CN112296623A

CN112296623A - Intelligent rotating shaft assembling machine

Info

Publication number: CN112296623A
Application number: CN202010926594.4A
Authority: CN
Inventors: 张春雷; 邱伟
Original assignee: Shanghai Panyun Technology Co ltd
Current assignee: Shanghai Panyun Technology Co ltd
Priority date: 2020-09-07
Filing date: 2020-09-07
Publication date: 2021-02-02

Abstract

The invention discloses an intelligent rotating shaft assembling machine, which belongs to the field of intelligent assembling equipment and comprises a workbench, wherein a prepressing module for extruding a connecting piece into two pre-installed workpieces to connect the two pre-installed workpieces is installed on the workbench, and a pressing module for pressing and inserting the connecting piece into the two pre-installed workpieces is installed on one side of the prepressing module; a feeding mechanism for feeding and discharging is fixedly arranged on one side of the prepressing module, which is far away from the pressing module; the six-shaft material taking mechanism is fixedly arranged on one side, far away from the prepressing module, of the pressing module and is connected with the controller, and is used for receiving a control command to place a pre-installed workpiece on the feeding mechanism into the pre-installed module for loading and pre-installing, placing the pre-installed workpiece on the pre-installed module onto the pressing module and placing the assembled workpiece onto the feeding mechanism for unloading. This intelligence pivot kludge can practice thrift the human cost of enterprise effectively, reduces operation personnel's working strength, improves the packaging efficiency of product, reduces the manufacturing cost of equipment trade.

Description

Intelligent rotating shaft assembling machine

Technical Field

The invention belongs to the field of intelligent assembling equipment, and particularly relates to an intelligent rotating shaft assembling machine.

Background

In the assembly of connecting pieces, such as the assembly of PIN needles, rotating shafts, bolts and the like with directional connecting pieces, generally, on two workpieces with connecting holes, the connecting pieces are inserted into the connecting holes of the two workpieces to combine the two workpieces to complete the assembly, and the assembly is carried out manually on some existing assembly lines, so that the labor investment is large; particularly, for small connecting pieces, manual assembly is relatively difficult, and the assembly efficiency of products is greatly influenced; meanwhile, when the plug-in is manually operated and stored for butt joint, the plug-in is easily connected and dislocated, the workpiece is possibly scrapped when the plug-in is stamped, the rejection rate is high, and the production and assembly cost of an enterprise is greatly increased.

Disclosure of Invention

The invention aims to provide an intelligent rotating shaft assembling machine to solve the problems in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme:

an intelligent rotating shaft assembling machine comprises a workbench, wherein a pre-pressing module for extruding a connecting piece into two pre-installed workpieces to connect the two pre-installed workpieces is installed on the workbench, and a pressing module for pressing and inserting the connecting piece into the two pre-installed workpieces is installed on one side of the pre-pressing module;

a feeding mechanism for feeding and discharging is fixedly arranged on one side, away from the pressing module, of the prepressing module;

the side, far away from the prepressing module, of the pressing module is fixedly provided with a six-shaft material taking mechanism which is connected with a controller and used for receiving a control command, placing a pre-installed workpiece on the feeding mechanism on a pre-installed module for loading and pre-installing, placing the pre-installed workpiece on the pre-installed module on the pressing module, and placing the assembled workpiece on the feeding mechanism for unloading;

an image acquisition device which is connected with the controller and used for shooting and acquiring images of the workpiece and a light supplement device which is used for supplementing light when the image acquisition device shoots and acquires the workpiece are arranged between the prepressing module and the feeding mechanism;

the controller controls the angle of the six-shaft material taking mechanism to align the connecting position of the pre-installed workpieces according to the positions of the workpieces shot and collected by the image collecting device.

Preferably, the intelligent rotating shaft assembling machine further comprises a shaping mechanism fixedly installed on one side, close to the six-shaft material taking mechanism, of the workbench corresponding to the pressing module;

the shaping mechanism comprises a first sliding table cylinder fixedly arranged on the workbench and a top pressure plate fixedly arranged on a sliding block of the first sliding table cylinder;

the top pressure board is close to the one end that compresses tightly the module is the inclined plane, the inclined plane can be driven down at first slip table jar and extrude the cambered surface of equipment work piece with the contact of equipment work piece.

Preferably, the prepressing module comprises a prepressing station fixedly installed on the workbench and used for containing a pre-installed workpiece, a prepressing punch slidably installed on the prepressing station and used for punching the connecting piece, and a first air cylinder fixedly installed on the workbench and connected with the controller;

and a piston rod of the first air cylinder is connected with the prepressing punch and used for pushing and pulling the prepressing punch.

Preferably, a pressure sensor connected with the controller and used for detecting the thrust of the first cylinder is fixedly mounted on one side of the pre-pressing punch corresponding to the piston rod of the first cylinder.

Preferably, the compressing module comprises a compressing station fixedly installed on the workbench and corresponding to one side of the pre-pressing station, compressing punches slidably installed on two sides of the compressing station and used for compressing the connecting piece, and a second cylinder fixedly installed on the workbench and connected with the controller and used for pushing and pulling the compressing punches.

Preferably, the piston rod of the second cylinder is connected with the compaction punch through a floating joint.

Preferably, the feeding module comprises a linear guide rail module which is fixedly installed on one side of the pressing station, which is far away from the pressing station, corresponding to the pre-pressing station, a feeding table which is slidably installed on the linear guide rail module, and a servo motor which is fixedly installed on one side of the linear guide rail module, is connected with the controller and is used for driving the linear guide rail module to drive the feeding table to move;

the feeding table comprises a feeding plate which is slidably arranged on the linear guide rail module and a blanking box which is positioned on one side of the feeding plate;

and the feeding plate is provided with a first workpiece groove and a second workpiece groove which are respectively used for placing two pre-installed workpieces, and a feeding position for placing the connecting piece.

Preferably, the image acquisition device comprises a first shooting lens and a second shooting lens, wherein the first shooting lens and the second shooting lens are symmetrically arranged on the upper surface of the workbench and correspond to the position between the pre-assembly module and the feeding mechanism;

a first supporting plate for supporting the first shooting lens is fixedly arranged on the upper surface of the workbench, and the first shooting lens is connected with the first supporting plate in a sliding manner;

the bottom surface of the workbench is fixedly provided with an installation plate, a second support plate for supporting the second shooting lens is fixedly arranged on the installation plate, and the second shooting lens is connected with the second support plate in a sliding manner;

a through hole is formed in the position, corresponding to the second shooting lens, of the workbench;

the upper surface of the workbench is fixedly provided with an adjusting seat and an adjusting screw rod which penetrates through the adjusting seat and is in threaded connection with the adjusting seat, wherein the tail end of the workbench corresponding to the first shooting lens and the tail end of the mounting plate corresponding to the second shooting lens are both fixedly provided with the adjusting seat;

the first shooting lens and the second shooting lens are connected with the controller and used for shooting the state of the pre-installed workpiece according to the opening and closing command of the controller and sending shot images to the controller.

Preferably, the light supplementing device comprises a sliding table module symmetrically installed on the upper surface of the workbench corresponding to the inner side of the feeding mechanism, a correction backlight fixedly installed on a sliding table of the sliding table module, and a positive point light source symmetrically installed on one side, close to the pre-installed module, of the correction backlight;

the sliding table module and the punctual light source are both connected with the controller, and the sliding table module is used for receiving an opening and closing command of the controller to drive the correction light source on the same side as the first shooting lens to shield the first shooting lens; and the positive point light source is used for receiving an opening and closing command of the controller to supplement light to the preassembly workpiece.

Preferably, the six-shaft material taking mechanism comprises a six-shaft mechanical arm fixedly mounted on the workbench and connected with the controller and a material taking clamp mounted at one end, far away from the workbench, of the six-shaft mechanical arm;

a flange plate is fixedly arranged at one end, far away from the workbench, of the six-axis mechanical arm, the material taking clamp comprises a connecting plate fixedly arranged on the flange plate, a second sliding table cylinder fixedly arranged on the connecting plate, a material taking clamping jaw slidably arranged on a sliding block of the second sliding table cylinder, a third sliding table cylinder fixedly arranged on the connecting plate and corresponding to the outer side of the second sliding table cylinder, and a connecting piece picking structure fixedly arranged on a sliding plate of the third sliding table cylinder;

the connecting piece picking structure is provided with a sucking groove, a material sucking hole is formed in the sucking groove, and the connecting piece picking structure is provided with an air suction hole communicated with the material sucking hole.

According to the intelligent rotating shaft assembling machine, the six-shaft material taking mechanism, the light supplementing device, the image acquisition device and the controller are arranged, a space coordinate system is established, the combined position of the workpieces is corrected, the deviation of the connecting position of the workpieces is avoided, the accuracy of workpiece correction is effectively improved, and the risk of product scrapping is reduced.

The intelligent control technology is utilized to complete the assembly of the whole product, so that the labor cost of enterprises can be effectively saved, the working strength of operators is reduced, the assembly efficiency of the product is improved, the digital process of the processing and production industry is effectively improved, and the production cost of the assembly industry is reduced.

Drawings

FIG. 1 is a schematic structural diagram of an intelligent spindle assembly machine;

FIG. 2 is a schematic diagram of a top view of an intelligent spindle assembly machine;

FIG. 3 is a schematic diagram of a side view of an intelligent spindle assembly machine;

FIG. 4 is a schematic structural diagram of a tool in the intelligent spindle assembling machine;

FIG. 5 is a schematic structural diagram of a material taking clamp of the intelligent spindle assembling machine;

fig. 6 is an architecture diagram of a control system of the intelligent spindle assembling machine.

Detailed Description

The present invention will be further described with reference to the following examples.

The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention. The conditions in the embodiments can be further adjusted according to specific conditions, and simple modifications of the method of the present invention based on the concept of the present invention are within the scope of the claimed invention.

Example 1

As shown in fig. 1 to 6, an intelligent rotating shaft assembling machine comprises a workbench 1, a six-shaft material taking mechanism 2, a feeding mechanism 3, a light supplementing device 4, an image acquisition device 5, a pre-pressing module 6 and a pressing module 7, wherein the workbench 1 is provided with the pre-pressing module 6 for extruding a connecting piece into two pre-installed workpieces to connect the two pre-installed workpieces, and one side of the pre-pressing module 6 is provided with the pressing module 7 for pressing and inserting the connecting piece into the two pre-installed workpieces;

a feeding mechanism 3 for feeding and discharging is fixedly arranged on one side of the prepressing module 6, which is far away from the pressing module 7;

one side of the pressing module 7, which is far away from the prepressing module 6, is fixedly provided with a six-shaft material taking mechanism 2 which is connected with a controller and is used for receiving a control command, placing a pre-installed workpiece on the feeding mechanism 3 into the pre-installed module 6 for loading and pre-installing, placing the pre-installed workpiece on the pre-installed module 6 onto the pressing module 7 and placing the assembled workpiece onto the feeding mechanism 3 for unloading;

an image acquisition device 5 which is connected with the controller and used for shooting and acquiring the image of the workpiece and a light supplement device 4 used for supplementing light when the image acquisition device shoots and acquires the workpiece are arranged between the prepressing module 6 and the feeding mechanism 3;

the controller controls the angle of the six-shaft material taking mechanism 2 to align the connecting position of the pre-installed workpieces according to the positions of the workpieces shot and collected by the image collecting device 4.

Wherein, the connecting piece comprises any one of plug-in connecting pieces such as PIN needles, bolts, rotating shafts and the like.

When the device is used, a worker firstly places workpieces to be assembled and connecting pieces on the feeding mechanism 3, conveys materials to the position close to the prepressing module 6 through the feeding device, controls the six-shaft material taking mechanism 2 to clamp one workpiece and places the workpiece on the prepressing module 6, then grabs the other workpiece, collects the position of the first workpiece from the X shaft, the Y shaft and the Z shaft through the image collecting device 5, extracts the angle of the workpiece, adjusts the angle of the six-shaft material taking mechanism 2 after processing through the controller, adjusts the angle of the second workpiece to be consistent with that of the first workpiece, aligns the connecting position of the second workpiece with the first workpiece, grabs the connecting pieces on the prepressing module 6, and presses the connecting pieces into the two workpieces through the prepressing module 6, so that the pre-assembly work of the workpieces is completed; after the preassembly of the workpiece is completed, the workpiece is clamped on the compressing module 7 through the six-shaft material taking mechanism 2, the compressing module 7 is started to compress the connecting piece, so that the assembly of the workpiece is completed, after the assembly is completed, the product is clamped on the feeding mechanism 3 through the six-shaft material taking mechanism 2, and the product is conveyed out of the equipment assembly process through the feeding mechanism 3 for blanking.

According to the intelligent rotating shaft assembling machine, the six-shaft material taking mechanism 2, the light supplementing device 4, the image acquisition device 5 and the controller are arranged, a space coordinate system is established, the combined position of the workpieces is corrected, the deviation of the connecting position of the workpieces is avoided, the accuracy of workpiece correction is effectively improved, and the risk of product scrapping is reduced.

Specifically, the prepressing module 6 comprises a prepressing station 61 fixedly arranged on the workbench 1 and used for containing a pre-installed workpiece, a prepressing punch 62 slidably arranged on the prepressing station 61 and used for punching a connecting piece, and a first air cylinder 63 fixedly arranged on the workbench 1 and connected with the controller;

a piston rod of the first cylinder 63 is connected to the pre-pressing punch 62 for pushing and pulling the pre-pressing punch 62.

When carrying out the pre-compaction, after the work piece was placed on pre-compaction station 61, controller control supercharging device made pressure boost in the first cylinder 63, make the piston rod of first cylinder 63 stretch out, it is close to the connecting piece to promote pre-compaction drift 62, pre-compaction drift 62 drives the connecting piece and slides on pre-compaction station 61, get into in the jack of two equipment work pieces, make and accomplish the initial joint between two equipment work pieces, after the pre-installation was accomplished, decompress first cylinder 63, make the piston rod of first cylinder 63 remove in the cylinder body, drive pre-compaction drift 62 release the product of pre-installation completion.

In order to ensure the safety of the pre-assembly process, a pressure sensor 64 connected with a controller and used for detecting the thrust of the first air cylinder 63 is fixedly installed on one side, corresponding to the piston rod of the first air cylinder 63, of the pre-pressing punch 62; by setting the punching pressure value, when punching, the controller controls the cylinder to stop operating after the pressure value detected by the pressure sensor 64 reaches the set value, so as to avoid the damage of punching of the product caused by overlarge pressure.

Specifically, the pressing module 7 includes a pressing station 71 fixedly mounted on the workbench 1 and corresponding to one side of the pre-pressing station 61, a pressing punch 72 slidably mounted on two sides of the pressing station 71 and used for pressing the connecting member, and a second cylinder 73 fixedly mounted on the workbench 1 and connected to the controller and used for pushing and pulling the pressing punch 72.

During pressing, after a preassembled product is placed on the pressing station 71, the piston rod of the second air cylinder 73 is controlled to extend through the controller, the pressing punch 72 is pushed to slide on the pressing station 72, the ejector pin on the pressing punch 72 is inserted into the connecting hole, the connecting piece is deeply jacked into the connecting holes of the two workpieces to be pressed, and then assembly work of the workpieces is completed.

In order to ensure the stability of the movement of the pressing punch 72, the piston rod of the second cylinder 73 is connected to the pressing punch 72 through a floating joint 731. This floating joint 731 is the elastomer, and when compressing tightly, floating joint 731 can float in an appropriate amount, avoids compressing tightly the drift 72 and leads to compressing tightly drift 72 skew with the rigid effort that the piston rod shift position of second cylinder 73 is not on same straight line, and then leads to the product to damage, can reduce the equipment effectively simultaneously and compress tightly the equipment precision of module.

Specifically, the feeding module 3 comprises a linear guide rail module 31 fixedly installed on one side of the pressing station corresponding to the pre-pressing station 61 and far away from the pressing station 71, a feeding table 33 slidably installed on the linear guide rail module 31, and a servo motor 32 fixedly installed on one side of the linear guide rail module 31 and connected with the controller for driving the linear guide rail module 31 to drive the feeding table 33 to move;

the feeding table 33 comprises an upper material plate 331 which is slidably mounted on the linear guide rail module 31 and a blanking box 332 which is positioned on one side of the upper material plate 331;

the feeding plate 331 is provided with a first workpiece groove 3311 and a second workpiece groove 3313 for placing two pre-installed workpieces, and a feeding position 3312 for placing a connecting member.

During feeding, a worker places two pre-installed workpieces on the first workpiece groove 3311 and the second workpiece groove 3313 respectively, places the connecting piece in the feeding position 3312, starts the servo motor 32 through the controller, and drives the linear guide rail module 31 to move the feeding table 33 to be close to the pre-installation station 61 through the servo motor 32; during blanking, after the materials are placed in the blanking box 332 through the six-shaft material taking mechanism 2, the servo motor 32 drives the linear guide rail module 31 to drive the feeding table 33 to move reversely and away from the preassembly station, and therefore the assembled workpieces are taken out of the device.

Specifically, the image acquisition device 5 comprises a first shooting lens 51 and a second shooting lens 53, wherein the first shooting lens 51 and the second shooting lens are symmetrically arranged on the upper surface of the workbench 1 and correspond to and between the pre-installed module 6 and the feeding mechanism 3;

a first supporting plate 52 for supporting a first shooting lens 51 is fixedly arranged on the upper surface of the workbench 1, and the first shooting lens 51 is connected with the first supporting plate 52 in a sliding manner;

a mounting plate 54 is fixedly mounted on the bottom surface of the workbench 1, a second supporting plate 55 for supporting the second photographing lens 53 is fixedly mounted on the mounting plate 54, and the second photographing lens 53 is slidably connected with the second supporting plate 55;

a through hole 531 is formed at a position of the workbench 1 corresponding to the second photographing lens 53;

the upper surface of the workbench 1 is fixedly provided with an adjusting seat 56 and an adjusting screw 57 which penetrates through the adjusting seat 56 and is in threaded connection with the adjusting seat 56 at the tail end corresponding to the first shooting lens 51 and the tail end of the mounting plate 54 corresponding to the second shooting lens;

the first shooting lens 51 and the second shooting lens 53 are both connected with the controller and used for shooting the state of the pre-installed workpiece according to the opening and closing command of the controller and sending shot images to the controller.

The light supplementing device 4 comprises a sliding table module 41 symmetrically arranged on the upper surface of the workbench 1 corresponding to the inner side of the feeding mechanism 3, a correction backlight source 42 fixedly arranged on a sliding table of the sliding table module 41 and a positive point light source 43 symmetrically arranged on one side, close to the pre-assembly module 6, of the correction backlight source 42;

the sliding table module 41 and the punctual light source 43 are both connected with the controller, and the sliding table module 41 is used for receiving an opening and closing command of the controller to drive the correction light source 42 on the same side as the first photographing lens 51 to shield the first photographing lens 51; the positive point light source 43 is used for receiving an opening and closing command of the controller to supplement light for the preassembly workpiece.

When shooting is carried out, one sliding table module 41 is controlled to be started, the correction backlight source 42 is pushed to move, the first shooting lens 51 positioned on the same side of the correction backlight source 42 is shielded, the other first shooting lens 51 is started through the controller, and one side of a workpiece is shot through the first shooting lens 51; the other side of the workpiece is shot after the shooting work of one side is finished, after the side shooting is finished, the second shooting lens 53 at the bottom of the workbench 1 is started, the workpiece is vertically shot through the second shooting lens 53, the first shooting lens 51 and the second shooting lens 52 acquire pictures of the workpiece and then send picture information to the controller, the controller obtains X, Y, Z space coordinates of the workpiece through picture analysis, and therefore the six-axis material taking device 2 is controlled to drive the workpiece to move and turn, and the connecting position between the combined workpieces is aligned.

Specifically, the six-shaft material taking mechanism 2 comprises a six-shaft mechanical arm 21 fixedly arranged on the workbench 1 and connected with the controller, and a material taking clamp 22 arranged at one end of the six-shaft mechanical arm 21 far away from the workbench 1;

a flange plate 211 is fixedly arranged at one end of the six-axis mechanical arm 21 far away from the workbench 1, and the material taking clamp 22 comprises a connecting plate 221 fixedly arranged on the flange plate 211, a second sliding table cylinder 222 fixedly arranged on the connecting plate 221, a material taking clamping jaw 223 slidably arranged on a sliding block of the second sliding table cylinder 222, a third sliding table cylinder 224 fixedly arranged on the connecting plate 221 corresponding to the outer side of the second sliding table cylinder 222, and a connecting piece picking structure 226 fixedly arranged on a sliding plate 225 of the third sliding table cylinder 224;

the connecting piece picking structure 226 is provided with a suction groove 2261, the suction groove 2261 is internally provided with a material suction hole 2263, and the connecting piece picking structure 226 is provided with an air suction hole 2262 communicated with the material suction hole 2263.

When the six-axis mechanical arm 21 is moved to a placing position, the second sliding table cylinder 222 is controlled to be started, the second sliding table cylinder 222 drives the material taking clamping jaw 223 to grab a material, and when the six-axis mechanical arm 21 is moved to the placing position, the second sliding table cylinder 222 is controlled to release the material, so that the material is placed at a specified position; when the connecting piece is grabbed, generally, the connecting piece structure is small, a small workpiece is difficult to grab by the material taking clamping jaw, at the moment, when the six-shaft mechanical arm 21 drives the material to move to the position of the small workpiece, the third sliding table cylinder 224 is controlled to be started, the third sliding table cylinder 224 drives the connecting piece picking structure to approach, the external air suction device is started to suck, negative pressure is generated at the position of the material sucking hole 2263, so that the material is sucked into the sucking groove 2261, after the material enters the workpiece, the material is driven to the preassembly station 61 through the six-shaft mechanical arm 21, when the material reaches the placing position, the external air suction device is controlled to stop sucking air, the material is released to enter the preassembly station 61, and then the small workpiece is grabbed.

Example 2

Different from the embodiment 1, the intelligent rotating shaft assembling machine further comprises a shaping mechanism 8 fixedly arranged on one side of the workbench 1, which corresponds to the pressing module 7 and is close to the six-axis material taking mechanism 2;

the shaping mechanism 8 comprises a first sliding table cylinder 81 fixedly arranged on the workbench 1 and a top pressure plate 82 fixedly arranged on a sliding block of the first sliding table cylinder 81; the first sliding table cylinder 81 is connected with a controller;

one end of the top pressure plate 82 close to the pressing module 7 is an inclined surface, and the inclined surface can be driven by the first sliding table cylinder 81 to contact with the assembled workpiece to extrude the arc surface of the assembled workpiece.

For the assembled workpiece with a clamping protection structure at the connecting part, the controller can control the first sliding table cylinder 81 to start, and when the workpiece is shaped, the first sliding table cylinder 81 drives the jacking plate 82 to act, so that the jacking plate is contacted with the protection part on one workpiece and extrudes the protection part, so that the protection part is clamped with the protection part on the other workpiece, and the shaping work of the workpiece is completed.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an intelligence pivot kludge, includes workstation (1), its characterized in that: the workbench (1) is provided with a pre-pressing module (6) for extruding a connecting piece into two pre-installed workpieces to connect the two pre-installed workpieces, and one side of the pre-pressing module (6) is provided with a pressing module (7) for pressing and inserting the connecting piece into the two pre-installed workpieces;

a feeding mechanism (3) for feeding and discharging is fixedly arranged on one side, away from the pressing module (7), of the prepressing module (6);

the side, far away from the prepressing module (6), of the pressing module (7) is fixedly provided with a six-shaft material taking mechanism (2) which is connected with a controller and used for receiving a control command, placing a pre-installed workpiece on the feeding mechanism (3) into the pre-installing module (6) for loading and pre-installing, placing the pre-installed workpiece on the pre-installing module (6) onto the pressing module (7) and placing the assembled workpiece onto the feeding mechanism (3) for unloading;

an image acquisition device (5) which is connected with the controller and used for shooting and acquiring images of workpieces and a light supplement device (4) which is used for supplementing light when the image acquisition device shoots and acquires the workpieces are arranged between the pre-pressing module (6) and the feeding mechanism (3);

the controller controls the angle of the six-shaft material taking mechanism (2) to align the connecting position of the pre-installed workpieces according to the positions of the workpieces shot and collected by the image collecting device (4).

2. The intelligent spindle assembling machine according to claim 1, characterized in that: the intelligent rotating shaft assembling machine further comprises a shaping mechanism (8) which is fixedly arranged on one side, close to the six-shaft material taking mechanism (2), of the workbench (1) corresponding to the pressing module (7);

the shaping mechanism (8) comprises a first sliding table cylinder (81) fixedly arranged on the workbench (1) and a top pressure plate (82) fixedly arranged on a sliding block of the first sliding table cylinder (81);

the top pressure plate (82) is close to the one end that compresses tightly module (7) is the inclined plane, the inclined plane can be driven down at first slip table jar (81) and extrude the cambered surface of equipment work piece with the contact of equipment work piece.

3. The intelligent spindle assembling machine according to claim 2, characterized in that: the pre-pressing module (6) comprises a pre-pressing station (61) fixedly arranged on the workbench (1) and used for containing pre-installed workpieces, a pre-pressing punch (62) slidably arranged on the pre-pressing station (61) and used for punching the connecting piece, and a first air cylinder (63) fixedly arranged on the workbench (1) and connected with the controller;

and a piston rod of the first air cylinder (63) is connected with the prepressing punch (62) and used for pushing and pulling the prepressing punch (62).

4. The intelligent spindle assembling machine according to claim 3, characterized in that: and a pressure sensor (64) which is connected with the controller and is used for detecting the thrust of the first air cylinder (63) is fixedly arranged on one side of the prepressing punch (62) corresponding to the piston rod of the first air cylinder (63).

5. The intelligent spindle assembling machine according to claim 3, characterized in that: the pressing module (7) comprises a pressing station (71) fixedly installed on the workbench (1) and corresponding to one side of the pre-pressing station (61), pressing punches (72) slidably installed on two sides of the pressing station (71) and used for pressing the connecting piece, and second air cylinders (73) fixedly installed on the workbench (1) and connected with the controller and used for pushing and pulling the pressing punches (72).

6. The intelligent spindle assembling machine according to claim 5, wherein: the piston rod of the second air cylinder (73) is connected with the compaction punch (72) through a floating joint.

7. The intelligent spindle assembling machine according to claim 1, characterized in that: the feeding module (3) comprises a linear guide rail module (31) fixedly mounted on one side of the pressing station, which is far away from the pressing station (71), corresponding to the pre-pressing station (61), a feeding table (33) slidably mounted on the linear guide rail module (31), and a servo motor (32) fixedly mounted on one side of the linear guide rail module (31) and connected with the controller for driving the linear guide rail module (31) to drive the feeding table (33) to move;

the feeding table (33) comprises an upper material plate (331) which is slidably mounted on the linear guide rail module (31) and a lower material box (332) which is positioned on one side of the upper material plate (331);

the feeding plate (331) is provided with a first workpiece groove (3311) and a second workpiece groove (3313) which are respectively used for placing two pre-installed workpieces, and a feeding position (3312) which is used for placing the connecting piece.

8. The intelligent spindle assembling machine according to claim 1, characterized in that: the image acquisition device (5) comprises a first shooting lens (51) and a second shooting lens (53), wherein the first shooting lens (51) and the second shooting lens (53) are symmetrically arranged on the upper surface of the workbench (1) and correspond to the position between the pre-assembly module (6) and the feeding mechanism (3);

a first supporting plate (52) used for supporting the first shooting lens (51) is fixedly arranged on the upper surface of the workbench (1), and the first shooting lens (51) is connected with the first supporting plate (52) in a sliding manner;

a mounting plate (54) is fixedly mounted on the bottom surface of the workbench (1), a second supporting plate (55) for supporting the second shooting lens (53) is fixedly mounted on the mounting plate (54), and the second shooting lens (53) is in sliding connection with the second supporting plate (55);

a through hole (531) is formed in the position, corresponding to the second shooting lens (53), of the workbench (1);

the tail end of the upper surface of the workbench (1), which corresponds to the first shooting lens (51), and the tail end of the mounting plate (54), which corresponds to the second shooting lens, are fixedly provided with an adjusting seat (56) and an adjusting screw rod (57) which penetrates through the adjusting seat (56) and is in threaded connection with the adjusting seat (56);

the first shooting lens (51) and the second shooting lens (53) are connected with the controller and used for shooting the state of the pre-installed workpiece according to the opening and closing command of the controller and sending shot images to the controller.

9. The intelligent spindle assembling machine according to claim 1, characterized in that: the light supplementing device (4) comprises a sliding table module (41) which is symmetrically arranged on the upper surface of the workbench (1) and corresponds to the inner side of the feeding mechanism (3), a correction backlight source (42) which is fixedly arranged on a sliding table of the sliding table module (41), and a positive point light source (43) which is symmetrically arranged on one side, close to the preassembled module (6), of the correction backlight source (42);

the sliding table module (41) and the punctual light source (43) are both connected with the controller, and the sliding table module (41) is used for receiving an opening and closing command of the controller to drive the correction light source (42) on the same side as the first shooting lens (51) to shield the first shooting lens (51); and the positive point light source (43) is used for receiving an opening and closing command of the controller to supplement light to the pre-installed workpieces.

10. The intelligent spindle assembling machine according to claim 1, characterized in that: the six-shaft material taking mechanism (2) comprises a six-shaft mechanical arm (21) which is fixedly arranged on the workbench (1) and connected with the controller and a material taking clamp (22) which is arranged at one end, far away from the workbench (1), of the six-shaft mechanical arm (21);

a flange plate (211) is fixedly mounted at one end, far away from the workbench (1), of the six-axis mechanical arm (21), the material taking clamp (22) comprises a connecting plate (221) fixedly mounted on the flange plate (211), a second sliding table cylinder (222) fixedly mounted on the connecting plate (221), a material taking clamping jaw slidably mounted on a sliding block of the second sliding table cylinder (222), a third sliding table cylinder (224) fixedly mounted on the connecting plate (221) and corresponding to the outer side of the second sliding table cylinder (222), and a connecting piece picking structure (226) fixedly mounted on a sliding plate (225) of the third sliding table cylinder (224);

the connecting piece picking structure (226) is provided with a suction groove (2261), the suction groove (2261) is internally provided with a material suction hole (2263), and the connecting piece picking structure (226) is provided with an air suction hole (2262) communicated with the material suction hole (2263).