Doll upper body and lower body assembling machine

Abstract

The utility model discloses a kind of doll upper body and lower body assembling machine, including cabinet main body, the feeding unit for forming feeding path is arranged in the cabinet main body, and along feeding path, feeding unit and riveting pressure unit are sequentially arranged;Riveting pressure carrier is arranged on the feeding unit, and the riveting pressure carrier includes two riveting pressure blocks respectively forming the load cavity for loading doll upper body and lower body;When the feeding unit rotates, two riveting pressure blocks are driven along feeding path from the feeding unit to the riveting pressure unit, and after receiving the force of riveting pressure unit, mutually converge, so that doll upper body and lower body mutually butt joint;The utility model can replace artificial to assemble doll, effectively improve assembly efficiency, reduce manual labor intensity, ensure assembly quality.

Description

Technical Field

[0001] This utility model relates to the technical field of doll assembly equipment, and in particular to a doll upper and lower body assembly machine. Background Technology

[0002] Dolls are a common type of toy. To make the doll's limbs movable, the doll is usually disassembled into an upper body and a lower body and manufactured separately. The upper and lower bodies are then assembled manually to form the doll assembly (i.e., the finished doll). However, manual assembly is inefficient, and the quality of the finished doll is difficult to guarantee. Utility Model Content

[0003] The purpose of this invention is to provide a doll assembly machine that can replace manual assembly of dolls, thereby improving assembly efficiency.

[0004] The objective of this utility model is achieved through the following technical solution:

[0005] A doll upper and lower body assembly machine includes a cabinet body, within which a feeding unit for forming a feeding path is provided, and a loading unit and a riveting unit are arranged sequentially along the feeding path; the feeding unit is provided with a riveting carrier, the riveting carrier including two riveting blocks that respectively form loading cavities for loading the doll upper and lower body; when the feeding unit rotates, it drives the two riveting blocks to move along the feeding path from the loading unit to the riveting unit, and after receiving force from the riveting unit, they come together to connect the doll upper and lower body.

[0006] Based on the above technical solution, the present invention can be improved as follows:

[0007] Furthermore, a guide hole is provided on one of the riveting blocks, and a guide member is movably inserted into the guide hole. The end of the guide member extends out to form a closing surface that is fixedly connected to the other riveting block.

[0008] Furthermore, the feeding unit includes a flexible vibrating plate, a feeding box located on one side of the flexible vibrating plate that can respectively accommodate the upper and lower bodies of the doll, and a material transfer robot located above the flexible vibrating plate; the feeding box has a discharge port on the side facing the flexible vibrating plate, and a guide trough is provided at the discharge port. The guide trough is used to guide the upper and lower bodies of the doll from the discharge port into the flexible vibrating plate for vibration and spreading out. The material transfer robot is used to transfer the spread-out upper and lower bodies of the toy one by one to the riveting carrier block.

[0009] Furthermore, the feeding unit is an electric turntable, including a transmission box with built-in transmission components, a rotatable feeding disc disposed on the top of the transmission box, and a first driving component disposed at the bottom of the transmission box and connected to the feeding disc; when the first driving component generates driving force, it drives the feeding disc to rotate relative to the transmission box around an axis to form a circular feeding path; the transmission box is provided with a limiting plate at the box opening; the riveting carrier is disposed on the feeding disc.

[0010] Furthermore, the riveting unit includes a first clamping member and a first force-applying member; the first clamping member is movably connected to the limiting plate to longitudinally clamp the upper and lower bodies of the toy on the riveting carrier; the first force-applying member is fixedly installed inside the cabinet body and can generate a lateral force to make the riveting carrier close together to complete the doll assembly.

[0011] Furthermore, the first pressing member includes a first pressing head that can move up and down, and a first pressing cylinder that drives and connects to the first pressing head; the first pressing head is provided with two pressing parts at its bottom end. Under the drive of the first pressing cylinder, the first pressing head moves downward, and the two pressing parts cooperate with the two rivet pressing blocks one by one. The two pressing parts form a pressing chamber on the pressing surface.

[0012] Furthermore, four riveting carriers are provided, which are arranged at equal intervals along the circumference of the feeding tray and form a first station, a second station, a third station and a fourth station in the main body of the cabinet; the feeding unit is located at the first station, the riveting unit is located at the second station, and a correction unit for correcting the posture of the limbs of the assembled doll assembly is provided at the fourth station.

[0013] Furthermore, the correction unit includes a correction table, a transfer assembly, a wrench assembly, a leg-folding assembly, and a transport assembly. The correction table is fixedly installed inside the main body of the cabinet, with one end being the initial end and the other end being the final end. The initial end of the correction table and the circular feeding path formed by the transmission box are connected at the fourth station. The final end of the correction table is connected to the unloading port on the main body of the cabinet through an unloading chute. Along its length, from the initial end to the final end, the correction table is sequentially equipped with a transfer device, a wrench carrier, and a leg-folding carrier. The transport assembly is located on one side of the correction table and is used to sequentially transport the doll assembly on the transfer device to the wrench carrier and the leg-folding carrier, and after the limb posture correction is completed, it is transported to the unloading chute for unloading.

[0014] Furthermore,

[0015] The wrench carrier has a hand adjustment groove at the position opposite to the doll assembly's hand, and the hand adjustment groove forms a space for the doll assembly's hand to rotate up and down when correcting the hand posture;

[0016] The leg-folding device has a leg-correcting side on the side opposite to the legs of the doll assembly, and has a leg adjustment groove. The leg adjustment groove forms a space for the legs of the doll assembly to rotate up and down when correcting the hand posture.

[0017] Furthermore, the wrench assembly includes a second clamping member disposed above the wrench carrier, and wrench mechanisms disposed on both sides of the wrench carrier; the second clamping member includes a second pressure head that can move up and down, and a second clamping cylinder that drives and connects to the second pressure head;

[0018] The wrench mechanism includes a pair of rotating wheels, an adjusting rod mounted on the rotating wheels, and a wrench drive unit that is connected to the rotating wheels at the bottom of the straightening table. The pair of rotating wheels are rotatably mounted on the straightening table via supports and are symmetrically arranged on both sides of the wrench carrier. A connecting shaft is provided on the side of the rotating wheel away from the wrench carrier. When the rotating wheel rotates, it can drive the adjusting rod to swing up and down to abut against the hands of the doll assembly for posture adjustment.

[0019] The leg-folding assembly includes a third clamping member disposed above the leg-folding carrier, and a leg-folding mechanism disposed on the leg-aligning side of the leg-folding carrier; the third clamping member includes a third pressure head that can move up and down, and a third clamping cylinder that drives and connects to the third pressure head.

[0020] The leg-folding mechanism includes a two-axis moving frame located at the bottom of the correction table, and an adjustment block located on the two-axis moving frame. Driven by the two-axis moving frame, the adjustment block can be raised and lowered along the Z-axis and translated along the X-axis to contact the legs of the doll assembly for posture adjustment.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] This invention features a feeding unit and a feeding path within the cabinet body, along which a loading unit and a riveting unit are sequentially arranged. An openable riveting carrier is mounted on the feeding unit. Driven by the feeding unit, the riveting carrier moves along the feeding path from the loading unit to the riveting unit. The riveting unit applies force to the riveting carrier, causing the carrier to close accordingly, allowing the upper and lower bodies of the doll to assemble. This invention replaces manual assembly of the doll, effectively improving assembly efficiency, reducing labor intensity, and ensuring assembly quality. Attached Figure Description

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Figure 1 This is a schematic diagram of the assembly machine for the upper and lower body of the doll in the embodiment;

[0025] Figure 2 This is a schematic diagram of the assembly machine for the upper and lower body of the doll after the main cabinet body has been disassembled and assembled in the embodiment.

[0026] Figure 3 This is a schematic diagram of the feeding unit in the embodiment;

[0027] Figure 4 This is a schematic diagram of the feeding box in the embodiment;

[0028] Figure 5 This is a schematic diagram of the material handling robot in the embodiment;

[0029] Figure 6 This is a schematic diagram of the riveting unit in the embodiment;

[0030] Figure 7 This is a schematic diagram of the riveting carrier structure after the first riveting block has been removed in the embodiment.

[0031] Figure 8 This is a schematic diagram of the transfer component in the embodiment;

[0032] Figure 9 This is a schematic diagram of the correction unit in the embodiment;

[0033] Figure 10 This is a schematic diagram illustrating the process of correcting the doll's hand in the embodiment;

[0034] Figure 11 This is a schematic diagram of the transport component in the embodiment;

[0035] Figure 12 This is a schematic diagram of the folding leg assembly in the embodiment;

[0036] Figure 13 This is a schematic diagram of the wrench carrier block in the embodiment;

[0037] Figure 14 This is a schematic diagram of the folding leg carrier block in the embodiment;

[0038] Figure 15 This is a schematic diagram of the rotor structure in the embodiment.

[0039] The markings on the attached diagram are: 1-Cabinet body, 2-Transmission box, 3-Feeding tray, 4-Limit plate, 5-AC motor, 6-First riveting pressure block, 7-Second riveting pressure block, 8-Guide bolt, 9-Flexible vibratory feeder, 10-Feeding box, 1001-Box opening, 11-Guide chute, 12-Transfer robot, 13-First pressure head, 14-First clamping cylinder, 15-Rotator, 16-Riveting cylinder, 17-Push 18-Correcting table, 19-Transfer block, 20-Wrench carrier block, 21-Folding leg carrier block, 22-First pneumatic gripper, 23-Transfer pressing block, 24-Second pressing head, 25-Second clamping cylinder, 26-Adjusting rod, 27-Connecting shaft, 28-Stepper motor, 29-Third pressing head, 30-Third clamping cylinder, 31-Adjusting block, 32-Second pneumatic gripper, 33-Control panel, 34-Unloading chute. Detailed Implementation

[0040] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. These descriptions are intended to aid in understanding the utility model but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0041] See Figures 1 to 15 This embodiment relates to a doll upper and lower body assembly machine, including a machine cabinet body 1, a feeding unit, a riveting unit, and a straightening unit arranged sequentially along the feeding path inside the machine cabinet body 1, and a feeding unit for conveying the doll upper and lower body along the feeding path; the machine cabinet body 1 has a discharge port and a discharge port; during assembly, the doll upper and lower body are loaded onto the feeding unit from the discharge port, fed onto the feeding unit through the feeding unit, and then discharged from the discharge port of the machine cabinet body 1 after passing through the riveting unit and the straightening unit sequentially along the feeding path through the feeding unit.

[0042] The main body 1 of the cabinet is equipped with a control unit. The control unit is used to control the feeding unit to feed the material to the feeding unit, control the riveting unit to assemble the upper and lower body of the doll, control the straightening unit to correct the posture of the limbs of the assembled doll assembly, and control the feeding unit to feed the material along the feeding path.

[0043] Specifically, the main body 1 of the cabinet is a rectangular box structure, including a frame. The frame is constructed by splicing together profiles using existing technology. The frame has a top plate at the top and a bottom plate at the bottom. Openable doors are provided on the sides of the frame. The top plate, bottom plate, and doors form a receiving chamber that accommodates the feeding unit, riveting unit, straightening unit, and material feeding unit. A discharge port is formed on the side of the frame adjacent to the feeding end of the feeding unit. By opening the door at the discharge port, the upper and lower bodies of the doll can be easily loaded onto the feeding unit. An unloading port is provided on a door adjacent to the discharge end of the straightening unit to facilitate the loading of the assembled doll. The doll assembly can be removed from the main cabinet 1 when the door is closed, avoiding the need to open the door for unloading during the assembly process and effectively improving safety. A limit switch (not shown in the figure) is installed on the frame. Opening the door triggers the limit switch to send a stop signal to the control unit, thus stopping the assembly machine and effectively preventing safety accidents when opening the door for loading. In this embodiment, the feeding port and unloading port are located on the rear side of the main cabinet 1. The positions of the feeding port and unloading port can be adjusted according to the actual situation. A window is provided on the door, and a transparent plate is provided at the window to facilitate observation of the doll assembly inside the main cabinet 1.

[0044] The feeding unit is an electric turntable, including a transmission box 2 with built-in transmission components, a rotatable feeding disc 3 located on the top of the transmission box 2, and a first driving component located at the bottom of the transmission box 2 and connected to the feeding disc 3 via the transmission components. The feeding unit, riveting unit, and straightening unit are arranged at intervals around the feeding disc 3. The first driving component generates driving force to drive the feeding disc 3 to rotate around the axis relative to the transmission box 2, forming a circular feeding path, so that the upper and lower body of the doll are fed by the feeding unit and then pass through the riveting unit and the straightening unit in sequence. Compared with a straight feeding path, the circular feeding path formed by the feeding disc 3 in this embodiment can reduce the overall length of the assembly machine, reduce the space occupation, and make the overall structure more compact.

[0045] The transmission box 2 is a box structure, with a transmission chamber inside that can accommodate the transmission components. The top of the transmission box 2 forms an opening 1001 connecting to the transmission chamber. A limiting plate 4 is provided on the top of the transmission box 2, which rotatably limits the feeding disc 3 to the opening 1001. A column (not shown in the figure) is provided on the bottom surface of the limiting plate 4, with its bottom end extending into the transmission box 2 and fixedly connected to the bottom wall of the transmission chamber. The feeding disc 3 is a circular disc structure, rotatably fitted onto the column. A connecting part extending into the transmission chamber is provided at the bottom of the feeding disc 3. The transmission component is a right-angle gearbox reducer (not shown in the figure) whose output end connects to the connecting part of the feeding disc 3. The input end of the right-angle gearbox reducer and the output end of the first driving component... Synchronous pulleys are provided at both ends, and a synchronous belt is wound between the synchronous pulleys. The bottom surface of the transmission box 2 is provided with a clearance groove for the synchronous belt to pass through. The first driving component is an AC motor 5. When the AC motor 5 starts, it is decelerated by a right-angle gearbox reducer and the rotational motion around the horizontal axis is converted into rotational motion around the vertical axis to drive the feeding disc 3 to rotate relative to the transmission box 2. Since the AC motor 5 starts at a high speed, the speed can be reduced by the right-angle gearbox reducer to avoid the feeding disc 3 rotating at high speed and causing a deviation between the actual feeding position and the preset feeding position, which is beneficial to improving the feeding accuracy. When the feeding disc 3 rotates relative to the transmission box 2, the limiting plate 4 remains fixed, and the bottom surface of the limiting plate 4 abuts against the top surface of the feeding disc 3, thereby preventing the feeding disc 3 from falling off the transmission box 2.

[0046] An angle sensor (not shown in the figure) is installed on the feeding tray 3. The angle sensor is used to obtain the rotation angle of the feeding tray 3 and send the rotation angle value to the control unit via wired or wireless means. The control unit controls the AC motor 5 according to the rotation angle value so that the feeding tray 3 can rotate to the actual feeding position and the preset feeding position.

[0047] It should be noted that the feeding unit in this embodiment is an electric turntable. Depending on the actual situation, other feeding units in the prior art that are suitable for forming a circular feeding path can also be used instead.

[0048] The feeding tray 3 is equipped with a riveting carrier, which includes two riveting blocks that can be joined together. The two riveting blocks have material loading cavities on their top surfaces to load the upper and lower bodies of the doll, respectively. For ease of description, the two riveting blocks are named the first riveting block 6 and the second riveting block 7. The first riveting block 6 has a first material loading cavity on its top surface for positioning and loading the upper body of the doll, and the second riveting block 7 has a second material loading cavity on its top surface for positioning and loading the lower body of the doll. The upper and lower bodies of the doll loaded on the riveting carrier are in a flat position and aligned with each other.

[0049] The first rivet bearing block 6 is fixedly connected to the feeding tray 3. The first rivet bearing block 6 has a stepped guide hole. A guide bolt 8 is movably inserted into the guide hole. The end of the guide bolt 8 protrudes from the closing surface of the first rivet bearing block 6 and is threadedly connected to a threaded through hole on the second rivet bearing block 7. Through the cooperation of the nut of the guide bolt 8 and the guide hole, the second rivet bearing block 7 is guided to move axially along the guide bolt 8 on the feeding tray 3, thereby achieving the interaction between the second rivet bearing block 7 and the first rivet bearing block 6. The two rivet blocks can be joined together or separated. A spring (not shown in the figure) is fitted on the guide bolt 8. One end of the spring abuts against the joining surface of the first rivet block 6, and the other end of the spring abuts against the joining surface of the second rivet block 7. The spring force allows the two rivet blocks to separate from each other under normal conditions. When the rivet unit applies force, the two rivet blocks join together to complete the assembly of the upper and lower body of the doll. When the two rivet blocks join together, the inner surfaces of the two rivet blocks are pressed together. At this time, the inner surfaces of the rivet blocks are the joining surfaces.

[0050] It should be noted that, in this embodiment, a guide bolt is used as a guide component. Depending on the actual situation, other existing technologies that are suitable for guiding the two riveting blocks to come together or separate can also be used instead. In this embodiment, a spring is used as a reset component. Depending on the actual situation, other existing technologies that are suitable for resetting the two riveting blocks after they come together can also be used instead.

[0051] In this embodiment, four riveting carriers are provided. The four riveting carriers are arranged at equal intervals along the circumference of the feeding tray 3 and form four workstations in the main body of the cabinet 1. Each time the feeding tray 3 rotates 90°, a workstation can be switched. The four workstations are specifically arranged in sequence along the circumference of the feeding tray 3 as the first workstation, the second workstation, the third workstation, and the fourth workstation. The feeding unit is located at the first workstation, the riveting unit is located at the second workstation, and the correction unit is located at the fourth workstation. Since posture correction requires transferring the doll assembly from the feeding tray 3 to the correction unit, and this transfer process takes time, the third workstation is used to temporarily hold the doll assembly for a period of time so that the previous doll assembly can be transferred to the correction unit at the fourth workstation.

[0052] The feeding unit includes a flexible vibrating plate 9, a feeding box 10 disposed on one side of the flexible vibrating plate 9, and a transfer robot 12 disposed above the flexible vibrating plate 9. In this embodiment, two feeding boxes 10 are provided to load the upper and lower bodies of the dolls respectively. The two feeding boxes 10 form receiving chambers inside, and the feeding boxes 10 have openings 1001 at the top that connect to the receiving chambers, so as to load the upper and lower bodies of the dolls from the top of the feeding boxes 10. The feeding boxes 10 have an outlet on the side facing the flexible vibrating plate 9 that connects to the receiving chambers, and a guide chute 11 is provided at the outlet to guide the upper and lower bodies of the dolls unloaded from the outlet of the feeding boxes 10 into the flexible vibrating plate 9. The flexible vibrating plate 9 is existing technology and is used to spread out the upper and lower bodies of the dolls by vibration, so as to allow the robot 12 to enter. The process involves transferring the toys one by one. Robot 12 is a Delta robot (also known as a parallel robot or spider robot) in the prior art. The Delta robot's end effector can perform translational and rotational movements within a limited workspace. It mainly consists of a static platform, a moving platform, and three parallel arms connecting the two. The platform is fixed on the base, and the moving platform is connected to the static platform through multiple links and joints. A gripper is installed on the moving platform. Through the coordinated movement of the three parallel arms, the upper and lower bodies of the toys in the flexible vibrating plate 9 are transferred one by one to the riveting carrier on the feeding plate 3. The Delta robot is also equipped with a camera to acquire images of the upper and lower bodies of the toys and send these images to the control unit via wired or wireless means. After analyzing the images, the control unit controls the Delta robot to complete the transfer of the upper and lower bodies of the toys one by one.

[0053] The riveting unit includes a first clamping component and a first force-applying component; the first clamping component is movably connected to the limiting plate 4 via a bracket to longitudinally clamp the upper and lower bodies of the toy on the riveting carrier at the second work station; the first force-applying component is fixedly installed inside the cabinet body 1 via a bracket and can generate a lateral force to make the riveting carrier at the second work station come together to complete the doll assembly.

[0054] The first clamping component includes a first clamping head 13 slidably mounted on a bracket via a linear slide rail, and a first clamping cylinder 14 fixedly mounted on the top of the bracket and driving the first clamping head 13. The first clamping head 13 has two clamping parts at its bottom end. Under the drive of the first clamping cylinder 14, the first clamping head 13 moves downward along the linear slide rail. The two clamping parts correspond to and cooperate with two rivet bearing blocks. The two clamping parts form a pressing chamber on the pressing surface. The pressing chambers of the two clamping parts correspond to the shapes of the upper and lower body of the doll, respectively.

[0055] The first force-applying component is a riveting cylinder 16. The piston rod of the riveting cylinder 16 is connected to a push plate 17, which is opposite to the second riveting block 7. When the riveting cylinder 16 is activated, the piston rod of the riveting cylinder 16 extends and pushes the second riveting block 7 through the push plate 17, so that the second riveting block 7 and the first riveting block 6 come together to complete the doll assembly. When the second riveting block 7 is pushed, the outer side of the push plate 17 is in contact with the outer side of the second riveting block 7. At this time, the outer side of the push plate 17 is the force-applying surface, and the push plate 17 forms a clearance groove on the force-applying surface to avoid the first pressure head 13.

[0056] The straightening unit includes a straightening table 18, a transfer assembly, a wrench assembly, a leg-folding assembly, and a handling assembly. The straightening table 18 is fixedly installed inside the main cabinet 1. The straightening table 18 has a long table structure, with one end of its length being the initial end and the other end being the final end. The initial end of the straightening table 18 connects with the circular feeding path formed by the transmission box 2 at the fourth station. The final end of the straightening table 18 is connected to the unloading port on the main cabinet 1 through the unloading chute 34. The straightening table 18 extends along its length from the initial end to the final end. The system is equipped with a transfer device, a wrench carrier, and a leg-folding carrier. The transfer component is used to transfer the doll assembly at the fourth station to the transfer device. The wrench component is correspondingly set to the wrench carrier and is used to correct the hand posture of the doll assembly. The leg-folding component is correspondingly set to the leg-folding carrier and is used to correct the leg posture of the doll assembly. The transport component is located on one side of the correction table 18 and is used to transport the doll assembly on the transfer device to the wrench carrier and the leg-folding carrier in sequence. After the limb posture is corrected, the assembly is transported to the unloading chute 34 for unloading.

[0057] The intermediate transfer device is a rectangular block 19. The top surface of the intermediate transfer block 19 is a material-carrying surface for supporting the doll assembly. The intermediate transfer block 19 is provided with multiple limiting parts on the material-carrying surface so that the doll assembly is positioned flat and limited on the material-carrying surface.

[0058] The wrench carrier is a rectangular block wrench carrier 20. The top surface of the wrench carrier 20 is a material-carrying surface for supporting the doll assembly. The wrench carrier 20 is provided with multiple limiting parts on the material-carrying surface so that the doll assembly is positioned flat and limited on the material-carrying surface. The wrench carrier 20 has a hand adjustment groove at the position opposite to the hand of the doll assembly. The hand adjustment groove forms a space for the hand of the doll assembly to rotate up and down when correcting the hand posture.

[0059] The leg-folding carrier is a rectangular block-shaped leg-folding carrier 21. The top surface of the leg-folding carrier 21 is a material-carrying surface for supporting the doll assembly. The leg-folding carrier 21 has multiple limiting parts on the material-carrying surface so that the doll assembly is positioned flat and limited on the material-carrying surface. The side of the leg-folding carrier 21 opposite to the legs of the doll assembly is the leg-correcting side, and a leg adjustment groove is provided. The leg adjustment groove forms a space for the legs of the doll assembly to rotate up and down when correcting the hand posture.

[0060] The transfer assembly includes a three-axis moving frame fixedly mounted on the transmission box 2 by a bracket, and a first pneumatic gripper 22 mounted on the moving frame. The three-axis moving frame is existing technology and can move along the X-axis, Y-axis, and Z-axis. The X-axis is parallel to the width direction of the straightening table 18, the Y-axis is parallel to the length direction of the straightening table 18, and the Z-axis is parallel to the height direction of the straightening table 18. Driven by the three-axis moving frame, the first pneumatic gripper 22 can transport the doll assembly to the intermediate transfer block 19. An intermediate transfer pressure block 23 that can cooperate with the intermediate transfer block 19 is provided on one side of the first pneumatic gripper 22. The bottom surface of the intermediate transfer pressure block 23 forms a pressure chamber corresponding to the doll assembly.

[0061] The wrench assembly includes a second clamping member mounted above the wrench carrier 20 via a bracket, and wrench mechanisms mounted on both sides of the wrench carrier 20. The second clamping member includes a second pressure head 24 slidably mounted on the bracket via a linear slide rail, and a second clamping cylinder 25 fixedly mounted on the top of the bracket and driving the second pressure head 24. The second pressure head 24 has a clamping part at its bottom end. Driven by the second clamping cylinder 25, the second pressure head 24 moves downward along the linear slide rail, and the clamping part cooperates with the wrench carrier 20. The clamping part forms a pressure chamber on the clamping surface that corresponds to the doll assembly.

[0062] The wrench mechanism includes a pair of rotating wheels 15, an adjusting rod 26 mounted on the rotating wheels 15, and a wrench drive unit mounted at the bottom of the correction table 18 and connected to the rotating wheels 15. The pair of rotating wheels 15 are rotatably mounted on the correction table 18 via supports and are symmetrically arranged on both sides of the wrench carrier block 20. A connecting shaft 27 is provided on the side of the rotating wheel 15 away from the wrench carrier block 20. In this embodiment, the wrench drive unit is a stepper motor 28. Synchronous pulleys are provided on the output end of the stepper motor 28 and the connecting shaft 27 of the rotating wheel 15, and a synchronous belt is wound between the two synchronous pulleys. The adjusting rod 26 is a cylindrical structure and is rotatably connected to the side of the rotating wheel 15 near the wrench carrier block 20. When the stepper motor 28 is started, it can drive the rotating wheel 15 to rotate, thereby causing the adjusting rod 26 to swing up and down to contact the hand of the doll assembly for posture adjustment.

[0063] The leg-folding assembly includes a third clamping member mounted on the leg-folding block 21 via a bracket, and a leg-folding mechanism mounted on the leg-aligning side of the leg-folding block 21. The third clamping member includes a third pressing head 29 slidably mounted on the bracket via a linear slide rail, and a third pressing cylinder 30 fixedly mounted on the top of the bracket and drivingly connected to the third pressing head 29. The third pressing head 29 has a pressing part at its bottom end. Under the drive of the third pressing cylinder 30, the third pressing head 29 moves downward along the linear slide rail, and the pressing part cooperates with the leg-folding block 21. The pressing part forms a pressing chamber on the pressing surface that corresponds to the doll assembly.

[0064] The leg-folding mechanism includes a two-axis movable frame located at the bottom of the correction table 18, and an adjustment block 31 located on the two-axis movable frame. The two-axis movable frame is existing technology and can move along the X-axis and Z-axis. Driven by the two-axis movable frame, the adjustment block 31 can be raised, lowered, and translated to contact the legs of the doll assembly for posture adjustment.

[0065] The handling assembly includes a three-axis moving frame and a second pneumatic gripper 32 mounted on the three-axis moving frame. The three-axis moving frame is existing technology and can move along the X-axis, Y-axis, and Z-axis. At least three second pneumatic grippers 32 are provided. Driven by the three-axis moving frame, the second pneumatic grippers 32 can handle the doll assembly between the intermediate transfer block 19 and the wrench carrier block 20, between the wrench carrier block 20 and the folding leg carrier block 21, and between the folding leg carrier block 21 and the unloading chute 34. The clamping end of the second pneumatic gripper 32 is provided with a clamping cavity corresponding to the head of the doll assembly.

[0066] The unloading trough 34 is a downward-sloping trough. The top of the unloading trough 34 is connected to the end of the straightening table 18, and the bottom of the unloading trough 34 is connected to the unloading port on the main body of the cabinet 1.

[0067] The control unit includes a servo controller, which is powered on and connected to a PLC programming controller. The PLC programming controller is wired to a control panel 33, which is mounted on the door panel of the main body of the cabinet 1.

[0068] In practice, the upper and lower bodies of the doll are first placed into two feeding boxes 10, respectively. The upper and lower bodies are then fed into a flexible vibrating plate 9 for vibration and spreading. A Delta robot transfers the upper and lower bodies to a riveting carrier at the first station. The feeding plate 3 then transfers the upper and lower bodies to the second station, where the riveting unit assembles them. After assembly, the feeding plate 3 continues to rotate, transferring the doll assembly to the third station, where it stays for a period of time, before transferring it to the fourth station, where it is further processed by a transfer component. The doll assembly is transferred to the intermediate transfer device. The doll assembly is then sequentially moved to the wrench carrier and the leg-folding carrier by the transport component. After the posture of the doll's limbs is adjusted, it is moved into the unloading chute 34 by the transport component. Under its own gravity, the doll assembly slides from top to bottom in the unloading chute 34 and is unloaded from the unloading port on the main body of the cabinet 1. The control unit controls each action execution unit to repeat the above steps, which can continuously perform automatic assembly and posture correction of the doll, effectively improving assembly efficiency, reducing manual labor intensity, and ensuring assembly quality.

[0069] The above embodiments of this utility model are not intended to limit the scope of protection of this utility model. The implementation of this utility model is not limited thereto. All other modifications, substitutions or alterations made to the above structure of this utility model based on the above content of this utility model and in accordance with the common technical knowledge and conventional means in the field, without departing from the basic structure and basic technical idea of ​​this utility model, shall fall within the scope of protection of this utility model.

Claims

1. A doll upper and lower body assembly machine, characterized in that, The device includes a cabinet body, within which a feeding unit for forming a feeding path is provided, as well as a loading unit and a riveting unit arranged sequentially along the feeding path. The feeding unit is provided with a riveting carrier, which includes two riveting blocks that respectively form loading cavities for loading the upper and lower bodies of the doll. When the feeding unit rotates, it drives the two riveting blocks to move along the feeding path from the loading unit to the riveting unit, and after receiving force from the riveting unit, they come together to connect the upper and lower bodies of the doll.

2. The doll upper and lower body assembly machine according to claim 1, characterized in that, A guide hole is provided on one of the riveting blocks, and a guide member is movably inserted into the guide hole. The end of the guide member extends out to form a closing surface that is fixedly connected to the other riveting block.

3. The doll upper and lower body assembly machine according to claim 2, characterized in that, The feeding unit includes a flexible vibrating plate, a feeding box located on one side of the flexible vibrating plate that can respectively accommodate the upper and lower bodies of the doll, and a material transfer robot located above the flexible vibrating plate. The feeding box has a discharge port on the side facing the flexible vibrating plate, and a guide trough is provided at the discharge port. The guide trough is used to guide the upper and lower bodies of the doll from the discharge port into the flexible vibrating plate for vibration and spreading. The material transfer robot is used to transfer the spread upper and lower bodies of the toy one by one to the riveting carrier block.

4. The doll upper and lower body assembly machine according to claim 3, characterized in that, The feeding unit is an electric turntable, including a transmission box with built-in transmission components, a rotatable feeding disc located on the top of the transmission box, and a first driving component located at the bottom of the transmission box and connected to the feeding disc; when the first driving component generates driving force, it drives the feeding disc to rotate relative to the transmission box around an axis to form a circular feeding path; the transmission box is provided with a limiting plate at the box opening; the riveting carrier is set on the feeding disc.

5. The doll upper and lower body assembly machine according to claim 4, characterized in that, The riveting unit includes a first clamping member and a first force-applying member; the first clamping member is movably connected to the limiting plate to longitudinally clamp the upper and lower bodies of the toy on the riveting carrier; the first force-applying member is fixedly installed inside the cabinet body and can generate a lateral force to make the riveting carrier close together to complete the doll assembly.

6. The doll upper and lower body assembly machine according to claim 5, characterized in that, The first pressing member includes a first pressing head that can move up and down, and a first pressing cylinder that drives and connects to the first pressing head; the first pressing head is provided with two pressing parts at the bottom end. Under the drive of the first pressing cylinder, the first pressing head moves downward, and the two pressing parts cooperate with two riveting blocks one by one. The two pressing parts form a pressing chamber on the pressing surface.

7. The doll upper and lower body assembly machine according to claim 6, characterized in that, The riveting carrier is provided in four parts, which are arranged at equal intervals along the circumference of the feeding tray and form a first station, a second station, a third station and a fourth station in the main body of the cabinet. The feeding unit is located at the first station, the riveting unit is located at the second station, and a correction unit for correcting the posture of the limbs of the assembled doll is provided at the fourth station.

8. The doll upper and lower body assembly machine according to claim 7, characterized in that, The correction unit includes a correction table, a transfer assembly, a wrench assembly, a leg-folding assembly, and a transport assembly. The correction table is fixedly installed inside the main body of the cabinet, with one end being the initial end and the other end being the final end. The initial end of the correction table and the circular feeding path formed by the transmission box are connected at the fourth station. The final end of the correction table is connected to the unloading port on the main body of the cabinet through an unloading chute. Along its length, from the initial end to the final end, the correction table is sequentially equipped with a transfer device, a wrench carrier, and a leg-folding carrier. The transport assembly is located on one side of the correction table and is used to sequentially transport the doll assembly on the transfer device to the wrench carrier and the leg-folding carrier, and after the limb posture correction is completed, it is transported to the unloading chute for unloading.

9. The doll upper and lower body assembly machine according to claim 8, characterized in that, The wrench carrier has a hand adjustment groove at the position opposite to the doll assembly's hand, and the hand adjustment groove forms a space for the doll assembly's hand to rotate up and down when correcting the hand posture; The leg-folding device has a leg-correcting side on the side opposite to the legs of the doll assembly, and has a leg adjustment groove. The leg adjustment groove forms a space for the legs of the doll assembly to rotate up and down when correcting the hand posture.

10. The doll upper and lower body assembly machine according to claim 9, characterized in that, The wrench assembly includes a second clamping member disposed above the wrench carrier, and wrench mechanisms disposed on both sides of the wrench carrier; the second clamping member includes a second pressure head that can move up and down, and a second clamping cylinder that drives and connects to the second pressure head; The wrench mechanism includes a pair of rotating wheels, an adjusting rod mounted on the rotating wheels, and a wrench drive unit that is connected to the rotating wheels at the bottom of the straightening table. The pair of rotating wheels are rotatably mounted on the straightening table via supports and are symmetrically arranged on both sides of the wrench carrier. A connecting shaft is provided on the side of the rotating wheel away from the wrench carrier. When the rotating wheel rotates, it can drive the adjusting rod to swing up and down to abut against the hands of the doll assembly for posture adjustment. The leg-folding assembly includes a third clamping member disposed above the leg-folding carrier, and a leg-folding mechanism disposed on the leg-aligning side of the leg-folding carrier; the third clamping member includes a third pressure head that can move up and down, and a third clamping cylinder that drives and connects to the third pressure head. The leg-folding mechanism includes a two-axis moving frame located at the bottom of the correction table, and an adjustment block located on the two-axis moving frame. Driven by the two-axis moving frame, the adjustment block can be raised and lowered along the Z-axis and translated along the X-axis to contact the legs of the doll assembly for posture adjustment.

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