Assembling equipment

Abstract

The utility model discloses assembling equipment which is used for assembling clamp springs and comprises a loading device, a clamping mechanism and a feeding mechanism, the clamping mechanism is arranged on the feeding mechanism and used for selectively clamping or releasing the clamp springs, and the feeding mechanism has degree of freedom so as to load the clamp springs on the clamping mechanism to parts to be assembled; and the material grabbing device comprises a material suction mechanism and a moving mechanism, the material suction mechanism is used for sucking the clamp spring and arranged on the moving mechanism, and the moving mechanism has the freedom degree so that the clamp spring of the material suction mechanism can be moved to the material clamping mechanism. Compared with the prior art, the assembling equipment has the advantages that the clamping springs are sucked through the material sucking mechanism, the problem that the clamping springs are difficult to pick up due to the fact that the clamping springs are small is solved, then the clamping springs are transferred to the material clamping mechanism through the moving mechanism to be clamped, finally the clamping springs on the material clamping mechanism are assembled to parts to be assembled through the feeding mechanism, the whole process is high in automation degree, the assembling speed is high, and the assembling efficiency is high. And compared with manual installation, the assembling efficiency and the installation precision are improved.

Description

Technical Field

[0001] This utility model relates to the field of assembly process technology, and in particular to an assembly device. Background Technology

[0002] In the existing technology, a 3C product requires the installation of a miniature retaining ring into a retaining ring slot. Usually, the retaining ring is small in size, making manual installation difficult, picking up materials is difficult, and it is also difficult to place the retaining ring on the retaining ring pliers. Moreover, during the installation process, the retaining ring is very easy to fly out of the retaining ring pliers, resulting in slow installation speed and high requirements for manual labor and precision. Utility Model Content

[0003] The purpose of this invention is to provide an assembly device to solve the technical problems in the prior art, which can facilitate the picking and installation of snap rings and improve process efficiency.

[0004] This utility model provides an assembly device for assembling snap rings, the assembly device comprising:

[0005] A loading device includes a clamping mechanism and a feeding mechanism. The clamping mechanism is located on the feeding mechanism and is used to selectively clamp or release the retaining spring. The feeding mechanism has a degree of freedom to load the retaining spring on the clamping mechanism onto the part to be assembled.

[0006] The material handling device includes a suction mechanism and a moving mechanism. The suction mechanism is used to pick up the retaining ring. The suction mechanism is located on the moving mechanism. The moving mechanism has a degree of freedom to move the retaining ring of the suction mechanism to the material handling mechanism.

[0007] In some embodiments, the suction mechanism has a first surface on which a suction nozzle is protruded, and the suction nozzle can undergo elastic deformation when subjected to external force along the protrusion direction of the suction nozzle.

[0008] In some embodiments, the suction nozzle is arc-shaped, and first clearance positions are formed at both ends of the suction nozzle, the first clearance positions corresponding to the two free ends of the retaining spring.

[0009] In some embodiments, the suction mechanism has a suction nozzle, and an adhesive portion is formed on the surface of the suction port of the suction nozzle.

[0010] In some embodiments, the clamping mechanism includes a clamping drive and two clamping members. The clamping drive has two swing arms that are rotatable relative to each other. Each swing arm is connected to one of the clamping members, and a clamping gap is formed between the two clamping members for clamping the retaining ring. The clamping drive is used to drive the two clamping members to selectively come together to clamp the retaining ring or to open up to release the retaining ring.

[0011] In some embodiments, the feeding mechanism has a degree of freedom along a first direction, the feeding mechanism is used to attach the snap ring to the part to be assembled along the first direction, the clamping member has a connecting end and a clamping end, the connecting end is connected to the swing arm, and the clamping end is bent relative to the connecting end to extend along the first direction.

[0012] In some embodiments, the clamping member has a rod-like structure, and the outer diameter of the clamping end is smaller than the outer diameter of the connecting end.

[0013] In some embodiments, the feeding mechanism includes a first linear drive, a second linear drive, a first rotary drive, a first support body, a second support body, and a third support body, wherein:

[0014] The output end of the first linear drive is connected to the first support body to drive the first support body to move linearly in the horizontal direction;

[0015] The first rotation drive is disposed on the first bracket body, and the output end of the first rotation drive is connected to the second bracket body to drive the second bracket body to rotate around a first preset axis as the center, and the first preset axis extends in the horizontal direction;

[0016] The second linear drive is disposed on the second support body, and the output end of the second linear drive is connected to the third support body to drive the third support body to move along the first direction. The clamping drive is disposed on the third support body.

[0017] In some embodiments, the loading device further includes a snap ring placement platform with a support portion extending toward the space between the two swing arms. The support portion has second clearance positions formed at both ends, which correspond to the two free ends of the snap ring.

[0018] In some embodiments, the assembly equipment further includes a controller configured such that when the moving mechanism places the retaining ring on the retaining ring placement table, the suction mechanism remains in a suction state, and after the clamping mechanism holds the retaining ring, the suction mechanism releases the retaining ring; and / or, the assembly equipment further includes a 3D camera for acquiring the placement posture of the retaining ring, the controller being connected to the 3D camera and configured to control the gripping device to adjust the retaining ring to a preset posture based on the acquired placement posture of the retaining ring.

[0019] Compared with the prior art, the assembly equipment of this utility model picks up the retaining ring through the suction mechanism, which solves the problem of the retaining ring being difficult to pick up due to its small size. Then, the moving mechanism transfers it to the clamping mechanism for clamping. Finally, the feeding mechanism installs the retaining ring on the clamping mechanism onto the part to be assembled. The whole process is highly automated and fast. Compared with manual installation, it improves assembly efficiency and installation accuracy. Attached Figure Description

[0020] Figure 1 This is a perspective view of the assembly equipment provided in an embodiment of this utility model;

[0021] Figure 2 This is a perspective view of the suction mechanism provided in an embodiment of the present invention;

[0022] Figure 3 yes Figure 2 A magnified view of part A in the middle;

[0023] Figure 4 This is a perspective view of the suction nozzle provided in an embodiment of the present invention;

[0024] Figure 5 This is a perspective view of the loading device provided in an embodiment of the present invention;

[0025] Figure 6 yes Figure 5 A magnified view of part B in the middle;

[0026] Figure 7 This is a first-view perspective perspective view of the clamping drive component provided in an embodiment of this utility model;

[0027] Figure 8 This is a perspective view of the clamping drive component provided in an embodiment of the present invention from a second perspective.

[0028] Figure 9 This is a top view of the clamping drive component provided in an embodiment of this utility model;

[0029] Figure 10 This is a perspective view of the clamping member provided in an embodiment of this utility model;

[0030] Figure 11 This is a perspective view of the material dispensing device provided in an embodiment of this utility model;

[0031] Figure 12 This is a perspective view of the snap ring placement platform provided in an embodiment of this utility model.

[0032] Explanation of reference numerals in the attached figures:

[0033] 100 - Assembly equipment; 200 - Snap rings;

[0034] 10-Filling device, 11-Clamping mechanism, 111-Clamping drive, 1111-Swing arm, 1112-Clamping cylinder, 112-Clamping component, 1121-Connecting end, 1122-Clamping end, 113-Clamping gap, 12-Feeding mechanism, 121-First linear drive, 122-Second linear drive, 123-First rotary drive, 124-First support body, 125-Second support body, 126-Third support body, 13-Snap ring placement platform, 131-Support part, 132-Second clearance position;

[0035] 20-Grip device, 21-Suction mechanism, 211-First surface, 212-Suction nozzle, 213-First clearance position, 214-Suction cylinder, 22-Moving mechanism;

[0036] 30 - Material distribution device; 31 - Snap ring vibrating plate; 32 - Vibrating plate; 33 - 2D camera;

[0037] 40-3D camera;

[0038] 50- Fixture moving mechanism, 51- Third linear drive, 52- Second rotary drive, 53- Fourth support body, 54- Product fixture;

[0039] D1 - First direction. Detailed Implementation

[0040] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0041] Reference Figures 1 to 12 As shown, this utility model provides an assembly device 100 for assembling snap rings 200. The assembly device 100 includes a loading device 10 and a gripping device 20. The gripping device 20 grips the snap ring 200 to be assembled, and then the loading device 10 installs the snap ring 200 onto the part to be assembled (not shown).

[0042] The material handling device 20 includes a material suction mechanism 21 and a moving mechanism 22. The material suction mechanism 21 is mounted on the moving mechanism 22. The material loading device 10 includes a material clamping mechanism 11 and a material feeding mechanism 12. The material clamping mechanism 11 is mounted on the material feeding mechanism 12. The material clamping mechanism 11 is used to selectively clamp or release the retaining spring 200. The moving mechanism 22 has a degree of freedom and can move the material suction mechanism 21 to the position of the material clamping mechanism 11. The material feeding mechanism 12 also has a degree of freedom and can move the retaining spring 200 clamped by the material clamping mechanism 11 to assemble with the part to be assembled.

[0043] In one feasible implementation, refer to Figure 2 as well as Figure 3As shown, the suction mechanism 21 has a first surface 211, on which a suction nozzle 212 protrudes. The suction nozzle 212 is used to adsorb the retaining spring 200. Along the protruding direction of the suction nozzle 212, the suction nozzle 212 can undergo elastic deformation after being subjected to external force. When the suction nozzle 212 adsorbs the retaining spring 200, the adsorption surface of the suction nozzle 212 undergoes elastic deformation under the force of the retaining spring 200, and the deformation of the adsorption surface expands. This helps to increase the surface area of ​​the adsorption surface, so that the adsorption surface and the retaining spring 200 are in full contact, which helps to improve the adsorption force of the suction nozzle 212 on the retaining spring 200.

[0044] To accommodate the unique shape of the snap ring 200 and achieve precise picking up of the snap ring 200, refer to Figure 4 As shown, the suction nozzle 212 is arc-shaped, with first clearance positions 213 formed at both ends. The arc-shaped portion of the suction nozzle 212 is used to adsorb the annular portion of the retaining spring 200, and the first clearance positions 213 correspond to the two free ends of the retaining spring 200. When the annular portion of the retaining spring 200 is correctly adsorbed onto the suction nozzle 212, the two free ends of the retaining spring 200 correspond to the first clearance positions 213 of the suction nozzle 212, and the two free ends of the retaining spring 200 are not obstructed by the suction nozzle 212. In this way, the two free ends of the retaining spring 200 can be easily gripped by the subsequent clamping mechanism 11, facilitating subsequent installation.

[0045] Furthermore, the suction mechanism 21 also includes a suction cylinder 214. The suction nozzle 212 is connected to the suction cylinder 214. When the retaining spring 200 is picked up, the suction cylinder 214 provides negative pressure, so that the retaining spring 200 is attracted to the suction nozzle 212 in an installation posture (i.e., the annular part of the retaining spring 200 corresponds to the arc-shaped part of the suction nozzle 212, and the two free ends correspond to the position of the first clearance position 213). Then, the moving mechanism 22 moves the retaining spring 200 to the clamping mechanism 11. After the retaining spring 200 is clamped by the clamping mechanism 11, the suction cylinder 214 releases the suction effect on the retaining spring 200, thereby realizing the picking up and transfer of the retaining spring 200.

[0046] In one feasible embodiment, the suction nozzle 212 includes a metal connecting section and a suction head. The metal connecting section is detachably connected to the suction cylinder 214, for example, by a threaded connection or a snap-fit ​​connection, which facilitates the replacement of the suction nozzle 212. The metal connecting section can provide a certain degree of rigid support for the suction head, ensuring a strong contact between the suction head and the retaining spring 200 when the suction head contacts and adheres to it. The suction head can be made of silicone, which has a certain degree of stickiness and an adhesive effect on the retaining spring 200. Combined with the negative pressure adsorption effect of the suction cylinder 214, the retaining spring 200 can be doubly adsorbed.

[0047] In another feasible embodiment, the suction nozzle 212 may not protrude from the surface of the suction mechanism 21. Specifically, the suction nozzle 212 is provided on the suction mechanism 21, and an adhesive portion is formed on the surface where the suction port of the suction nozzle 212 is located. The adhesive portion can adhere the retaining spring 200 to the suction nozzle 212, thereby fixing the retaining spring 200 in the position of the suction nozzle 212. After the material clamping mechanism 11 is transferred by the moving mechanism 22, the adhesive portion is released from the retaining spring 200, thereby realizing the transfer of the retaining spring 200.

[0048] In other embodiments, the suction mechanism 21 may also be provided with other structures or components that can selectively absorb or release the retaining spring 200, which are not limited here.

[0049] After the suction mechanism 21 picks up the retaining ring 200, the moving mechanism 22 moves the suction mechanism 21 to a position corresponding to the clamping mechanism 11, as shown in the figure. Figure 1 As shown in the embodiments provided in this application, the moving mechanism 22 can be a six-axis robotic arm. The six-axis robotic arm has six degrees of freedom and can achieve precise movement control of the suction mechanism 21 in multiple axes. It has a large movement range and high movement flexibility, and can meet the precise control of the assembly position of the snap ring 200.

[0050] Reference Figure 1 , Figure 7 as well as Figure 8 As shown in the embodiment provided in this application, the clamping mechanism 11 includes a clamping drive 111 and two clamping members 112. The clamping drive 111 includes a clamping cylinder 1112 and two swing arms 1111. Both swing arms 1111 are connected to the clamping cylinder 1112. The clamping cylinder 1112 can drive the two swing arms 1111 to rotate relative to each other, so as to realize that the two swing arms 1111 are closer to each other or further away from each other. Each swing arm 1111 is connected to a clamping member 112. The space between the two clamping members 112 is the clamping gap 113 for clamping the snap ring 200. When the two swing arms 1111 rotate in the direction of approaching each other, the two clamping members 112 move closer to each other, and the clamping gap 113 gradually decreases, thereby clamping the snap ring 200. When the two swing arms 1111 rotate in the direction of moving away from each other, the two clamping members 112 move away from each other, and the clamping gap 113 gradually increases, thereby releasing the snap ring 200.

[0051] In one feasible implementation, the feeding mechanism 12 has a degree of freedom along a first direction D1, and the feeding mechanism 12 is capable of mounting the retaining ring 200 to the part to be assembled along the first direction D1. The first direction D1 is the direction in which the retaining ring 200 moves toward the part to be assembled when the clamping mechanism 11 is moved to the position for installation with the part to be assembled. (Refer to...) Figures 7 to 10As shown, the clamping member 112 has a connecting end 1121 and a clamping end 1122. The connecting end 1121 is connected to the swing arm 1111. The clamping end 1122 is bent away from the swing arm 1111 relative to the connecting end 1121, so as to extend along the first direction D1. The extension direction of the clamping end 1122 is consistent with the installation direction of the retaining ring 200, thereby facilitating the clamping end 1122 to extend into the inner cavity of the part to be installed, and accurately installing the retaining ring 200 into the inner cavity of the part to be installed.

[0052] Furthermore, referring to Figure 7 as well as Figure 8 As shown, the clamping member 112 has a rod-shaped structure. The clamping member 112 clamps the two free ends of the retaining ring 200 through the clamping end 1122 to achieve clamping of the retaining ring 200. Since the outer diameter of the retaining ring 200 is small, the size of the clamping end 1122 should be adapted to the size of the free ends of the retaining ring 200 and thus have a smaller outer diameter. Moreover, the smaller outer diameter of the clamping end 1122 reduces the space occupied in the inner cavity of the part to be assembled, making it more flexible. In order to ensure the stability of the clamping member 112, the outer diameter of the clamping end 1122 is set to be smaller than the outer diameter of the connecting end 1121. The connecting end 1121, which has a larger outer diameter, is connected to the swing arm 1111 to enhance the firmness of the connection between the clamping member 112 and the swing arm 1111, thereby improving the clamping effect of the clamping member 112 on the retaining ring 200.

[0053] To improve the installation accuracy of the snap ring 200 and the parts to be installed, refer to Figure 6 as well as Figure 12 As shown, the loading device 10 also includes a snap ring placement platform 13, which has a support portion 131 for receiving the snap ring 200 transferred by the moving mechanism 22. The support portion 131 extends toward the space between the two swing arms 1111, so that the snap ring 200 can be transferred into the clamping gap 113. The two ends of the support portion 131 also form second clearance positions 132, which correspond to the two free ends of the snap ring 200.

[0054] In the embodiments provided in this application, when the moving mechanism 22 moves the suction mechanism 21 above the snap ring placement platform 13, the first clearance positions 213 at both ends of the suction nozzle 212 should correspond to the positions of the second clearance positions 132 at both ends of the support portion 131, so that each snap ring 200 can be clamped by the clamping mechanism 11 in approximately the same posture, and then installed on the part to be assembled in the same posture, thereby improving the installation accuracy of the snap ring 200. The snap ring placement platform 13 will not obstruct the clamping mechanism 11 from clamping the snap ring 200.

[0055] After the retaining ring 200 is moved to the clamping mechanism 11 and clamped by the clamping mechanism 11, the feeding mechanism 12 needs to install the retaining ring 200 onto the part to be assembled, referring to... Figure 5 as well as Figure 6 As shown, in the embodiments provided in this application, the feeding mechanism 12 includes a first linear drive 121, a second linear drive 122, a first rotary drive 123, a first support body 124, a second support body 125, and a third support body 126, wherein:

[0056] The output end of the first linear drive 121 is connected to the first support body 124 to drive the first support body 124 to move linearly in the horizontal direction. The first rotary drive 123 is disposed on the first support body 124. When the first support body 124 moves linearly in the horizontal direction, the first rotary drive 123 moves linearly in the horizontal direction synchronously with the first support body 124. The second support body 125 is connected to the output end of the first rotary drive 123. When the first rotary drive 123 is started, it can drive the second support body 125 to rotate around the first preset axis as the center line. The first preset axis is parallel to the horizontal direction of the linear movement of the first support body 124.

[0057] The second linear drive 122 is mounted on the second support body 125, and its output end is connected to the third support body 126. The second linear drive 122 drives the third support body 126 to move along the first direction D1. The clamping drive 111 is mounted on the third support. When the first rotary drive 123 drives the second support body 125 to rotate, the second linear drive 122, the third support body 126, and the clamping drive 111 simultaneously rotate around the first preset axis to a position corresponding to the part to be assembled. The second linear drive 122 then drives the third support body 126 to move along the first direction D1, causing the retaining ring 200 to move closer to the part to be assembled, so that the retaining ring 200 is assembled to the part to be assembled.

[0058] To improve the assembly accuracy between the snap ring 200 and the component to be assembled, the position of the component to be assembled in this application can also be adjusted, as shown in the reference. Figure 5As shown, the assembly equipment 100 also includes a fixture moving mechanism 50. The part to be assembled can be adjusted to the position for assembly with the snap ring 200 through the fixture moving mechanism 50. The fixture moving mechanism 50 includes a third linear drive 51, a second rotary drive 52, a fourth support body 53, and a product fixture 54. The output end of the third linear drive 51 is connected to the fourth support body 53 to drive the fourth support body 53 to move linearly in the horizontal direction. The second rotary drive 52 is disposed on the fourth support body 53. The output end of the second rotary drive 52 is connected to the product fixture 53 to drive the product fixture 54 to rotate along a second preset axis as the center line. The second preset axis is the center line of the product fixture 54. The part to be assembled is placed on the product fixture 54. When the third linear drive 51 drives the fourth support body 53 to move linearly, the second rotary drive 53 and the product fixture 54 move linearly synchronously with the fourth support body 53. When the part to be assembled moves linearly with the product fixture 54 to a position where it can be assembled with the snap ring 200, the second rotary drive 52 drives the product fixture 54 to rotate so that the part to be assembled can be rotated to be precisely assembled with the snap ring 200.

[0059] It should be noted that the first direction D1 of this utility model refers to the direction in which the second linear drive 122 drives the third support body 126 to move up and down when the third support body 126 is moved above the part to be installed.

[0060] The assembly equipment 100 of this application also includes a controller, which is configured such that when the moving mechanism 22 places the retaining ring 200 on the retaining ring placement table 13, the suction mechanism 21 remains in a suction state, ensuring that the retaining ring 200 maintains the correct posture on the retaining ring placement table 13. After the clamping mechanism 11 holds the retaining ring 200, the controller then controls the suction mechanism 21 to release the retaining ring 200, thereby improving the installation accuracy of the retaining ring 200 and the parts to be assembled. When the retaining ring 200 is transferred to the retaining ring placement table 13 by the moving mechanism 22, it can prevent the position of the retaining ring 200 from shifting, thus minimizing the impact on assembly accuracy.

[0061] In the embodiments provided in this application, reference is made to Figure 11 As shown, the assembly equipment 100 also includes a material distribution device 30, which includes a snap ring vibrating disc 31 and a vibrating disc 32. The outlet of the snap ring vibrating disc 31 is connected to the vibrating disc 32. To achieve continuous assembly of snap rings 200, multiple snap rings 200 are first placed into the snap ring vibrating disc 31. The snap ring vibrating disc 31 transports the multiple snap rings 200 to the vibrating disc 32 through vibration. Under the vibration of the vibrating disc 32, the multiple snap rings 200 are dispersed, making it easier for the material suction mechanism 21 to pick up the snap rings 200. A 2D camera 33 is provided above the vibrating disc 32. The 2D camera 33 is used to identify snap rings 200 that can be picked up.

[0062] When the 2D camera 33 detects a circlip 200 that can be picked up, the suction mechanism 21 picks up the circlip 200, and then the moving mechanism 22 moves the suction mechanism 21 to a position corresponding to the clamping mechanism 11. After the clamping mechanism 11 holds the circlip 200 picked up by the suction mechanism 21, the suction mechanism 21 releases the circlip 200, so that the circlip 200 can be transferred to the clamping mechanism 11. Finally, the feeding mechanism 12 installs the circlip 200 on the clamping mechanism 11 onto the part to be assembled.

[0063] The assembly equipment 100 of this utility model, through the cooperation of the material distribution device 30, the material gripping device 20 and the material loading device 10, realizes the picking, transfer and installation of the snap ring 200. Compared with manual operation, it has the advantages of accurate material picking, high assembly efficiency and high installation accuracy.

[0064] Continue to refer to Figure 11 As shown, the assembly equipment 100 also includes a 3D camera 40, which is used to acquire the placement posture of the retaining spring 200. The controller is configured to control the gripping device 20 to adjust the retaining spring 200 to a preset posture based on the acquired placement posture of the retaining spring 200. For example, the controller controls the gripping device 20 to pick up the retaining spring 200, and after picking it up, the 3D camera 40 acquires the placement posture of the retaining spring 200. If the placement posture is not correct, the controller adjusts the placement posture of the retaining spring 20 through the gripping device 20 until the retaining spring 200 is adjusted to the preset posture. For example, the preset posture is that the annular part of the retaining spring 200 corresponds to the arc-shaped part of the suction nozzle 212, and the free end of the retaining spring 200 corresponds to the position of the first clearance position 213.

[0065] Based on the above embodiments, the working process of the assembly equipment 100 of this application is as follows: multiple retaining rings 200 to be assembled are placed into the retaining ring vibrating plate 31. Under the vibration of the retaining ring vibrating plate 31, the multiple retaining rings 200 enter the vibrating plate 32. Under the continuous vibration of the vibrating plate 32, the multiple retaining rings 200 are dispersed. During the vibration of the vibrating plate 32, the 2D camera 33 simultaneously identifies the retaining rings 200 on the vibrating plate 32. When the 2D camera 33 identifies that a retaining ring 200 can be picked up, the 3D camera 40 simultaneously... The 3D camera 40 identifies the circlip 200 and, once it detects that the circlip 200 is in a preset position, the moving mechanism 22 moves the suction mechanism 21 above the circlip 200. Under the suction action of the suction cylinder 214, the circlip 200 is suctioned by the suction nozzle 212 in a preset position (i.e., the annular part of the circlip 200 corresponds to the arc-shaped part of the suction nozzle 212, and the two free ends of the circlip 200 are located in the first clearance position 213). Then, the moving mechanism 22 moves the suction mechanism 21 to the circlip placement platform 13. If the circlip 200 is not in the preset position, the controller adjusts the circlip 20's position through the gripping device 20 until the circlip 200 is adjusted to the preset position.

[0066] When the suction mechanism 21 is moved to the corresponding position of the snap ring placement table 13, the moving mechanism 22 needs to adjust the position of the suction mechanism 21 so that the annular part of the snap ring 200 is located in the support part 131 of the snap ring placement table 13, the two free ends of the snap ring 200 are located in the second clearance position 132, and the snap ring 200 is located in the clamping gap 113. Then, the clamping cylinder 1112 of the clamping drive 111 is activated, causing the two swing arms 1111 to move closer to the retaining spring 200 at the same time, until the clamping ends 1122 of the two clamping parts 112 on the two swing arms 1111 clamp the two free ends of the retaining spring 200. During the clamping process, the material suction mechanism 21 is still in the suction state. After the material clamping mechanism 11 has completely clamped the retaining spring 200, the controller controls the material suction mechanism 21 to release the retaining spring 200 to ensure the clamping effect of the material clamping mechanism 11 and prevent the retaining spring 200 from shifting during the clamping process, which would result in poor assembly.

[0067] Finally, the feeding mechanism 12, driven by the first linear drive 121, the first rotary drive 123 and the second linear drive 122, moves the clamping mechanism 11 on the third support body 126 to the top of the part to be assembled. At the same time, the part to be assembled is adjusted to a position that can be installed with the snap ring 200 under the action of the third linear drive 127 and the second rotary drive 128, thus completing the assembly of the snap ring 200 and the part to be assembled.

[0068] The entire process realizes the dispersion, picking, transfer and assembly of snap rings 200. Compared with manual assembly, the assembly equipment 100 of this application has higher picking efficiency, installation accuracy and assembly precision, and a high degree of automation.

[0069] The above description, based on the embodiments shown in the drawings, details the structure, features, and effects of this utility model. The above description is only a preferred embodiment of this utility model, but the scope of implementation of this utility model is not limited to what is shown in the drawings. Any changes made in accordance with the concept of this utility model, or modifications to equivalent embodiments, that do not exceed the spirit covered by the specification and drawings, shall be within the protection scope of this utility model.

Claims

1. An assembly device, characterized in that, The assembly equipment is used to assemble snap rings, and the assembly equipment includes: A loading device includes a clamping mechanism and a feeding mechanism. The clamping mechanism is located on the feeding mechanism and is used to selectively clamp or release the retaining spring. The feeding mechanism has a degree of freedom to load the retaining spring on the clamping mechanism onto the part to be assembled. The material handling device includes a suction mechanism and a moving mechanism. The suction mechanism is used to pick up the retaining ring. The suction mechanism is located on the moving mechanism. The moving mechanism has a degree of freedom to move the retaining ring of the suction mechanism to the material handling mechanism.

2. The assembly equipment according to claim 1, characterized in that, The suction mechanism has a first surface on which a suction nozzle is protruded. The suction nozzle can undergo elastic deformation when subjected to external force along the protrusion direction of the suction nozzle.

3. The assembly equipment according to claim 2, characterized in that, The suction nozzle is arc-shaped, and first clearance positions are formed at both ends of the suction nozzle, which correspond to the two free ends of the retaining spring.

4. The assembly equipment according to any one of claims 1-3, characterized in that, The suction mechanism has a suction nozzle, and an adhesive portion is formed on the surface of the suction port of the suction nozzle.

5. The assembly equipment according to any one of claims 1-3, characterized in that, The clamping mechanism includes a clamping drive and two clamping members. The clamping drive has two swing arms that can rotate relative to each other. Each swing arm is connected to one of the clamping members. A clamping gap is formed between the two clamping members for clamping the retaining spring. The clamping drive is used to drive the two clamping members to selectively move closer together to clamp the retaining spring or to open up to release the retaining spring.

6. The assembly equipment according to claim 5, characterized in that, The feeding mechanism has a degree of freedom along a first direction. The feeding mechanism is used to attach the snap ring to the part to be assembled along the first direction. The clamping member has a connecting end and a clamping end. The connecting end is connected to the swing arm. The clamping end is bent relative to the connecting end to extend along the first direction.

7. The assembly equipment according to claim 6, characterized in that, The clamping member has a rod-shaped structure, and the outer diameter of the clamping end is smaller than the outer diameter of the connecting end.

8. The assembly equipment according to claim 6, characterized in that, The feeding mechanism includes a first linear drive, a second linear drive, a first rotary drive, a first support body, a second support body, and a third support body, wherein: The output end of the first linear drive is connected to the first support body to drive the first support body to move linearly in the horizontal direction; The first rotation drive is disposed on the first bracket body, and the output end of the first rotation drive is connected to the second bracket body to drive the second bracket body to rotate around a first preset axis as the center, and the first preset axis extends in the horizontal direction; The second linear drive is disposed on the second support body, and the output end of the second linear drive is connected to the third support body to drive the third support body to move along the first direction. The clamping drive is disposed on the third support body.

9. The assembly equipment according to claim 5, characterized in that, The loading device also has a snap ring placement platform, which has a support portion that extends toward the space between the two swing arms. The two ends of the support portion form second clearance positions, which are used to correspond to the two free ends of the snap ring.

10. The assembly equipment according to claim 9, characterized in that, The assembly equipment also includes a controller; wherein... The controller is configured such that when the moving mechanism places the retaining ring on the retaining ring placement table, the suction mechanism remains in a suction state; and after the clamping mechanism holds the retaining ring, the suction mechanism releases the retaining ring; and / or, The assembly equipment also includes a 3D camera for acquiring the placement posture of the retaining ring. The controller is connected to the 3D camera and is configured to control the material gripping device to adjust the retaining ring to a preset posture based on the acquired placement posture of the retaining ring.

Images