Middle frame assembling equipment

Abstract

The utility model provides a middle frame assembly device, relates to the technical field of automatic assembly, and aims to solve the problem that the production efficiency is low as the assembly of a wire clamp and a nut on a middle frame mainly depends on manual work in the prior art. Comprising a middle frame feeding device, a wire clamp assembling device, a first turnover device, a nut assembling device and a stamping device, and the middle frame feeding device comprises a positioning module, a middle frame feeding module and a first carrier circulation line; the first carrier circulation line comprises a plurality of first carriers circulating along with the line; the wire clamp assembling device comprises a wire clamp feeding module and a wire clamp assembling module. The first turnover device comprises a first turnover module and a first transfer module; the nut assembling device comprises a nut feeding module, a second carrier circulation line and a nut assembling module. The second carrier circulation line comprises a plurality of second carriers circulating along with the line. The stamping device is used for stamping the nuts into the nut assembling holes of the middle frame. According to the utility model, the wire clamp and the nut can be automatically assembled in the middle frame, and the production efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic assembly, and more specifically, to a middle frame assembly device. Background Art

[0002] With the continuous progress of technology, VR (Virtual Reality) and AR (Augmented Reality) products have developed vigorously. Among them, the middle frame is the main structure of VR and AR products. The middle frame is roughly in a plate-like structure, and components such as wire clamps and nuts are assembled on the middle frame. However, in the prior art, the assembly of wire clamps and nuts on the middle frame mainly relies on manual labor, resulting in low production efficiency. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a middle frame assembly device to solve the technical problem that the assembly of wire clamps and nuts on the middle frame in the prior art mainly relies on manual labor, resulting in low production efficiency.

[0004] The middle frame assembly device provided by the utility model includes a middle frame loading device, a wire clamp assembly device, a first flipping device, a nut assembly device, and a stamping device.

[0005] The middle frame loading device includes a positioning module, a middle frame loading module, and a first carrier transfer line. The positioning module is used to position the middle frame, and the middle frame loading module is used to transfer the positioned middle frame to the first carrier transfer line; the first carrier transfer line includes a number of first carriers that transfer along with the line, and the first carrier is used to fix and carry the middle frame;

[0006] The wire clamp assembly device includes a wire clamp loading module and a wire clamp assembly module. The wire clamp loading module is used to supply wire clamps, and the wire clamp assembly module is used to assemble the wire clamps to the middle frame carried by the first carrier;

[0007] The first flipping device includes a first flipping module and a first transfer module. The first flipping module is used to pick up and flip the middle frame of the first carrier;

[0008] The nut assembly device includes a nut loading module, a second carrier transfer line, and a nut assembly module. The nut loading module is used to supply nuts, the second carrier transfer line includes a number of second carriers that transfer along with the line, the first transfer module is used to transfer the flipped middle frame to the second carrier, and the nut assembly module is used to place the nuts into the nut assembly holes of the middle frame; and

[0009] The stamping device is used to stamp the nuts into the nut assembly holes of the middle frame.

[0010] Further, the stamping device includes a vision detection module for visually inspecting the middle frame after stamping is completed.

[0011] Further, the middle frame assembly device further includes a middle frame blanking device disposed downstream of the stamping device. The middle frame blanking device includes a second flipping module and a second transfer module. The second flipping module is configured to pick up and flip the middle frame after nut stamping, and the second flipping module is located below the vision detection module. The second transfer module is configured to transfer the flipped middle frame.

[0012] Further, the middle frame blanking device further includes a blanking buffer module and a waste product outflow module. The blanking buffer module is configured to receive the middle frames detected as qualified by the vision detection module, and the waste product outflow module is configured to receive the middle frames detected as unqualified by the vision detection module. The second transfer module can transfer the middle frame to the blanking buffer module or the waste product outflow module.

[0013] Further, the stamping device further includes a stamping support module, a stamping handling X-axis module, a stamping handling Z-axis module, a fixture clamping module, a stamping machine module, and a fixture propulsion module. The stamping support module is relatively fixedly arranged. The stamping handling X-axis module is installed on the stamping support module and is configured to output a moving power along the X-axis, where the X-axis is the flow direction of the middle frame in the middle frame assembly device. The stamping handling Z-axis module is installed at the output end of the stamping handling X-axis module and is configured to output a moving power along the Z-axis. The fixture clamping module is installed at the output end of the stamping handling Z-axis module, and the Z-axis is in the vertical direction. The fixture propulsion module includes a receiving plate and a pushing cylinder. The cylinder body of the pushing cylinder is relatively fixedly arranged with the stamping support module, and the receiving plate is connected to the piston rod of the pushing cylinder. The fixture clamping module is configured to transfer the middle frame with the nut placed thereon to the receiving plate and to transfer the middle frame after stamping is completed to the second flipping module. The pushing cylinder is configured to drive the receiving plate to approach or move away from the stamping machine module.

[0014] Further, the positioning module includes a positioning base, a first positioning cylinder, and a second positioning cylinder. The positioning base has an installation cavity, and a positioning concave cavity communicating with the installation cavity is provided on the upper surface of the positioning base. The positioning concave cavity is used to accommodate the middle frame. The cylinder block of the first positioning cylinder is installed on the positioning base, and the cylinder block of the second positioning cylinder is installed on the piston rod of the first positioning cylinder. The piston rod of the first positioning cylinder is used to output the moving power along the X-axis, and the piston rod of the second positioning cylinder is used to output the moving power along the Y-axis. The X-axis is the flow direction of the middle frame in the middle frame assembly device, and the Y-axis is perpendicular to the X-axis and both are in the horizontal plane. The piston rod of the second positioning cylinder is fixedly connected with a positioning rod extending along the Z-axis. The positioning rod extends from the installation cavity into the positioning concave cavity to horizontally position the middle frame in the positioning concave cavity.

[0015] Further, the number of the positioning concave cavities is multiple, and the multiple positioning concave cavities are arranged at intervals. The number of the positioning rods is the same as the number of the positioning concave cavities, and the multiple positioning rods respectively extend into the multiple positioning concave cavities one by one; and / or, the middle frame feeding module includes a feeding handling X-axis module, a feeding handling Y-axis module, a feeding handling Z-axis module, and a middle frame suction module. Among them, the feeding handling X-axis module is used to output the moving power along the X-axis; the feeding handling Y-axis module is installed at the output end of the feeding handling X-axis module and is used to output the moving power along the Y-axis; the feeding handling Z-axis module is installed at the output end of the feeding handling Y-axis module and is used to output the moving power along the Z-axis; the middle frame suction module is installed at the output end of the feeding handling Z-axis module and is used to suck the middle frame in the positioning concave cavity.

[0016] Further, the first carrier transfer line further includes a carrier track, an opening and closing mechanism, a linear driving module, a lifting mechanism, and a side positioning mechanism. Among them, the carrier track includes a first track and a second track arranged at intervals, and the first carrier is supported on the first track and the second track; at least one lock for fixing the middle frame is provided on the first carrier, the opening and closing mechanism is installed on the carrier track, and the opening and closing mechanism is used to drive the lock to open or close; the linear driving module is used to output the power along the direction of the carrier track, the lifting mechanism is installed at the output end of the linear driving module, and the lifting mechanism is provided with a limiting structure for limiting cooperation with the first carrier; the side positioning mechanism is used to position the first carrier in the width direction of the carrier track.

[0017] Further, both the wire clamp feeding module and the nut feeding module include a vibrating bowl feeding structure; and / or, the wire clamp assembly module includes a first mounting bracket, a wire clamp handling Y-axis module, a wire clamp handling Z-axis module, and a first rotating electric gripper, wherein the first mounting bracket is relatively fixedly arranged; the wire clamp handling Y-axis module is mounted on the first mounting bracket and is used for outputting the moving power along the Y-axis; the wire clamp handling Z-axis module is mounted on the output end of the wire clamp handling Y-axis module and is used for outputting the moving power along the Z-axis; the first rotating electric gripper is mounted on the output end of the wire clamp handling Z-axis module and is used for picking up the wire clamps supplied by the wire clamp feeding module and assembling the wire clamps to the middle frame; and / or, the nut assembly module includes a second mounting bracket, a nut handling Y-axis module, a nut handling Z-axis module, and a second rotating electric gripper, wherein the second mounting bracket is relatively fixedly arranged; the nut handling Y-axis module is mounted on the second mounting bracket and is used for outputting the moving power along the Y-axis; the nut handling Z-axis module is mounted on the output end of the nut handling Y-axis module and is used for outputting the moving power along the Z-axis; the second rotating electric gripper is mounted on the output end of the nut handling Z-axis module and is used for picking up the nuts supplied by the nut feeding module and assembling the nuts to the middle frame.

[0018] Further, the middle frame assembly device further includes a robot feeding device, the robot feeding device includes a feeding robot and a first storage tray, the first storage tray is used for storing the middle frames to be assembled, and the feeding robot is used for transporting the middle frames in the first storage tray to the positioning module; and / or, the middle frame assembly device further includes a robot discharging device, the robot discharging device includes a discharging robot and a second storage tray, the second storage tray is used for storing the middle frames with wire clamps and nuts assembled, and the discharging robot is used for transporting the middle frames stored in the discharging buffer module to the second storage tray.

[0019] The beneficial effects brought by the middle frame assembly device of the present utility model are:

[0020] When the wire clamp and the nut need to be assembled to the middle frame, where the middle frame is provided with a wire clamp assembly hole for assembling the wire clamp and a nut assembly hole for assembling the nut. First, the positioning module in the middle frame loading device positions the middle frame so that the middle frame loading module can accurately pick up the middle frame and place it into the first carrier of the first carrier transfer line. After that, the wire clamp loading module of the wire clamp assembly device provides the wire clamp to be assembled, and the wire clamp assembly module places the above-mentioned wire clamp into the wire clamp assembly hole of the middle frame carried by the first carrier and performs the assembly. Subsequently, the first flipping device flips the middle frame with the wire clamp installed, making the back of the middle frame face up. The first transfer module transfers the middle frame that has been flipped once to the second carrier of the second carrier transfer line of the nut assembly device, and the nut loading module provides the nut to be assembled. The nut assembly module places the above-mentioned nut into the nut assembly hole of the middle frame on the second carrier. Subsequently, the stamping device operates to stamp the nut into the nut assembly hole to complete the assembly of the nut on the middle frame.

[0021] Through the above settings, the middle frame assembly equipment realizes the automatic assembly of the wire clamp and the nut on the middle frame, and the assembly of the nut can be carried out on the back of the middle frame, meeting the assembly requirements of the nut on the middle frame. This assembly process basically requires no manual participation, which not only improves production efficiency, reduces labor costs, but also ensures the consistency after the middle frame is assembled and improves the yield rate. Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0023] Figure 1 It is a schematic diagram of the external shape of the middle frame assembly equipment provided by the embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of the internal structure of the middle frame assembly equipment provided by the embodiment of the present invention;

[0025] Figure 3 It is a schematic diagram of the structure of the positioning module of the middle frame loading device of the middle frame assembly equipment provided by the embodiment of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the middle frame loading module of the middle frame loading device of the middle frame assembly equipment provided by the embodiment of the present invention;

[0027] Figure 5Partial structural schematic diagram of the first carrier transfer line of the middle frame assembly equipment provided by the embodiment of the present utility model;

[0028] Figure 6 Structural schematic diagram of the wire clip assembly device of the middle frame assembly equipment provided by the embodiment of the present utility model;

[0029] Figure 7 Partial structural schematic diagram of the first flipping device of the middle frame assembly equipment provided by the embodiment of the present utility model;

[0030] Figure 8 Structural schematic diagram of the first transfer module of the first flipping device of the middle frame assembly equipment provided by the embodiment of the present utility model;

[0031] Figure 9 Structural schematic diagram of the nut assembly device of the middle frame assembly equipment provided by the embodiment of the present utility model;

[0032] Figure 10 Structural schematic diagram of the stamping device of the middle frame assembly equipment provided by the embodiment of the present utility model;

[0033] Figure 11 Partial structural schematic diagram of the middle frame blanking device of the middle frame assembly equipment provided by the embodiment of the present utility model;

[0034] Figure 12 Partial structural schematic diagram of the middle frame blanking device of the middle frame assembly equipment provided by the embodiment of the present utility model;

[0035] Figure 13 For Figure 12 Partial enlarged view of the structure at A.

[0036] Explanation of reference numerals:

[0037] 010 - middle frame; 011 - wire clip assembly hole; 012 - nut assembly hole; 020 - wire clip; 030 - nut;

[0038] 100 - middle frame loading device; 200 - wire clip assembly device; 300 - first flipping device; 400 - nut assembly device; 500 - stamping device; 600 - middle frame blanking device; 700 - robot loading device; 800 - robot blanking device;

[0039] 110-positioning module; 111-positioning seat; 1111-installation cavity; 1112-positioning cavity; 112-first positioning cylinder; 113-second positioning cylinder; 114-positioning rod; 120-middle frame loading module; 121-loading and handling X-axis module; 122-loading and handling Y-axis module; 123-loading and handling Z-axis module; 124-middle frame suction module; 130-first carrier flow line; 131-first carrier; 132-carrier track; 1321-first track; 1322-second track; 133-opening and closing mechanism; 134-linear drive module; 135-lifting mechanism; 136-side positioning mechanism;

[0040] 210-clip feeding module; 220-clip assembly module; 221-first mounting bracket; 222-clip transport Y-axis module; 223-clip transport Z-axis module; 224-first rotating electric claw;

[0041] 310-first flip module; 320-first transfer module; 321-first fixed frame; 322-transfer X-axis module; 323-transfer Z-axis module; 324-first transfer suction module; 330-flip positioning structure; 340-first flip opening and closing mechanism;

[0042] 410-nut feeding module; 420-second carrier flow line; 430-nut assembly module; 431-second mounting bracket; 432-nut handling Y-axis module; 433-nut handling Z-axis module; 434-second rotating electric claw;

[0043] 510-visual inspection module; 520-stamping support module; 530-stamping transport X-axis module; 540-stamping transport Z-axis module; 550-jig clamping module; 560-stamping machine module; 570-jig pushing module; 571-material receiving plate; 572-push cylinder;

[0044] 610-second flip module; 620-second transfer module; 621-second fixed frame; 622-transfer Y-axis module; 623-transfer cylinder module; 624-second transfer suction module; 630-unloading buffer module; 640-waste outflow module; 650-second flip opening and closing mechanism;

[0045] 710 - loading robot; 720 - first storage tray; 820 - second storage tray. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific embodiments of the utility model are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0047] As Figure 1 and Figure 2 shown, this embodiment provides a middle frame assembly device, including a middle frame loading device 100, a wire clip assembly device 200, a first flipping device 300, a nut assembly device 400, and a stamping device 500. Among them, as Figures 3 to 5 shown, the middle frame loading device 100 includes a positioning module 110, a middle frame loading module 120, and a first carrier transfer line 130. The positioning module 110 is used to position the middle frame 010, and the middle frame loading module 120 is used to transfer the positioned middle frame 010 to the first carrier transfer line 130; the first carrier transfer line 130 includes a number of first carriers 131 that transfer along the line, and the first carriers 131 are used to fix and carry the middle frame 010.

[0048] As Figure 6 shown, the wire clip assembly device 200 includes a wire clip loading module 210 and a wire clip assembly module 220. The wire clip loading module 210 is used to supply the wire clip 020, and the wire clip assembly module 220 is used to assemble the wire clip 020 to the middle frame 010 carried by the first carrier 131. As Figure 7 and Figure 8 shown, the first flipping device 300 includes a first flipping module 310 and a first transfer module 320. The first flipping module 310 is used to pick up and flip the middle frame 010 of the first carrier 131. As Figure 9 shown, the nut assembly device 400 includes a nut loading module 410, a second carrier transfer line 420, and a nut assembly module 430. The nut loading module 410 is used to supply the nut 030, the second carrier transfer line 420 includes a number of second carriers that transfer along the line, and the nut assembly module 430 is used to place the nut 030 into the nut assembly hole 012 of the middle frame 010. As Figure 10 shown, the stamping device 500 is used to stamp the nut 030 into the nut assembly hole 012 of the middle frame 010. Among them, the middle frame 010 with the wire clip 020 and the nut 030 assembled is as Figure 13 shown.

[0049] When it is necessary to assemble the wire clamp 020 and the nut 030 to the middle frame 010, where the middle frame 010 is provided with a wire clamp assembly hole 011 for assembling the wire clamp 020 and a nut assembly hole 012 for assembling the nut 030. First, the positioning module 110 in the middle frame loading device 100 positions the middle frame 010, so that the middle frame loading module 120 can accurately pick up the middle frame 010 and place it into the first carrier 131 on the first carrier transfer line 130. After that, the wire clamp loading module 210 of the wire clamp assembling device 200 provides the wire clamp 020 to be assembled, and the wire clamp assembly module 220 places the above-mentioned wire clamp 020 into the wire clamp assembly hole 011 of the middle frame 010 carried by the first carrier 131 and performs the assembly. Subsequently, the first flipping device 300 flips the middle frame 010 with the wire clamp 020 installed, so that the back surface of the middle frame 010 faces upward. The first transfer module 320 transfers the middle frame 010 that has been flipped once to the second carrier on the second carrier transfer line 420 of the nut assembling device 400, and the nut loading module 410 provides the nut 030 to be assembled. The nut assembly module 430 places the above-mentioned nut 030 into the nut assembly hole 012 of the middle frame 010 on the second carrier. Subsequently, the stamping device 500 operates to press the nut 030 into the nut assembly hole 012 to complete the assembly of the nut 030 on the middle frame 010.

[0050] Through the above settings, the middle frame assembling device realizes the automatic assembly of the wire clamp 020 and the nut 030 on the middle frame 010, and the assembly of the nut 030 can be carried out on the back surface of the middle frame 010, meeting the assembly requirements of the nut 030 on the middle frame 010. This assembly process basically requires no manual participation, which not only improves the production efficiency, reduces the labor cost, but also ensures the consistency after the middle frame 010 is assembled and improves the qualified product rate.

[0051] Please continue to refer to Figure 7 , in this embodiment, the first flipping device 300 may further include a first flipping opening and closing mechanism 340 and a flipping positioning structure 330. After the wire clamp 020 is assembled, the first carrier 131 flowing along the first carrier transfer line 130 together with the middle frame 010 thereon will enter the first flipping opening and closing mechanism 340. The first flipping opening and closing mechanism 340 is used to open the lock of the first carrier 131 and release the middle frame 010, so that the first flipping module 310 can only suck and flip the middle frame 010, and the flipped middle frame 010 can enter the flipping positioning structure 330 for positioning.

[0052] It should be noted that the process of the first carrier 131 on the first carrier transfer line 130 entering the first flipping opening and closing mechanism 340 can be realized by a side pushing mechanism or by a vacuum adsorption mechanism. The first flipping opening and closing mechanism 340 can be in a form that uses a cylinder to drive the lock of the first carrier 131 to swing to open or close.

[0053] Please continue to refer to Figure 8 Figure 8 , the first transfer module 320 may include a first fixing frame 321, a transfer X-axis module 322, a transfer Z-axis module 323, and a first transfer suction module 324. Among them, the first fixing frame 321 is relatively fixedly arranged, and the transfer X-axis module 322 is installed on the first fixing frame 321 for outputting the moving power along the X-axis; the transfer Z-axis module 323 is installed at the output end of the transfer X-axis module 322 for outputting the moving power along the Z-axis; the first transfer suction module 324 is installed at the output end of the transfer Z-axis module 323, and uses the vacuum adsorption effect to suck the middle frame 010 after being flipped by the first flipping module 310, so as to achieve the transfer purpose.

[0054] Please continue to refer to Figure 2 Figure 2 , in this embodiment, the stamping device 500 may include a vision detection module 510. Among them, the vision detection module 510 is used for visually detecting the middle frame 010 that has completed stamping.

[0055] By setting the above-mentioned vision detection module 510, the visual detection of the middle frame 010 after stamping can be realized to judge whether the assembly of the wire clamp 020 and the nut 030 meets the requirements, so as to facilitate the operator to distinguish qualified products and waste products in time.

[0056] Please continue to refer to Figure 3 Figure 3 , in this embodiment, the positioning module 110 may include a positioning seat 111, a first positioning cylinder 112, and a second positioning cylinder 113. Specifically, the positioning seat 111 has an installation cavity 1111, and the upper surface of the positioning seat 111 is provided with a positioning concave cavity 1112 communicating with the installation cavity 1111, and the positioning concave cavity 1112 is used for accommodating the middle frame 010; the cylinder block of the first positioning cylinder 112 is installed on the positioning seat 111, and the cylinder block of the second positioning cylinder 113 is installed on the cylinder rod of the first positioning cylinder 112. The cylinder rod of the first positioning cylinder 112 is used for outputting the moving power along the X-axis, and the cylinder rod of the second positioning cylinder 113 is used for outputting the moving power along the Y-axis. The X-axis is the flow direction of the middle frame 010 in the middle frame assembly equipment, and the Y-axis is perpendicular to the X-axis and both are in the horizontal plane; the cylinder rod of the second positioning cylinder 113 is fixedly connected with a positioning rod 114 extending along the Z-axis. The positioning rod 114 extends from the installation cavity 1111 into the positioning concave cavity 1112 for horizontally positioning the middle frame 010 in the positioning concave cavity 1112.

[0057] By providing a positioning cavity 1112 in the positioning base 111, it is possible to accommodate the middle frame 010 to be assembled. On this basis, by operating the first positioning cylinder 112 and the second positioning cylinder 113, the positioning rod 114 can be moved along the X-axis and the Y-axis. Thus, by utilizing the cooperation between the positioning rod 114 and the structure of the middle frame 010 itself, the positioning of the middle frame 010 in the horizontal direction can be achieved, enabling the middle frame loading module 120 to accurately pick up the middle frame 010 located in the positioning cavity 1112.

[0058] It should be noted that in this embodiment, the schematic illustrations of the X-axis, Y-axis, and Z-axis are as shown in the coordinate axes in Figure 1 . Among them, the middle frame loading device 100, the wire clamp assembly device 200, the first flipping device 300, the nut assembly device 400, and the stamping device 500 are arranged in a straight line. Therefore, the flow direction of the middle frame 010 in the middle frame assembly equipment is the above-mentioned straight-line arrangement direction, that is: the X-axis is the arrangement direction of the middle frame loading device 100, the wire clamp assembly device 200, the first flipping device 300, the nut assembly device 400, and the stamping device 500.

[0059] Please continue to refer to Figure 3 . In this embodiment, the number of positioning cavities 1112 is two, and the two positioning cavities 1112 are arranged at intervals. The number of positioning rods 114 is the same as the number of positioning cavities 1112, which is also two. The two positioning rods 114 respectively extend into the two positioning cavities 1112 in a one-to-one correspondence.

[0060] This setting can achieve the simultaneous positioning of two middle frames 010 and the simultaneous loading of two middle frames 010, improving the production efficiency.

[0061] In other embodiments, the number of positioning cavities 1112 can also be three or four, etc.

[0062] Please continue to refer to Figure 4 . In this embodiment, the middle frame loading module 120 can include a loading handling X-axis module 121, a loading handling Y-axis module 122, a loading handling Z-axis module 123, and a middle frame suction module 124. Among them, the loading handling X-axis module 121 is used to output the moving power along the X-axis; the loading handling Y-axis module 122 is installed at the output end of the loading handling X-axis module 121 and is used to output the moving power along the Y-axis; the loading handling Z-axis module 123 is installed at the output end of the loading handling Y-axis module 122 and is used to output the moving power along the Z-axis; the middle frame suction module 124 is installed at the output end of the loading handling Z-axis module 123 and is used to suck the middle frame 010 in the positioning cavity 1112.

[0063] When it is necessary to pick up the middle frame 010 in the positioning cavity 1112 by using the middle frame loading module 120, the loading and handling X-axis module 121 can be used to output the moving power along the X-axis, so that the loading and handling Y-axis module 122 installed at its output end can move along the X-axis; the loading and handling Y-axis module 122 is used to output the moving power along the Y-axis, so that the loading and handling Z-axis module 123 installed at its output end can move along the Y-axis; on this basis, the loading and handling Z-axis module 123 is used to output the moving power along the Z-axis, so as to achieve the purpose of enabling the middle frame suction module 124 to move in the X-axis, Y-axis and Z-axis directions, so that the middle frame suction module 124 can move to the position of the positioning cavity 1112, pick up the middle frame 010 in the positioning cavity 1112, and further transfer it to the first carrier transfer line 130 of the first carrier 131.

[0064] Please continue to refer to Figure 5 , in this embodiment, the first carrier transfer line 130 may further include a carrier track 132, an opening and closing mechanism 133, a linear drive module 134, a lifting mechanism 135 and a side positioning mechanism 136. Among them, the carrier track 132 includes a first track 1321 and a second track 1322 arranged at intervals, and the first carrier 131 is supported on the first track 1321 and the second track 1322; the first carrier 131 is provided with at least one latch for fixing the middle frame 010, and the opening and closing mechanism 133 is installed on the carrier track 132, and the opening and closing mechanism 133 is used to drive the latch to open or close; the linear drive module 134 is used to output the power along the direction of the carrier track 132, the lifting mechanism 135 is installed at the output end of the linear drive module 134, and the lifting mechanism 135 is provided with a limiting structure for limiting cooperation with the first carrier 131; the side positioning mechanism 136 is used to position the first carrier 131 in the width direction of the carrier track 132.

[0065] When the middle frame suction module 124 transfers the middle frame 010 to the first carrier 131, first, the opening and closing mechanism 133 acts to fix the middle frame 010 to the first carrier 131; then, the lifting mechanism 135 rises, and its limiting structure is used for limiting cooperation with the first carrier 131; then, the linear drive module 134 acts to drive the lifting mechanism 135 to move along the direction of the carrier track 132, so as to move the first carrier 131 that is in limiting cooperation with the limiting structure of the lifting mechanism 135 forward by one position; after the middle frame 010 is moved once, the lifting mechanism 135 descends to release the limiting cooperation with the first carrier 131, so that when the linear drive module 134 acts in the reverse direction, it can be reset to wait for the next first carrier 131 feeding operation.

[0066] By providing an opening and closing mechanism 133 capable of fixing the middle frame 010 to the first carrier 131, the transfer of the middle frame 010 is carried out along with the first carrier 131. This not only uses the first carrier 131 to carry the middle frame 010, reducing the wear on the middle frame 010, but also can add counterweight to the middle frame 010 to ensure the reliability during the in-line transfer of the middle frame 010 and prevent the middle frame 010 from falling off.

[0067] In this embodiment, the position of the opening and closing mechanism 133 on the carrier track 132 is fixed. Whenever the middle frame picking module 124 transfers the middle frame 010 to the first carrier 131 at this position, the opening and closing mechanism 133 will first fix the middle frame 010 to the first carrier 131 so that the middle frame 010 can be transferred along with the first carrier 131. After the middle frame 010 is transferred along with the first carrier 131, the latch of the opening and closing mechanism 133 is opened to await the next closing operation.

[0068] It should be noted that the opening and closing mechanism 133 can be in a form that uses a cylinder to drive the latch to swing for opening or closing.

[0069] Please continue to refer to Figure 1 and Figure 2 , in this embodiment, the middle frame assembly device may further include a middle frame blanking device 600, where the middle frame blanking device 600 is arranged downstream of the stamping device 500. As Figure 11 and Figure 12 shown, specifically, the middle frame blanking device 600 includes a second flipping module 610 and a second transfer module 620. The second flipping module 610 is used to pick up and flip the middle frame 010 after the nut 030 is stamped, and the second flipping module 610 is located below the vision inspection module 510. The second transfer module 620 is used to transfer the flipped middle frame 010.

[0070] The provision of the middle frame blanking device 600 enables, after the nut 030 is stamped on the middle frame 010, that is, at this time, both the wire clamp 020 and the nut 030 have been assembled on the middle frame 010, the second flipping module 610 can flip the middle frame 010 so that the vision inspection module 510 can perform vision inspection on the front of the middle frame 010. Then, the second transfer module 620 is used to transfer the flipped middle frame 010 so that the middle frame 010 is sent out with the front side facing up.

[0071] Please continue to refer to Figure 11, in this embodiment, the middle frame blanking device 600 further includes a second flipping and opening / closing mechanism 650. After the stamping operation of the nut 030 on the middle frame 010 is completed, the middle frame 010 will first be transferred to the position of the second flipping and opening / closing mechanism 650, and the second flipping and opening / closing mechanism 650 will open the latch of the second carrier to release the middle frame 010, so that the second flipping module 610 can perform a flipping operation on the middle frame 010.

[0072] It should be noted that in this embodiment, the structure and working principle of the second flipping and opening / closing mechanism 650 are similar to those of the opening / closing mechanism 133, so they will not be elaborated here.

[0073] Please continue to refer to Figure 12 , in this embodiment, the middle frame blanking device 600 may further include a blanking buffer module 630 and a waste outflow module 640. Among them, the blanking buffer module 630 is used to receive the middle frame 010 detected as qualified by the vision detection module 510, and the waste outflow module 640 is used to receive the middle frame 010 detected as unqualified by the vision detection module 510. The second transfer module 620 can transfer the middle frame 010 to the blanking buffer module 630 or the waste outflow module 640.

[0074] By providing the blanking buffer module 630 and the waste outflow module 640 in the middle frame blanking device 600, the separate collection of qualified products and waste products can be realized, which is convenient for subsequent centralized processing.

[0075] Please continue to refer to Figure 12 , in this embodiment, the second transfer module 620 may include a second fixing frame 621, a transfer Y-axis module 622, a transfer cylinder module 623, and a second transfer suction module 624. Among them, the second fixing frame 621 is relatively fixedly arranged; the transfer Y-axis module 622 is installed on the second fixing frame 621 and is used to output the moving power along the Y axis; the transfer cylinder module 623 is installed at the output end of the transfer Y-axis module 622 and is used to output the moving power along the Z axis; the second transfer suction module 624 is installed at the output end of the transfer cylinder module 623 and is used to suck the middle frame 010 flipped by the second flipping module 610 to the blanking buffer module 630 and the waste outflow module 640.

[0076] Please continue to refer to Figure 10, in this embodiment, the stamping device 500 further includes a stamping support module 520, a stamping handling X-axis module 530, a stamping handling Z-axis module 540, a fixture clamping module 550, a stamping machine module 560, and a fixture propulsion module 570. Among them, the stamping support module 520 is relatively fixedly arranged, and the stamping handling X-axis module 530 is installed on the stamping support module 520 for outputting the moving power along the X-axis; the stamping handling Z-axis module 540 is installed at the output end of the stamping handling X-axis module 530 for outputting the moving power along the Z-axis, and the fixture clamping module 550 is installed at the output end of the stamping handling Z-axis module 540; the fixture propulsion module 570 includes a receiving plate 571 and a pushing cylinder 572. The cylinder body of the pushing cylinder 572 is relatively fixedly arranged with the stamping support module 520, and the receiving plate 571 is connected to the rod of the pushing cylinder 572. The fixture clamping module 550 is used to transfer the middle frame 010 with the nut 030 placed thereon to the receiving plate 571 and to transfer the middle frame 010 that has completed stamping to the second flipping module. The pushing cylinder 572 is used to drive the receiving plate 571 to approach or move away from the stamping machine module 560.

[0077] After the nut 030 is placed on the middle frame 010 by using the nut assembly module 430, the fixture clamping module 550 will clamp the second fixture with the nut 030 placed thereon and place it on the receiving plate 571 of the fixture propulsion module 570. By the action of the pushing cylinder 572, it moves in the direction close to the stamping machine module 560 to complete the stamping operation of the nut 030 by using the stamping machine module 560; after the stamping machine module 560 completes the stamping operation of the nut 030, the pushing cylinder 572 drives the receiving plate 571 to move in the direction away from the stamping machine module 560, so that the middle frame 010 that has completed the stamping of the nut 030 exits the stamping machine module 560; then, the second fixture is picked up again by using the clamping action of the fixture clamping module 550, and through the stamping handling X-axis module 530 and the stamping handling Z-axis module 540, the second fixture moves in the direction of the second flipping and opening / closing mechanism 650 to complete the transfer of the middle frame 010 after stamping together with the second fixture carrying it.

[0078] Please continue to refer to Figure 6 and Figure 9 , in this embodiment, both the wire clamp feeding module 210 and the nut feeding module 410 include a vibrating disk feeding structure. This setting can not only realize the feeding of the wire clamp 020 and the nut 030, but also enable the wire clamp 020 and the nut 030 to be dispersed respectively under the action of the vibration force, ensuring the reliability of feeding.

[0079] In this embodiment, there are ten sets of wire clamp feeding modules 210, which are respectively used to feed the wire clamps 020 at ten positions of the middle frame 010; there are seven sets of nut feeding modules 410, which are respectively used to feed the nuts 030 at seven positions of the middle frame 010.

[0080] Please continue to refer to Figure 6 , in this embodiment, the wire clamp assembly module 220 includes a first mounting bracket 221, a wire clamp handling Y-axis module 222, a wire clamp handling Z-axis module 223, and a first rotating electric claw 224. Among them, the first mounting bracket 221 is relatively fixedly arranged; the wire clamp handling Y-axis module 222 is installed on the first mounting bracket 221 and is used to output the moving power along the Y-axis; the wire clamp handling Z-axis module 223 is installed at the output end of the wire clamp handling Y-axis module 222 and is used to output the moving power along the Z-axis.

[0081] When it is necessary to assemble the wire clamp 020, the wire clamp handling Y-axis module 222 outputs the moving power along the Y-axis to drive the wire clamp handling Z-axis module 223 to move along the Y-axis. At the same time, the wire clamp handling Z-axis module 223 outputs the moving power along the Z-axis. Under the superposition of the movements in two directions, the first rotating electric claw 224 can move along the Y-axis and the Z-axis, so as to achieve the purpose of picking up the wire clamp 020 from the wire clamp feeding module 210 and assembling the wire clamp 020 to the middle frame 010.

[0082] Among them, the setting of the first rotating electric claw 224 can realize the direct pressing-in action of the wire clamp 020 into the middle frame 010 when it does not perform the rotation action; when it is necessary to rotate the wire clamp 020 and install it into the wire clamp assembly hole 011 of the middle frame 010, the first rotating electric claw 224 can be rotated, meeting the installation requirements of the wire clamp 020 under multiple working conditions.

[0083] Please continue to refer to Figure 9 , in this embodiment, the nut assembly module 430 includes a second mounting bracket 431, a nut handling Y-axis module 432, a nut handling Z-axis module 433, and a second rotating electric claw 434. Among them, the second mounting bracket 431 is relatively fixedly arranged; the nut handling Y-axis module 432 is installed on the second mounting bracket 431 and is used to output the moving power along the Y-axis; the nut handling Z-axis module 433 is installed at the output end of the nut handling Y-axis module 432 and is used to output the moving power along the Z-axis; the second rotating electric claw 434 is installed at the output end of the nut handling Z-axis module 433 and is used to pick up the nut 030 supplied by the nut feeding module 410 and assemble the nut 030 to the middle frame 010.

[0084] When the nut 030 needs to be assembled, the nut handling Y-axis module 432 outputs the moving power along the Y-axis, driving the nut handling Z-axis module 433 to move along the Y-axis. At the same time, the nut handling Z-axis module 433 outputs the moving power along the Z-axis. Under the superposition of the movements in two directions, the second rotating electric claw 434 can move along the Y-axis and the Z-axis, so as to pick up the nut 030 on the nut feeding module 410 and assemble the nut 030 onto the middle frame 010.

[0085] Please continue to refer to Figure 2 , in this embodiment, the middle frame assembling device may further include a robot feeding device 700. Among them, the robot feeding device 700 includes a feeding robot 710 and a first storage tray 720. The first storage tray 720 is used to store the middle frames 010 to be assembled, and the feeding robot 710 is used to transfer the middle frames 010 in the first storage tray 720 to the positioning module 110.

[0086] By setting the above-mentioned robot feeding device 700 in the middle frame assembling device, on the one hand, the first storage tray 720 can be used to realize the batch storage of the middle frames 010, reducing the replenishment frequency. On the other hand, the feeding robot 710 can be used to realize automatic feeding, reducing the labor intensity during the feeding process.

[0087] Please continue to refer to Figure 2 , in this embodiment, the middle frame assembling device may further include a robot discharging device 800. Among them, the robot discharging device 800 includes a discharging robot (not shown in the figure) and a second storage tray 820. The second storage tray 820 is used to store the middle frames 010 after the assembly of the wire clamp 020 and the nut 030, and the discharging robot is used to transfer the middle frames 010 stored in the discharging buffer module to the second storage tray 820.

[0088] The setting of the above-mentioned robot discharging device 800 can not only use the second storage tray 820 to realize the batch storage of the final middle frames 010, which is convenient for manual centralized transfer and reduces the transfer frequency. On the other hand, it can also use the discharging robot to realize automatic discharging, reducing the labor intensity during the discharging process.

[0089] It should be noted that in this embodiment, both the feeding robot 710 and the discharging robot can be six-degree-of-freedom robots, and they realize the material transfer through vacuum adsorption.

[0090] It should also be noted that in this embodiment, both the first carrier transfer line 130 and the second carrier transfer line 420 are "mouth"-shaped circulating lines, and the carrier commutation at the turning points can be realized by the carrier dialing cylinder.

[0091] The basic working process of this middle frame assembly device is as follows: The loading robot 710 of the robot loading device 700 takes out the middle frame 010 from the first storage tray 720 and places it on the positioning module 110 of the middle frame loading device 100. The positioning module 110 performs precise positioning of the middle frame 010 in the horizontal direction; the middle frame loading module 120 sucks and transports the positioned middle frame 010 to the first carrier 131 on the first carrier transfer line 130, and uses the opening and closing mechanism 133 to clamp the middle frame 010 and the first carrier 131 together; the first carrier transfer line 130 transfers the clamped middle frame 010 to each workstation; the wire clip assembly device 200 installs the required number of wire clips 020 on the middle frame 010; by releasing the locking effect of the first flipping opening and closing mechanism 340 on the middle frame 010, the first flipping device 300 takes out the middle frame 010 carried by the first carrier 131 and flips it, so that the flipped middle frame 010 is precisely positioned by the flipping positioning structure 330; then, the first transfer module 320 sucks and transports the flipped and positioned middle frame 010 to the second carrier on the second carrier transfer line 420, and the nut assembly device 400 installs the required number of nuts 030 on the middle frame 010; subsequently, the stamping transfer X-axis module 530 and the stamping transfer Z-axis module 540 transport the second carrier together with the middle frame 010 thereon to the receiving plate 571, and use the action of the pushing cylinder 572 to make it close to the stamping machine module 560 to complete stamping; then, the pushing cylinder 572 drives the receiving plate 571 away from the stamping machine module 560, and the stamping transfer X-axis module 530 and the stamping transfer Z-axis module 540 continue to transport the second carrier together with the stamped middle frame 010 thereon to the second flipping opening and closing mechanism 650. After the second flipping opening and closing mechanism 650 releases the locking effect of the second carrier on the middle frame 010, the second flipping module 610 flips it. During this process, the vision inspection module 510 inspects the middle frame 010. Among them, the qualified middle frame 010 determined by vision inspection is transported by the second transfer module 620 to the blanking buffer module 630 for collection, while the unqualified middle frame 010 determined by vision inspection is transported by the second transfer module 620 to the waste product outflow module 640 for collection.

[0092] As can be seen from the above, this middle frame assembly device adopts a modular design, realizes the full-automatic production of middle frame products, reduces the adverse effects of human factors on products, and moreover, has a reasonable structural layout and can be compatible with the middle frame automatic assembly processes of most electronic products.

[0093] Although the present utility model is disclosed as above, the present utility model is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the scope defined by the claims.

[0094] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0095] In the above embodiments, the descriptions of orientations such as "upper", "lower", "side", etc. are all based on the drawings shown.

[0096] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A middle frame assembly device, characterized in that: include: A middle frame loading device (100) comprises a positioning module (110), a middle frame loading module (120) and a first carrier circulation line (130), wherein the positioning module (110) is used to position the middle frame (010), and the middle frame loading module (120) is used to transfer the positioned middle frame (010) to the first carrier circulation line (130); the first carrier circulation line (130) comprises a plurality of first carriers (131) circulating along the line, and the first carriers (131) are used to fix and carry the middle frame (010); A wire clamp assembly device (200), comprising a wire clamp feeding module (210) and a wire clamp assembly module (220), wherein the wire clamp feeding module (210) is used to supply a wire clamp (020), and the wire clamp assembly module (220) is used to assemble the wire clamp (020) to the middle frame (010) carried by the first carrier (131); A first flipping device (300), comprising a first flipping module (310) and a first transfer module (320), wherein the first flipping module (310) is used to pick up and flip the middle frame (010) of the first carrier (131); A nut assembly device (400) comprises a nut feeding module (410), a second carrier circulation line (420) and a nut assembly module (430), wherein the nut feeding module (410) is used to supply nuts (030), the second carrier circulation line (420) comprises a plurality of second carriers circulating along the line, the first transfer module (320) is used to transfer the flipped middle frame (010) to the second carrier, and the nut assembly module (430) is used to place the nut (030) in the nut assembly hole (012) of the middle frame (010); as well as A punching device (500) is used for punching the nut (030) into the nut assembly hole (012) of the middle frame (010).

2. The middle frame assembly equipment according to claim 1, characterized in that: The stamping device (500) comprises a visual inspection module (510), and the visual inspection module (510) is used to perform visual inspection on the stamped middle frame (010).

3. The middle frame assembly equipment according to claim 2, characterized in that: The middle frame assembly equipment also includes a middle frame blanking device (600), which is arranged downstream of the stamping device (500). The middle frame blanking device (600) includes a second flipping module (610) and a second transfer module (620), wherein the second flipping module (610) is used to pick up and flip the middle frame (010) after the nut (030) is stamped, and the second flipping module (610) is located below the visual inspection module (510), and the second transfer module (620) is used to transfer the flipped middle frame (010).

4. The middle frame assembly equipment according to claim 3, characterized in that: The middle frame unloading device (600) further comprises a unloading cache module (630) and a waste outflow module (640), wherein the unloading cache module (630) is used to receive the middle frame (010) detected as qualified by the visual inspection module (510), and the waste outflow module (640) is used to receive the middle frame (010) detected as unqualified by the visual inspection module (510), and the second transfer module (620) can transfer the middle frame (010) to the unloading cache module (630) or the waste outflow module (640).

5. The middle frame assembly equipment according to claim 4, characterized in that: The stamping device (500) further comprises a stamping support module (520), a stamping transport X-axis module (530), a stamping transport Z-axis module (540), a fixture clamping module (550), a stamping machine module (560) and a fixture pushing module (570), wherein the stamping support module (520) is relatively fixedly arranged, the stamping transport X-axis module (530) is installed on the stamping support module (520) for outputting moving power along the X-axis, and the X-axis is the flow direction of the middle frame (010) in the middle frame assembly equipment; the stamping transport Z-axis module (540) is installed on the output end of the stamping transport X-axis module (530) for outputting moving power along the Z-axis, and the fixture clamping module (550) is installed on the The output end of the stamping and transporting Z-axis module (540), the Z-axis is along the vertical direction; the jig pushing module (570) includes a receiving plate (571) and a pushing cylinder (572), the cylinder body of the pushing cylinder (572) is relatively fixedly arranged with the stamping support module (520), the receiving plate (571) is connected to the cylinder rod of the pushing cylinder (572), the jig clamping module (550) is used to transfer the middle frame (010) with the nut (030) placed on it to the receiving plate (571) and to transfer the stamped middle frame (010) to the second flipping module (610), and the pushing cylinder (572) is used to drive the receiving plate (571) to approach or move away from the stamping machine module (560).

6. The middle frame assembly equipment according to claim 1, characterized in that: The positioning module (110) comprises a positioning seat (111), a first positioning cylinder (112) and a second positioning cylinder (113); the positioning seat (111) has a mounting cavity (1111); the upper surface of the positioning seat (111) is provided with a positioning cavity (1112) which is in communication with the mounting cavity (1111); the positioning cavity (1112) is used to accommodate the middle frame (010); the cylinder body of the first positioning cylinder (112) is mounted on the positioning seat (111); the cylinder body of the second positioning cylinder (113) is mounted on the cylinder rod of the first positioning cylinder (112); The cylinder rod of the first positioning cylinder (112) is used to output moving power along the X-axis, and the cylinder rod of the second positioning cylinder (113) is used to output moving power along the Y-axis, the X-axis is the flow direction of the middle frame (010) in the middle frame assembly equipment, and the Y-axis is perpendicular to the X-axis and both are in a horizontal plane; the cylinder rod of the second positioning cylinder (113) is fixedly connected to a positioning rod (114) extending along the Z-axis, and the positioning rod (114) extends from the installation cavity (1111) into the positioning cavity (1112) and is used to horizontally position the middle frame (010) in the positioning cavity (1112).

7. The middle frame assembly equipment according to claim 6, characterized in that: The number of the positioning cavities (1112) is multiple, and the multiple positioning cavities (1112) are arranged at intervals, the number of the positioning rods (114) is the same as the number of the positioning cavities (1112), and the multiple positioning rods (114) extend into the multiple positioning cavities (1112) one by one; and / or, the middle frame loading module (120) includes a loading and transporting X-axis module (121), a loading and transporting Y-axis module (122), a loading and transporting Z-axis module (123) and a middle frame suction module (124), wherein the loading and transporting The X-axis module (121) is used to output the moving power along the X-axis; the loading and transporting Y-axis module (122) is installed at the output end of the loading and transporting X-axis module (121) and is used to output the moving power along the Y-axis; the loading and transporting Z-axis module (123) is installed at the output end of the loading and transporting Y-axis module (122) and is used to output the moving power along the Z-axis; the middle frame suction module (124) is installed at the output end of the loading and transporting Z-axis module (123) and is used to suck the middle frame (010) of the positioning cavity (1112).

8. The middle frame assembly equipment according to claim 1, characterized in that: The first carrier circulation line (130) further comprises a carrier track (132), an opening and closing mechanism (133), a linear drive module (134), a lifting mechanism (135) and a side positioning mechanism (136), wherein the carrier track (132) comprises a first track (1321) and a second track (1322) arranged at intervals, and the first carrier (131) is supported on the first track (1321) and the second track (1322); the first carrier (131) is provided with at least one lock for fixing the middle frame (010), and the opening and closing mechanism (133) is provided with a lock for fixing the middle frame (010). The first carrier (131) is provided with a side positioning mechanism (136) for positioning the first carrier (131) in the width direction of the carrier track (132).

9. The middle frame assembly equipment according to claim 1, characterized in that: The wire clamp feeding module (210) and the nut feeding module (410) both include a vibration plate feeding structure; and / or the wire clamp assembly module (220) includes a first mounting bracket (221), a wire clamp transporting Y-axis module (222), a wire clamp transporting Z-axis module (223) and a first rotating electric claw (224), wherein the first mounting bracket (221) is relatively fixedly arranged; the wire clamp transporting Y-axis module (222) is mounted on the first mounting bracket (221) for outputting a moving power along the Y-axis; the wire clamp transporting Z-axis module (223) is mounted on the output end of the wire clamp transporting Y-axis module (222) for outputting a moving power along the Z-axis; the first rotating electric claw (224) is mounted on the output end of the wire clamp transporting Z-axis module (223) for picking up the wire clamp (020) supplied by the wire clamp feeding module (210) and transferring the wire The clamp (020) is assembled to the middle frame (010); and / or the nut assembly module (430) includes a second mounting bracket (431), a nut handling Y-axis module (432), a nut handling Z-axis module (433) and a second rotating electric claw (434), wherein the second mounting bracket (431) is relatively fixedly arranged; the nut handling Y-axis module (432) is mounted on the second mounting bracket (431) for outputting the moving power along the Y-axis; the nut handling Z-axis module (433) is mounted on the output end of the nut handling Y-axis module (432) for outputting the moving power along the Z-axis; the second rotating electric claw (434) is mounted on the output end of the nut handling Z-axis module (433) for picking up the nuts (030) supplied by the nut feeding module (410) and assembling the nuts (030) to the middle frame (010).

10. The middle frame assembly equipment according to claim 4, characterized in that: The middle frame assembly equipment also includes a robot loading device (700), the robot loading device (700) includes a loading robot (710) and a first storage tray (720), the first storage tray (720) is used to store the middle frame (010) to be assembled, and the loading robot (710) is used to transfer the middle frame (010) of the first storage tray (720) to the positioning module (110); and / or, the middle frame assembly equipment also includes a robot unloading device (800), the robot unloading device (800) includes a unloading robot and a second storage tray (820), the second storage tray (820) is used to store the middle frame (010) assembled with the wire clamp (020) and the nut (030), and the unloading robot is used to transfer the middle frame (010) stored in the unloading cache module (630) to the second storage tray (820).

Images