
[0027] Figure 13 This is a schematic diagram of the steel ball assembly mechanism of the present invention;
[0028] Figure 14 This is a schematic diagram of the camera detection mechanism of the present invention;
[0029] In the diagram, 1. Workbench; 2. Divider fixture; 21. First drive mechanism; 22. Turntable; 23. Mounting fixture; 231. Handle riveting elastic mechanism; 2311. First connecting block; 2312. First connecting shaft; 2313. First connecting seat; 2314. First spring; 2315. Second connecting block; 2316. Mounting base block; 232. Steel ball seat fixture; 2321. Third connecting block; 2322. Second connecting shaft; 2323. Second spring; 2324. Fourth connecting block; 3. Steel ball seat feeding mechanism; 31. First base plate; 32. First X-axis moving mechanism; 33. Full hopper feeding mechanism; 34. First support column; 35. First lifting mechanism; 351. Second drive mechanism; 352. Support shaft; 36. First material blocking mechanism; 37. Empty material bin collection mechanism; 38. Second lifting mechanism; 39. Second material blocking mechanism; 30. First gripping mechanism; 301. First Y-axis moving mechanism; 302. First Z-axis moving mechanism; 303. First gripper mechanism; 4. Washer feeding and assembly mechanism; 41. Washer feeding mechanism; 42. Second gripping mechanism; 421. Second Y-axis moving mechanism; 422. Second Z-axis moving mechanism; 423. Second gripper mechanism; 5. Locking device and spring feeding and assembly mechanism; 51. Locking device feeding mechanism; 52. Spring feeding mechanism; 53. Assembly fixture; 531. First mounting block; 532. Auxiliary material mechanism; 533. Positioning column; 54. Spring blowing and fixing mechanism; 6. Handle feeding and assembly mechanism; 7. Handle riveting mechanism; 8. Steel ball feeding and assembly mechanism; 81. Steel ball feeding mechanism; 82. Steel ball feeding mechanism; 821. Fixing frame; 822. Third lifting mechanism; 823. First axial movement mechanism; 824. First moving frame; 825. Feeding block; 83. Unloading mechanism; 831. Lifting cylinder; 832. Second mounting block; 833. Feeding rod; 84. Third gripping mechanism; 841. Robot; 842. First clamping mechanism; 8421. First bidirectional cylinder; 8422. First gripper; 843. Second clamping mechanism; 8431. First rotating mechanism; 8432. Second bidirectional cylinder; 8433. 85. Second gripper; 85. Steel ball positioning mechanism; 851. Fixing block; 852. Second support column; 853. Positioning block; 854. Ejection mechanism; 8541. First drive cylinder; 855. Pressing mechanism; 8551. Second drive cylinder; 8552. Push block; 8553. Moving rod; 8554. Pressing block; 856. Limiting block; 857. Second base plate; 86. Steel ball assembly mechanism; 861. Second axial movement mechanism; 862. Second moving frame; 863. Second rotation mechanism; 864. Three-jaw chuck; 865. Push rod; 87. Steel ball pressing mechanism; 88. Camera detection mechanism; 881. Third axial movement mechanism; 882. Connecting frame; 883. Camera; 9. Protective frame. Detailed Implementation
[0030] To facilitate a clearer understanding of this technical solution for those skilled in the art, the following will be described in conjunction with the appendix. Figure 1-14 The technical solution of the present invention is described in detail below:
[0031] A pin-drawing assembly device includes a workbench 1, a divider fixture 2 mounted on the workbench 1, a ball bearing seat feeding mechanism 3 mounted on the workbench 1 and located on one side of the divider fixture 2, a washer feeding and assembly mechanism 4 mounted on the workbench 1 and located on one side of the ball bearing seat feeding mechanism 3, a locking device and spring feeding and assembly mechanism 5 mounted on the workbench 1 and located on one side of the washer feeding and assembly mechanism 4, a handle feeding and assembly mechanism 6 mounted on the workbench 1 and located on one side of the locking device and spring feeding and assembly mechanism 5, a handle riveting mechanism 7 mounted on the workbench 1 and located on one side of the handle feeding and assembly mechanism 6, and a ball bearing feeding and assembly mechanism 8 mounted on the workbench 1 and located on one side of the handle riveting mechanism 7. A protective frame 9 is also fixedly installed on the workbench 1. The ball bearing seat feeding mechanism 3 and the washer feeding and assembly mechanism 8 are also included. The components 4, 5, 6, 7, and 8 are located on one side of the divider fixture 2 and within the protective frame 9. During operation, the steel ball seat feeding mechanism 3 first feeds the steel ball seat onto the divider fixture 2. Then, it moves to the washer feeding mechanism 4 to feed the washer, which is then fitted onto the steel ball seat. Next, the locking device and spring feeding mechanism 5 installs the locking device and spring, which are then fitted onto the steel ball seat. The handle feeding mechanism 6 feeds the handle and fits it onto the locking device. The handle is then pressed onto the locking device. Finally, the steel ball feeding mechanism 8 feeds and presses the steel balls. This process is highly efficient and yields excellent results.
[0032] The structure of the divider fixture 2 will be described in detail below. The divider fixture 2 includes a first drive mechanism 21, a turntable 22 connected to the first drive mechanism 21, and a plurality of mounting fixtures 23 disposed on the turntable 22. The mounting fixtures 23 include a handle riveting elastic mechanism 231 disposed on the turntable 22 and a steel ball seat fixture 232 disposed on the handle riveting elastic mechanism 231. The handle riveting elastic mechanism 231 includes a first connecting block 2311, a first connecting shaft 2312 disposed on the left and right sides above the first connecting block 2311, a first connecting seat 2313 sleeved on the upper side of the first connecting shaft 2312, and a sleeve. A first spring 2314 is mounted on the first connecting shaft 2312; a second connecting block 2315 is mounted above the first connecting shaft 2312; a mounting base block 2316 is mounted above the second connecting block 2315; the lower end of the first connecting seat 2313 is mounted on the first connecting block 2311; the first connecting seat 2313 penetrates the upper and lower surfaces of the turntable 22 and its upper end is mounted on the turntable 22; the lower end of the first connecting shaft 2312 is fixedly mounted on the first connecting block 2311; one end of the first spring 2314 is connected to the upper end of the first connecting seat 2313; and the other end of the first spring 2314 is connected to... The lower surface of the second connecting block 2315 is connected, and the mounting base 2316 is fixedly installed on the second connecting block 2315. The steel ball seat fixture 232 is installed on the mounting base 2316. The steel ball seat fixture 232 includes a third connecting block 2321, a second connecting shaft 2322 disposed on the left and right sides above the third connecting block 2321, a second spring 2323 sleeved on the second connecting shaft 2322, and a fourth connecting block 2324 disposed on the second connecting shaft 2322. The second connecting shaft 2322 passes through the upper and lower surfaces of the fourth connecting block 2324 and is installed on the turntable 22. The second spring 2323... One end of the second spring 2323 is connected to the third connecting block 2321, the other end of the second spring 2323 is connected to the fourth connecting block 2324, and the lower end of the second connecting shaft 2322 is connected to the third connecting block 2321. The third connecting block 2321 and the fourth connecting block 2324 are located directly below the mounting base block 2316, and the fourth connecting block 2324, the mounting base block 2316, and the second connecting block 2315 are provided with through holes. The handle riveting elastic mechanism 231 can provide a certain degree of protection for the machine tool when the handle is installed. The steel ball seat fixture 232 can provide a certain degree of buffering when the steel ball seat is installed, thus protecting the machine tool.
[0033] The structure of the steel ball seat feeding mechanism 3 will be described in detail below. The steel ball seat feeding mechanism 3 includes a first base plate 31, a first X-axis moving mechanism 32 disposed above the first base plate 31, a full hopper feeding mechanism 33 disposed on one side of the first base plate 31, several first support columns 34 disposed below the first base plate 31, a first lifting mechanism 35 disposed on the first base plate 31 and located below the full hopper feeding mechanism 33, a first baffle mechanism 36 disposed around the full hopper feeding mechanism 33, an empty hopper collecting mechanism 37 disposed on the other side of the first base plate 31, a second lifting mechanism 38 disposed below the first base plate 31 and located below the empty hopper collecting mechanism 37, and a second baffle mechanism disposed on the empty hopper collecting mechanism 37. 39. A first gripping mechanism 30 is disposed on the workbench 1 and located on one side of the first X-axis moving mechanism 32. The first X-axis moving mechanism 32 is fixedly installed on the first base plate 31. The lower ends of the full hopper loading mechanism 33 and the empty hopper collecting mechanism 37 are fixedly installed on the first base plate 31. The lower end of the first support column 34 is fixedly installed on the workbench 1. The first blocking mechanism 36 and the second blocking mechanism 39 are respectively installed on the full hopper loading mechanism 33 and the empty hopper collecting mechanism 37. The first lifting mechanism 35 and the second lifting mechanism 38 are respectively disposed within the full hopper loading mechanism 33 and the empty hopper collecting mechanism 37. The first lifting mechanism 35 includes a second driving mechanism 351 and is disposed within the second driving mechanism 351. The support shafts 352 around the top penetrate the upper and lower surfaces of the first base plate 31 and slide in contact with them. The first lifting mechanism 35 and the second lifting mechanism 38 have the same structure. The first gripping mechanism 30 includes a first Y-axis moving mechanism 301, a first Z-axis moving mechanism 302 connected to the first Y-axis moving mechanism 301, and a first gripper mechanism 303 connected to the first Z-axis moving mechanism 302. The first Y-axis moving mechanism 301 is fixedly installed on the workbench 1. The handle feeding assembly mechanism 6 has the same structure as the steel ball seat feeding mechanism 3. During operation, the first lifting mechanism 35 first rises above the full material bin feeding mechanism 33 and rests against the bottom of the full material bin. Then, the first blocking mechanism 36 retracts. The first lifting mechanism 35 moves downward, causing the penultimate material plate to move downward until the penultimate material plate falls above the first blocking mechanism 36. Then, the first blocking mechanism 36 blocks the material plate of the full material bin loading mechanism 33. Next, the first material plate falls onto the first X-axis moving mechanism 32. The first X-axis moving mechanism 32 moves the material plate to the side of the first gripping mechanism 30. Then, the first gripping mechanism 30 grips the steel ball seats on the material plate one by one into the mounting base block 2316 on the divider tooling 2. After all the steel ball seats on the material plate have been loaded, the material plate is moved to the empty material bin collection mechanism 37 by the first X-axis moving mechanism 32. The stacking operation of the empty material plates is completed by the cooperation of the first lifting mechanism 35 and the second blocking mechanism 39.
[0034] The structure of the washer feeding and assembly mechanism 4 will be described in detail below. The washer feeding and assembly mechanism 4 includes a washer feeding mechanism 41 set on the workbench 1 and a second gripping mechanism 42 set on one side of the washer feeding mechanism 41. The washer feeding mechanism 41 is a vibratory feeder feeding mechanism. The second gripping mechanism 42 includes a second Y-axis moving mechanism 421, a second Z-axis moving mechanism 422 connected to the second Y-axis moving mechanism 421, and a second gripper mechanism 423 connected to the second Z-axis moving mechanism 422. The second Y-axis moving mechanism 421 is fixedly installed on the workbench 1. The washer feeding mechanism 41 completes the feeding of the washer, and the second gripping mechanism 42 grips the washer and places it above the divider fixture 2 and onto the steel ball seat.
[0035] The structure of the locking device and spring feeding assembly mechanism 5 will be described in detail below. The locking device and spring feeding assembly mechanism 5 includes a locking device feeding mechanism 51 mounted on the worktable 1, a spring feeding mechanism 52 mounted on the worktable 1, and an assembly fixture 53 mounted on the worktable 1 and located to one side of the locking device feeding mechanism 51. The structure of the locking device feeding mechanism 51 is the same as that of the ball bearing feeding mechanism 3. The spring feeding mechanism 52 uses a vibratory feeder and blows the springs onto the assembly fixture 53 via an air pipe. The assembly fixture 53 includes a first mounting block 531 mounted on the locking device feeding mechanism 51, an auxiliary material mechanism 532 mounted on the first mounting block 531, and a positioning post 533 mounted on the first mounting block 531. The first mounting block 531 is fixedly mounted on the locking device feeding mechanism 51, and the auxiliary material mechanism 532 is fixedly mounted on the first mounting block 531. The positioning post 533 is provided with mounting holes for placing the spring and the locking device. The first mounting block 531 is also provided with a detection sensor on one side of the positioning post 533. The detection sensor is fixedly installed on the first mounting block 531. The locking device feeding mechanism 51 is also provided with a spring blowing fixing mechanism 54, and the air pipe passes through the spring blowing fixing mechanism 54. During operation, the spring is first fed by the vibrating plate, and then blown into the positioning post 533 by the air pipe. The air pipe is installed on the protective frame 9 and fixed by the spring blowing fixing mechanism 54. Then, the spring is straightened by the auxiliary material mechanism 532. Then, the locking device is fed by the locking device feeding mechanism 51 and placed inside the spring. Then, the locking device and the spring are gripped by the gripping mechanism of the locking device feeding mechanism 51 and placed into the steel ball seat of the divider tooling 2. The detection sensor can detect whether there is material and the installation status.
[0036] The structure of the steel ball feeding and assembly mechanism 8 will be described in detail below. The steel ball feeding and assembly mechanism 8 includes a steel ball feeding mechanism 81, a steel ball feeding mechanism 82 set on the worktable 1, a third gripping mechanism 84 set on the worktable 1, a steel ball positioning mechanism 85 set on the worktable 1 and located to one side of the steel ball feeding mechanism 82, a steel ball assembly mechanism 86 set on the worktable 1 and located to one side of the steel ball positioning mechanism 85, and a steel ball pressing mechanism 86 set on the worktable 1 and located to one side of the steel ball assembly mechanism 86. 7. A camera detection mechanism 88 is installed on the workbench 1 and located on one side of the steel ball assembly mechanism 86. The camera detection mechanism 88 is perpendicular to the steel ball assembly mechanism 86 and parallel to the steel ball pressing mechanism 87. The steel ball feeding mechanism 81, the steel ball feeding mechanism 82, the third gripping mechanism 84, the steel ball assembly mechanism 86, the steel ball pressing mechanism 87, and the camera detection mechanism 88 are fixedly installed on the workbench 1. The steel ball feeding mechanism 82 is inclined. 82 is connected to the steel ball feeding mechanism 81 via an air pipe; the third gripping mechanism 84 includes a robot 841, a mounting frame mounted on the robot 841, a first gripping mechanism 842 mounted on one side of the mounting frame, and a second gripping mechanism 843 mounted on the other side of the mounting frame. The first gripping mechanism 842 and the second gripping mechanism 843 are fixedly mounted on the mounting frame. The first gripping mechanism 842 includes a first bidirectional cylinder 8421 and a first gripper 8422 connected to the first bidirectional cylinder 8421. The first bidirectional cylinder 8421 is fixedly mounted on the mounting frame. The second gripping mechanism 843 includes a first rotating mechanism 8431, a second bidirectional cylinder 8432 connected to the first rotating mechanism 8431, and a second gripper 8433 connected to the second bidirectional cylinder 8432. The first rotating mechanism 8431 is fixedly mounted on the mounting frame. The first gripping mechanism 842 can transport the pull pin after the steel ball has been installed, and the second gripping mechanism 843 can transport the pull pin without the steel ball installed.
[0037] The steel ball feeding mechanism 82 includes a fixed frame 821, a third lifting mechanism 822 mounted on the fixed frame 821, a first axial moving mechanism 823 connected to the third lifting mechanism 822, a first moving frame 824 connected to the first axial moving mechanism 823, a feeding block 825 mounted on one side of the first moving frame 824, and a feeding mechanism 83 mounted on one side of the first moving frame 824. The fixed frame 821 is fixedly installed on the workbench 1, and the third lifting mechanism 822 is fixedly installed on the workbench 1. Mounted on a fixed frame 821, the feeding block 825 is fixedly installed on the side of the first movable frame 824 near the steel ball assembly mechanism 86. The feeding block 825 has a through hole in the center for easy feeding. The unloading mechanism 83 is fixedly installed on the first movable frame 824. The steel ball loading mechanism 81 and the steel ball feeding mechanism 82 are connected by an air pipe. The steel ball loading mechanism 81 is a conventional vibratory feeder, and the steel balls are blown onto the steel ball feeding mechanism 82 through the air pipe. The steel ball feeding mechanism 82 completes the feeding operation of the steel balls.
[0038] The feeding mechanism 83 includes a lifting cylinder 831, a second mounting block 832 connected to the lifting cylinder 831, and a feeding rod 833 fixedly connected to the second mounting block 832. The lifting cylinder 831 is fixedly mounted on the first movable frame 824. The feeding rod 833 is located directly above the feeding block 825 and is hollow. The feeding rod 833 can be aligned with the through hole on the feeding block 825 to facilitate the connection between the material pipe and the feeding rod 833 for feeding. The air pipe can blow steel balls into the feeding rod 833. Then, the feeding rod 833 docks with the steel ball positioning mechanism 85 to complete the steel ball feeding operation.
[0039] The steel ball positioning mechanism 85 includes a fixed block 851, a second support column 852 disposed around the lower perimeter of the fixed block 851, a positioning block 853 disposed on the central axis of the fixed block 851, an ejection mechanism 854 disposed below the positioning block 853, a pressing mechanism 855 disposed on the fixed block 851 and above the positioning block 853, and a limiting block 856 disposed on the upper side of the fixed block 851 and on one side of the positioning block 853. The ejection mechanism 854 is fixedly installed on the fixed block 851 and one end of it passes through the positioning block 853. The second support column 852... The lower end of the column 852 is provided with a second base plate 857, the second support column 852 is fixedly installed on the second base plate 857, the pressing mechanism 855 is fixedly installed on the second base plate 857, the positioning block 853 has a through hole at its center, the pressing mechanism 855 has fiber optic sensors on both sides, the limiting block 856 is vertically arranged and fixedly installed on the side of the fixing block 851; the ejection mechanism 854 includes a first driving cylinder 8541 and a push rod connected to the first driving cylinder 8541, the first driving cylinder 8541 is fixedly installed on the fixed block 857. Below the fixed block 851, the top rod penetrates the upper and lower surfaces of the fixed block 851 and the positioning block 853 and slides in contact with them; the pressing mechanism 855 includes a second driving cylinder 8551, a push block 8552 connected to the second driving cylinder 8551, moving rods 8553 disposed on the left and right sides above the push block 8552, and a pressing block 8554 disposed above the moving rods 8553 on both sides. The second driving cylinder 8551 is fixedly installed on the second base plate 857, the moving rods 8553 are slidably installed on the fixed block 851, and the pressing block 8554 is located below... The surface is fixedly connected to the upper end of the moving rod 8553. The fiber optic through-beam sensor is set on the moving rod 8553. The feeding rod 833 is aligned with the through hole on the positioning block 853 to facilitate the steel ball to fall into the installation hole of the pull pin. The pressing mechanism 855 can limit the pull pin to facilitate the better installation of the steel ball in the installation hole of the pull pin, so that the steel ball pressing mechanism 87 can complete the steel ball pressing operation well. The ejection mechanism 854 can eject the pull pin after pressing the steel ball, so that the first clamping mechanism 842 can grasp the pull pin to complete the discharge operation.
[0040] The steel ball assembly mechanism 86 is fixedly installed on the second base plate 857. The steel ball assembly mechanism 86 includes a second axial moving mechanism 861, a second moving frame 862 connected to the second axial moving mechanism 861, a second rotating mechanism 863 disposed on the second moving frame 862, a three-jaw chuck 864 connected to the second rotating mechanism 863, and a push rod 865 disposed at the center of the three-jaw chuck 864. The second axial moving mechanism 861 is fixedly installed on the second base plate 857, and the second rotating mechanism 863 is fixedly installed on the second moving frame 862. On the frame 862, the push rod 865 is fixedly installed on the central axis of the three-jaw chuck 864; the push rod 865 can push the other end of the pull pin against one side of the limit block 856, and the push rod 865 can limit one end of the pull pin. The three-jaw chuck 864 can clamp the pull pin, which is convenient for subsequent steel ball pressing operation. After one pressing is completed, the second rotating mechanism 863 is controlled to rotate. Since the product is clamped by the three-jaw chuck 864, it can rotate with the rotation of the three-jaw chuck 864, which is convenient for subsequent steel ball pressing operation on the other side.
[0041] The camera detection mechanism 88 includes a third axial movement mechanism 881, a connecting frame 882 connected to the third axial movement mechanism 881, and a camera 883 fixedly connected to the connecting frame 882. The third axial movement mechanism 881 is fixedly installed on the worktable 1, and the camera 883 is located above the steel ball positioning mechanism 85. The structure of the steel ball pressing mechanism 87 is the same as that of the handle riveting mechanism 7.
[0042] The working principle of the steel ball feeding and assembly mechanism 8 will be explained in detail below. Multiple steel balls need to be installed circumferentially on the pull pin. After one pressing operation is completed, the steel ball assembly mechanism 86 is adjusted to rotate the pull pin, thus completing the steel ball assembly operation at another angle. The process will be explained in detail below. First, the pull pin, after the installation of the steel ball seat, washer, locking device, spring, and handle, is grasped and transported to the steel ball positioning mechanism 85 by the third gripping mechanism 84. Then, the steel ball assembly mechanism 86 is controlled to adjust the angle of the pull pin and limit its movement. After adjustment, the camera detects the result. Mechanism 88 takes photos of the product for inspection. After the inspection is completed without any problems, it controls the steel ball feeding mechanism 81 to feed the steel ball into the steel ball feeding mechanism 82. The steel ball feeding mechanism 82 feeds the steel ball into the pull pin above the steel ball positioning mechanism 85. Then, the camera detection mechanism 88 checks whether the steel ball is in place. Next, the steel ball pressing mechanism 87 completes the pressing operation of the steel ball. After pressing is completed, the camera detection mechanism 88 takes photos for inspection. Then, the angle of the pull pin is adjusted by the steel ball assembly mechanism 86. Then, the above operation is repeated to assemble another steel ball on the pull pin.
[0043] The above technical solutions only embody the preferred technical solutions of the present invention. Any modifications that may be made by those skilled in the art to certain parts thereof embody the principles of the present invention and fall within the protection scope of the present invention.
Claims
1. A draw pin assembly apparatus, characterized by, The utility model relates to a workbench (1), set up in workbench (1) on the separator tooling (2), set up in workbench (1) on and be located separator tooling (2) one side's steel ball seat loading mechanism (3), set up in workbench (1) on and be located steel ball seat loading mechanism (3) one side's washer loading assembly mechanism (4), set up in workbench (1) on and be located washer loading assembly mechanism (4) one side's lock ware and spring loading assembly mechanism (5), set up in workbench (1) on and be located lock ware and spring loading assembly mechanism (5) one side's handle loading assembly mechanism (6), set up in workbench (1) on and be located handle loading assembly mechanism (6) one side's handle riveting mechanism (7), set up in workbench (1) on and be located handle riveting mechanism (7) one side's steel ball loading assembly mechanism (8), the workbench (1) still fixedly installed with protection frame (9), steel ball seat loading mechanism (3), washer loading assembly mechanism (4), lock ware and spring loading assembly mechanism (5), handle loading assembly mechanism (6), handle riveting mechanism (7), steel ball loading assembly mechanism (8) set up in separator tooling (2) one side and be located in protection frame (9) within. The steel ball seat loading mechanism (3) comprises a first bottom plate (31), a first X-axis moving mechanism (32) arranged above the first bottom plate (31), a full-bin loading mechanism (33) arranged on one side of the first bottom plate (31), a plurality of first supporting columns (34) arranged below the first bottom plate (31), a first lifting mechanism (35) arranged on the first bottom plate (31) and located below the full-bin loading mechanism (33), a first material blocking mechanism (36) arranged around the full-bin loading mechanism (33), an empty-bin collecting mechanism (37) arranged on the other side of the first bottom plate (31), a second lifting mechanism (38) arranged below the first bottom plate (31) and located below the empty-bin collecting mechanism (37), a second material blocking mechanism (39) arranged on the empty-bin collecting mechanism (37), and a first grabbing mechanism (30) arranged on the workbench (1) and located on one side of the first X-axis moving mechanism (32), the first X-axis moving mechanism (32) is fixedly installed on the first bottom plate (31), the lower ends of the full-bin loading mechanism (33) and the empty-bin collecting mechanism (37) are fixedly installed on the first bottom plate (31), the lower ends of the first supporting columns (34) are fixedly installed on the workbench (1), the first material blocking mechanism (36) and the second material blocking mechanism (39) are respectively installed on the full-bin loading mechanism (33) and the empty-bin collecting mechanism (37), the first lifting mechanism (35) and the second lifting mechanism (38) are respectively arranged in the full-bin loading mechanism (33) and the empty-bin collecting mechanism (37), the first lifting mechanism (35) comprises a second driving mechanism (351) and supporting shafts (352) arranged around the upper side of the second driving mechanism (351), the supporting shafts (352) penetrate through the upper and lower surfaces of the first bottom plate (31) and slide in contact with the first bottom plate (31), and the first lifting mechanism (35) and the second lifting mechanism (38) are of the same structure.
2. A draw pin assembly apparatus as defined in claim 1, wherein, The splitter tool (2) comprises a first driving mechanism (21), a rotating disc (22) connected with the first driving mechanism (21), a plurality of installation tools (23) arranged on the rotating disc (22), the installation tool (23) comprising a handle riveting elastic mechanism (231) arranged on the rotating disc (22), a steel ball seat tool (232) arranged on the handle riveting elastic mechanism (231), the handle riveting elastic mechanism (231) comprising a first connecting block (2311), a first connecting shaft (2312) arranged on the left and right sides above the first connecting block (2311), a first connecting seat (2313) sleeved on the upper side of the first connecting shaft (2312), a first spring (2314) sleeved on the first connecting shaft (2312), a second connecting block (2315) arranged above the first connecting shaft (2312), and an installation base block (2316) arranged above the second connecting block (2315), the lower end of the first connecting seat (2313) is installed on the first connecting block (2311), the first connecting seat (2313) penetrates the upper and lower surfaces of the rotating disc (22) and the upper end thereof is installed on the rotating disc (22), the lower end of the first connecting shaft (2312) is fixedly installed on the first connecting block (2311), one end of the first spring (2314) is connected with the upper end of the first connecting seat (2313), the other end of the first spring (2314) is connected with the lower surface of the second connecting block (2315), the installation base block (2316) is fixedly installed on the second connecting block (2315), the steel ball seat tool (232) is installed on the installation base block (2316), the steel ball seat tool (232) comprises a third connecting block (2321), a second connecting shaft (2322) arranged on the left and right sides above the third connecting block (2321), a second spring (2323) sleeved on the second connecting shaft (2322), and a fourth connecting block (2324) arranged on the second connecting shaft (2322), the second connecting shaft (2322) penetrates the upper and lower surfaces of the fourth connecting block (2324) and is installed on the rotating disc (22), one end of the second spring (2323) is connected with the third connecting block (2321), the other end of the second spring (2323) is connected with the fourth connecting block (2324), the lower end of the second connecting shaft (2322) is connected with the third connecting block (2321), the third connecting block (2321) and the fourth connecting block (2324) are arranged directly below the installation base block (2316), and the fourth connecting block (2324), the installation base block (2316) and the second connecting block (2315) are provided with through holes.
3. A draw pin assembly apparatus as defined in claim 1, wherein, The first grabbing mechanism (30) comprises a first Y-axis moving mechanism (301), a first Z-axis moving mechanism (302) connected with the first Y-axis moving mechanism (301), and a first clamping jaw mechanism (303) connected with the first Z-axis moving mechanism (302), wherein the first Y-axis moving mechanism (301) is fixedly installed on the workbench (1), and the handle feeding and assembling mechanism (6) has the same structure as the steel ball seat feeding mechanism (3).
4. A draw pin assembly apparatus as defined in claim 1, wherein, The gasket feeding and assembling mechanism (4) comprises a gasket feeding mechanism (41) arranged on the workbench (1) and a second grabbing mechanism (42) arranged on one side of the gasket feeding mechanism (41), wherein the gasket feeding mechanism (41) is a vibrating disc feeding mechanism, and the second grabbing mechanism (42) comprises a second Y-axis moving mechanism (421), a second Z-axis moving mechanism (422) connected with the second Y-axis moving mechanism (421), and a second clamping jaw mechanism (423) connected with the second Z-axis moving mechanism (422), wherein the second Y-axis moving mechanism (421) is fixedly installed on the workbench (1).
5. A draw pin assembly apparatus as defined in claim 4, wherein, The locker and spring feeding and assembling mechanism (5) comprises a locker feeding mechanism (51) arranged on the workbench (1), a spring feeding mechanism (52) arranged on the workbench (1), and an assembling tool (53) arranged on the workbench (1) and located on one side of the locker feeding mechanism (51), wherein the locker feeding mechanism (51) has the same structure as the steel ball seat feeding mechanism (3), the spring feeding mechanism (52) is a vibrating disc feeding mechanism and blows the assembling tool (53) through an air pipe, the assembling tool (53) comprises a first mounting block (531) arranged on the locker feeding mechanism (51), an auxiliary material mechanism (532) arranged on the first mounting block (531), and a positioning column (533) arranged on the first mounting block (531), wherein the first mounting block (531) is fixedly installed on the locker feeding mechanism (51), the auxiliary material mechanism (532) is fixedly installed on the first mounting block (531), the positioning column (533) is provided with a mounting hole for placing a spring and a locker, and a detection sensor is further arranged on one side of the positioning column (533) on the first mounting block (531), wherein the detection sensor is fixedly installed on the first mounting block (531), and the locker feeding mechanism (51) is further provided with a spring blowing material fixing mechanism (54), and the air pipe passes through the spring blowing material fixing mechanism (54).
6. A draw pin assembly apparatus as defined in claim 5, wherein, The steel ball feeding assembly mechanism (8) comprises a steel ball feeding mechanism (81), a steel ball feeding mechanism (82) arranged on the workbench (1), a third grabbing mechanism (84) arranged on the workbench (1), a steel ball positioning mechanism (85) arranged on the workbench (1) and located on one side of the steel ball feeding mechanism (82), a steel ball assembling mechanism (86) arranged on the workbench (1) and located on one side of the steel ball positioning mechanism (85), a steel ball pressing mechanism (87) arranged on the workbench (1) and located on one side of the steel ball assembling mechanism (86), and a camera detection mechanism (88) arranged on the workbench (1) and located on one side of the steel ball assembling mechanism (86). The camera detection mechanism (88) is arranged vertically with the steel ball assembling mechanism (86), and the camera detection mechanism (88) is arranged in parallel with the steel ball pressing mechanism (87). The steel ball feeding mechanism (81), the steel ball feeding mechanism (82), the third grabbing mechanism (84), the steel ball assembling mechanism (86), the steel ball pressing mechanism (87) and the camera detection mechanism (88) are fixedly installed on the workbench (1). The steel ball feeding mechanism (82) is arranged obliquely, and the steel ball feeding mechanism (82) is connected with the steel ball feeding mechanism (81) through an air pipe.
7. A draw pin assembly apparatus as defined in claim 6, wherein, The third grabbing mechanism (84) comprises a robot (841), a mounting frame arranged on the robot (841), a first clamping mechanism (842) arranged on one side of the mounting frame, and a second clamping mechanism (843) arranged on the other side of the mounting frame, wherein the first clamping mechanism (842) and the second clamping mechanism (843) are fixedly installed on the mounting frame, the first clamping mechanism (842) comprises a first bidirectional air cylinder (8421) and a first clamping jaw (8422) connected with the first bidirectional air cylinder (8421), the first bidirectional air cylinder (8421) is fixedly installed on the mounting frame, the second clamping mechanism (843) comprises a first rotating mechanism (8431), a second bidirectional air cylinder (8432) connected with the first rotating mechanism (8431), and a second clamping jaw (8433) connected with the second bidirectional air cylinder (8432), and the first rotating mechanism (8431) is fixedly installed on the mounting frame, the steel ball feeding mechanism (82) comprises a fixing frame (821), a third lifting mechanism (822) arranged on the fixing frame (821), a first axial movement mechanism (823) connected with the third lifting mechanism (822), a first moving frame (824) connected with the first axial movement mechanism (823), a feeding block (825) arranged on one side of the first moving frame (824), and a discharging mechanism (83) arranged on the other side of the first moving frame (824), wherein the fixing frame (821) is fixedly installed on the workbench (1), the third lifting mechanism (822) is fixedly installed on the fixing frame (821), the feeding block (825) is fixedly installed on the first moving frame (824) close to the steel ball assembling mechanism (86), a through hole is arranged at the center of the feeding block (825) for facilitating feeding, and the discharging mechanism (83) is fixedly installed on the first moving frame (824).
8. A draw pin assembly apparatus as defined in claim 7, wherein, The blanking mechanism (83) comprises a lifting cylinder (831), a second mounting block (832) connected with the lifting cylinder (831), and a feeding rod (833) fixedly connected with the second mounting block (832), wherein the lifting cylinder (831) is fixedly installed on the first moving frame (824), the feeding rod (833) is arranged directly above the feeding block (825), the feeding rod (833) is hollow, and the feeding rod (833) can be aligned with the through hole on the feeding block (825) to facilitate the connection of the material pipe and the feeding rod (833) for feeding; the steel ball positioning mechanism (85) comprises a fixed block (851), a second support column (852) arranged around the lower side of the fixed block (851), a positioning block (853) arranged on the central axis of the fixed block (851), an ejection mechanism (854) arranged below the positioning block (853), a pressing mechanism (855) arranged on the fixed block (851) and located above the positioning block (853), a limiting block (856) arranged on the upper side of the fixed block (851) and located on one side of the positioning block (853), the ejection mechanism (854) is fixedly installed on the fixed block (851) and one end of the ejection mechanism (854) penetrates through the positioning block (853), the lower end of the second support column (852) is provided with a second bottom plate (857), and the second support column (852) is fixedly installed on the second bottom plate (857); the pressing mechanism (855) is fixedly installed on the second bottom plate (857), a through hole is arranged on the center of the positioning block (853), fiber optic reflection sensors are arranged on both sides of the pressing mechanism (855), and the limiting block (856) is vertically arranged and fixedly installed on the side surface of the fixed block (851); the ejection mechanism (854) comprises a first driving cylinder (8541) and a jack connected with the first driving cylinder (8541), the first driving cylinder (8541) is fixedly installed below the fixed block (851), and the jack penetrates through the upper and lower surfaces of the fixed block (851) and the positioning block (853) and is in sliding contact with the upper and lower surfaces; the pressing mechanism (855) comprises a second driving cylinder (8551), a push block (8552) connected with the second driving cylinder (8551), a moving rod (8553) arranged above and on both sides of the push block (8552), and a pressing block (8554) arranged above the two moving rods (8553), the second driving cylinder (8551) is fixedly installed on the second bottom plate (857), the moving rod (8553) is slidingly installed on the fixed block (851), the lower surface of the pressing block (8554) is fixedly connected with the upper end of the moving rod (8553), and the fiber optic reflection sensors are arranged on the moving rod (8553).
9. A draw pin assembly apparatus as defined in claim 8, wherein, The steel ball assembling mechanism (86) is fixedly installed on the second bottom plate (857), the steel ball assembling mechanism (86) comprises a second axial movement mechanism (861), a second movement frame (862) connected with the second axial movement mechanism (861), a second rotating mechanism (863) arranged on the second movement frame (862), a three-jaw chuck (864) connected with the second rotating mechanism (863), and a push rod (865) arranged at the center position of the three-jaw chuck (864), the second axial movement mechanism (861) is fixedly installed on the second bottom plate (857), the second rotating mechanism (863) is fixedly installed on the second movement frame (862), and the push rod (865) is fixedly installed on the central axis of the three-jaw chuck (864); the camera detection mechanism (88) comprises a third axial movement mechanism (881), a connecting frame (882) connected with the third axial movement mechanism (881), and a camera (883) fixedly connected with the connecting frame (882), the third axial movement mechanism (881) is fixedly installed on the workbench (1), and the camera (883) is arranged above the steel ball positioning mechanism (85); the steel ball pressing mechanism (87) has the same structure as the handle riveting and pressing mechanism (7).
Citation Information
Patent Citations
One-way valve assembling and detecting machine
CN103737295A
Automatic assembly machine of bearings
CN108422193A