CN113618396B

CN113618396B - Circuit breaker assembly equipment

Info

Publication number: CN113618396B
Application number: CN202110986693.6A
Authority: CN
Inventors: 万伟鑫; 喻卫杰; 余栋栋
Original assignee: Guangdong Qichuang Intelligent Technology Co ltd
Current assignee: Guangdong Qichuang Intelligent Technology Co ltd
Priority date: 2021-08-26
Filing date: 2021-08-26
Publication date: 2023-05-19
Anticipated expiration: 2041-08-26
Also published as: CN113618396A

Abstract

The invention belongs to the technical field of circuit breaker assembly machines, and particularly relates to circuit breaker assembly equipment.

Description

Circuit breaker assembly equipment

Technical Field

The invention belongs to the technical field of breaker assembly machines, and particularly relates to breaker assembly equipment.

Background

The circuit breaker is a switching device capable of closing, carrying and breaking current under normal loop conditions and capable of closing, carrying and breaking current under abnormal loop conditions within a specified time, and generally comprises an upper shell 01, a lower shell 022, a locking device 03, a first spring 04, a second spring 05, an arc extinction 06, an electromagnetic release 07 and a triggering device 08 as shown in fig. 1.

Disclosure of Invention

The invention aims to overcome the defect that a circuit breaker is assembled manually in the prior art, and provides assembly equipment for realizing automatic circuit breaker assembly.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides a circuit breaker equipment, the circuit breaker that involves includes epitheca, inferior valve, trigger device, locking device, first spring, second spring, electromagnetism release and arc extinction, and equipment includes control module, material way and a plurality of stations that set gradually along the material way pay-off direction, and the material is said a plurality of stations transport tool that the material was said in proper order, a plurality of stations including:

the upper shell feeding station is used for transferring the upper shell and the lower shell to the upper shell feeding station and the lower shell feeding station on the jig in a reference posture;

a locking device assembly station for assembling the locking device in a reference posture within the lower housing;

the trigger device assembly station is used for converting the trigger device in the reference posture into an assembly posture and installing the trigger device in the lower shell in the assembly posture;

a spring assembly station for assembling the first spring and the second spring in a reference attitude within the lower housing;

the release and arc extinguishing assembly station is used for assembling the electromagnetic release and arc extinguishing in the lower shell in a reference posture;

And a potting station for attaching the upper housing cover to the lower housing.

Compared with the prior art, the circuit breaker assembly equipment provided by the invention is provided with the material channel, the upper shell loading station, the lower shell loading station, the locking device assembly station, the triggering device assembly station, the spring assembly station, the tripper, the arc extinguishing assembly station and the packaging station which are sequentially arranged along the feeding direction of the material channel, so that all parts are automatically assembled in the lower shell in a specific gesture, and the circuit breaker assembly equipment is high in automation degree, overcomes the defect of manually assembling the circuit breaker in the prior art, effectively improves the assembly efficiency and quality, and reduces the labor cost.

Further, the upper shell and lower shell feeding station comprises a first feeding table, a first feeding module and a first transferring module, wherein the first feeding module outputs an upper shell conforming to a reference posture, a lower shell conforming to the reference posture is preset on the first feeding table, and the first transferring module transfers the upper shell and the lower shell conforming to the reference posture to the jig respectively.

Further, the trigger device assembly station comprises a second transfer module, two second feeding modules and a turnover device, wherein the two second feeding modules and the turnover device are arranged on two opposite sides of the second transfer module, the trigger device comprises a handle and a rotating piece, the handle comprises a rotating part and a poking part, the rotating part is provided with a mounting groove for mounting the rotating piece, the two second feeding modules respectively output the handle and the rotating piece which accord with the reference gesture, the second transfer module transfers the handle which accord with the reference gesture to the turnover device for turnover, the rotating piece which accords with the reference gesture is assembled on the turned handle, and then the combined handle and the rotating piece are assembled in the lower shell together.

Further, the spring assembly station comprises a third transfer module and two third feeding modules arranged on two opposite sides of the third transfer module, wherein the two third feeding modules respectively output a first spring and a second spring which accord with the reference posture, the third transfer module is provided with a fourth gripper and a fourth gripper which are respectively used for grabbing the first spring and the second spring, and the third transfer module respectively assembles the first spring and the second spring which accord with the reference posture into the lower shell.

Further, the tripper and arc extinguishing assembly station comprises a fourth transfer module and two fourth supply modules arranged on two opposite sides of the fourth transfer module, wherein the two fourth supply modules respectively output the electromagnetic tripper and arc extinguishing according with the reference gesture, the fourth transfer module comprises a fifth gripper, a sixth gripper and a pressing block, the fifth gripper is used for grabbing the electromagnetic tripper, the sixth gripper is used for grabbing the arc extinguishing, the fourth transfer module respectively assembles the electromagnetic tripper and the arc extinguishing according with the reference gesture into the lower shell, and controls the pressing block to descend to press the assembled electromagnetic tripper.

Further, the locking device assembling station comprises a second feeding table and a fifth transferring module, a locking device conforming to a reference posture is preset on the second feeding table, the locking device comprises a trigger head, a thermal component connected with the trigger head and a wiring contact connected with the thermal component, the fifth transferring module comprises a seventh gripper and an eighth gripper which can be lifted, when the locking device is assembled, the seventh gripper grabs the trigger head, the eighth gripper grabs the wiring contact and the thermal component so as to transfer the locking device to the upper side of the lower shell, then the seventh gripper descends to assemble the trigger head into the lower shell, and then the eighth gripper descends to assemble the wiring contact and the thermal component into the lower shell.

Further, the feeding module of each station comprises a blanking device, a vibrating device and a visual identification unit, the vibrating device comprises a vibrating disc connected with the blanking device and a vibrating mechanism, the blanking device is used for conveying parts to the vibrating disc, the vibrating disc vibrates the parts through the vibrating mechanism, the visual identification unit obtains the postures of the parts in the vibrating disc and sends feedback signals when at least n parts with the same current postures as the reference postures exist in the vibrating disc, the feedback signals comprise coordinate information of the parts conforming to the reference postures, and the control module stops the vibrating device according to the feedback signals and drives the transfer module to grasp the parts conforming to the reference postures in the vibrating disc.

Drawings

Fig. 1 and 2 are schematic structural diagrams of a circuit breaker; fig. 3 and 4 are schematic structural views of an assembling device;

FIG. 5 is a schematic view of the structure of the upper and lower shell assembly station; FIG. 6 is a schematic view of the construction of the locking device assembly station;

fig. 7 is a schematic view of the structure of the eighth hand grip and the ninth hand grip when the locking device is placed in the lower case;

FIG. 8 is a top view of the second clamp arm, the third clamp arm, the spacing assembly, and the trigger head;

FIG. 9 is a state diagram of the cooperation of the spacing assembly and the trigger head;

FIG. 10 is a schematic diagram of a spacing assembly and trigger head; FIG. 11 is a schematic view of a structure of a stop arm;

fig. 12 is a schematic view of the structure of the second gripper when the second gripper grips the locking device and is put into the lower case;

fig. 13 is a schematic view of the structure of the second gripper when the second gripper grips the locking device and is put into the lower case;

FIG. 14 is a schematic view of the trigger assembly station; FIG. 15 is a schematic view of the swivel member after it has been installed in the handle;

FIG. 16 is a schematic view of the structure of the first and second handles;

FIG. 17 is a schematic view of the first jaw gripping handle ready for loading the handle into the swivel base;

FIG. 18 is a schematic view of the handle in a reference position with the swivel base installed and prior to flipping;

FIG. 19 is a schematic view of the flipping unit flipping the handle to an assembled position;

FIG. 20 is a schematic view of the spring assembly station;

fig. 21 is a schematic view of the arc extinguishing and tripper assembly station;

fig. 22 is a schematic structural diagram of the output end of the third manipulator.

Detailed Description

The following describes specific embodiments of the present invention with reference to the drawings. In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "head end", "tail end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Referring to fig. 1 and 2, the circuit breaker according to the present invention comprises the following components: the upper casing 01, the inferior valve 02, locking device 03, first spring 04, second spring 05, arc extinction 06, electromagnetic release 07 and trigger device 08, inferior valve 02 is equipped with the installation cavity, be equipped with a plurality of mounted positions in the installation cavity, when assembling the circuit breaker, pack into locking device 03, trigger device 08, first spring 04, second spring 05, arc extinction 06, electromagnetic release 07 respectively in the mounted position that corresponds, then with the upper casing 01 lid again in the encapsulation of inferior valve 02 upside completion, wherein:

the locking device 03 comprises a trigger nose 031, a wiring contact 032 and a thermal component 033, wherein the trigger nose 031 is connected with the thermal component 033, the thermal component 033 is connected with the wiring contact 032, the trigger nose 031 is provided with a smooth outer side surface, the thermal component 033 is a copper sheet with elasticity, and a first installation position 021, a second installation position 022 and a third installation position 023 which respectively correspond to the trigger nose 031, the wiring contact 032 and the thermal component 033 are arranged in the lower shell 02.

The first spring 04 and the second spring 05 are respectively provided with two supporting legs; the upper and lower outer side surfaces of the arc extinction 06 are flat surfaces, an opening is arranged on one side between the flat surfaces on the upper and lower sides, and a connecting surface for connecting the flat surfaces is arranged on the opposite side; the electromagnetic release 07 comprises a wiring contact 072, a coil 071 and a fixed contact 073, wherein the side part of the wiring contact 072 is provided with a wiring screw.

The triggering device 08 comprises a handle 081 and a rotating member 082, the handle 081 comprises a rotating portion 083 and a toggle portion 084, and the rotating portion 083 is provided with a mounting groove 085 for mounting the rotating member 082.

Referring to fig. 1 to 5, the assembly equipment comprises a control module, a material channel G and a plurality of stations sequentially arranged along the feeding direction of the material channel G, wherein the stations comprise an upper shell feeding station a, a lower shell feeding station a, a locking device assembly station B, a triggering device assembly station C, a spring assembly station D, a tripper, an arc extinguishing assembly station E and a packaging station F. The material channel G is formed by combining a plurality of conveying belt monomers G0, each conveying belt monomer G0 is integrated on a corresponding station, and when the stations are sequentially connected, the material channel G is formed, and the material channel G sequentially transmits jigs to the stations. The control module is respectively provided with reference attitude information of the upper shell 01, the triggering device 08, the first spring 04, the second spring 05, the arc extinction 06 and the electromagnetic release 07.

Referring to fig. 5, the upper and lower case loading station a includes a first loading table a10, a first feeding module a20 and a first transferring module a30, the first feeding module a20 outputs an upper case 01 conforming to a reference posture, a lower case 02 conforming to the reference posture is preset on the first loading table a10, the upper case 01 and the lower case 02 are both provided with openings, the reference posture is conformed when the opening of the upper case 01 faces to the lower side, the reference posture is conformed when the opening of the lower case 02 faces to the upper side, the first transferring module a30 transfers the upper case 01 and the lower case 02 conforming to the reference posture to a jig, the first transferring module a30 includes a first manipulator a31, a case gripper a32 for gripping the upper case 01 and the lower case 02 is provided on an output end of the first manipulator a31, and the case gripper a32 can be opened and closed by an air cylinder.

Referring to fig. 5, the first feeding module a20 includes a first discharging device a21, a first vibrating device a22 and a first visual recognition unit a23, the first vibrating device a22 includes a first vibrating plate a24 engaged with the first discharging device a21 and a first vibrating mechanism a25, the first discharging device a21 is used for transmitting the upper case 01 to the first vibrating plate a24, the first vibrating plate a24 vibrates the upper case 01 through the first vibrating mechanism a25, the first visual recognition unit a23 acquires the posture of the upper case 01 in the first vibrating plate a24 and sends a feedback signal when there are at least n upper cases 01 having the same current posture as the reference posture in the first vibrating plate a24, the feedback signal includes coordinate information of the upper case 01 conforming to the reference posture, and the control module stops the first vibrating device a22 according to the feedback signal and drives the first transferring module a30 to grasp the upper case 01 conforming to the reference posture in the first vibrating plate a 24. In a specific embodiment, the lower shell 02 is placed on the first loading table a10 in advance by a manual manner according to a reference posture.

Referring to fig. 1, 2 and 6 to 13, the locking device assembling station B includes a second loading platform B20 and a fifth transferring module B10, and the second loading platform B20 is preset with a locking device 03 conforming to a reference posture, and in a specific embodiment, the locking device 03 is manually placed on the second loading platform B20 according to the reference posture. The fifth transfer module B10 includes a fourth manipulator B11, an eighth gripper B12 and a ninth gripper B13 that can be lifted are disposed on an output end of the fourth manipulator B11, and the eighth gripper B12 and the ninth gripper B13 can be lifted and lowered by a lifting mechanism, which can be a lifting cylinder, respectively. When the locking device 03 is assembled, the eighth hand grip B12 clamps the trigger hand grip 031, the ninth hand grip B13 clamps the connection contact 032 and the thermal assembly 033 to transfer the locking device 03 to above the lower case 02, then the eighth hand grip B12 descends to assemble the trigger hand grip 031 to the first installation position 021, and then the ninth hand grip B13 descends to assemble the connection contact 032 and the thermal assembly 033 to the second installation position 022 and the third installation position 023, respectively.

Referring to fig. 7, the eighth gripper B12 includes a fourth lifting cylinder B121, a ninth clamping jaw B14 connected to an output end of the fourth lifting cylinder B121, and a limiting component B15, where the ninth clamping jaw B14 can be opened or closed in a controlled manner to clamp an outer side surface of the trigger head 031, and the fourth lifting cylinder B121 drives the ninth clamping jaw B14 to lift, and in a specific embodiment, the ninth clamping jaw B14 can be driven to open or close by the cylinder.

Referring to fig. 7 to 10, the ninth clamping jaw B14 includes a second clamping arm B141 and a third clamping arm B142 that are clamped on the outer side surface of the trigger nose 031, and the limiting component B15 includes a limiting post B151 that is disposed between the second clamping arm B141 and the third clamping arm B142 and is used for pressing down the upper end surface of the trigger nose 031, where it should be noted that, before the trigger nose 031 is clamped by the ninth clamping jaw B14, a protruding pin 034 is disposed on the upper end surface of the trigger nose 031, a limiting hole B1511 that is matched with the pin 034 is formed at the lower end of the limiting post B151, and since the locking device 03 is not fixed on the material platform 100, i.e. the locking device 03 can move relative to the material platform 100, if only the ninth clamping jaw B14 is disposed, when the locking device 03 slides easily, the locking device 03 cannot accurately grasp the locking device 03, and therefore, by setting the limiting post B151 between the second clamping arm B141 and the third clamping arm B142, the trigger nose 031 is pressed down on the upper end surface of the trigger nose 031, thus the accuracy of the trigger nose 031 is prevented from being pressed down on the subsequent clamping jaw 031, and the nose is prevented from being pressed down on the material platform 100.

Referring to fig. 7 to 10, as an improved solution, in order to further improve the limiting effect of the limiting columns B151 on the trigger head 031, two limiting columns B151 are provided, and the two limiting columns B151 are diagonally distributed, that is, the two limiting columns B151 abut against the diagonal position of the upper end face of the trigger head 031, so that the above arrangement manner can more effectively limit the rotational degree of freedom of the trigger head 031 parallel to the placement surface of the material table 100.

Referring to fig. 7 to 10, as an improvement, the limiting assembly B15 further includes a limiting stop arm B152 disposed on the side of the eighth hand grip B12 near the ninth hand grip B13, where the limiting stop arm B152 has a preset swing amplitude in a direction from the eighth hand grip B12 to the ninth hand grip B13, the limiting stop arm B152 is used to abut against an outer side surface of the side of the trigger hand grip 031 near the ninth hand grip B13 when the trigger hand grip 031 is gripped by the eighth hand grip B12, specifically, a stop block 0311 corresponding to the limiting stop arm B152 is disposed on the side of the trigger hand grip 031 near the ninth hand grip B13, the limiting stop arm B152 abuts against the stop block 0311, and by setting the limiting stop arm B152, the rotational freedom of the trigger hand grip 031 on a placing surface parallel to the material table 100 can be further limited, so as to prevent the trigger hand grip 031 from rotating when the trigger hand grip 031 is gripped, and at the same time, the limiting stop arm B152 has a swing amplitude that can be adaptively and finely adjusted when the trigger hand grip 031 is gripped by the eighth hand grip 031, so as to avoid the trigger hand grip 031 from being damaged directly.

Referring to fig. 7 to 11, as a modified solution, a guiding surface B1521 inclined downward is provided at a bottom end of the limiting stop arm B152 near the trigger head 031, and the guiding surface B1521 may further improve the adaptability of the limiting stop arm B152, when the transfer device 300 descends to prepare for grabbing the trigger head 031, the limiting stop arm B152 will first contact with an outer edge position of the trigger head 031 along with descending, and by providing the guiding surface B1521, when the guiding surface B1521 contacts with the trigger head 031, the limiting stop arm B152 is driven to swing outwards along an outer edge of the trigger head 031 adaptively, so as to perform fine adjustment adaptively, avoid direct interference with the trigger head 031 to affect a subsequent clamping operation and avoid crushing the trigger head 031.

Referring to fig. 7 to 11, in a specific embodiment, the limiting component B15 further includes an L-shaped bracket B150, where the bracket B15 includes a vertical arm B153 and a horizontal arm B154, the upper end of the vertical arm B153 is fixedly connected with the output end of the fourth lifting cylinder B121, for example, fixedly disposed on a cylinder driving the ninth clamping jaw B14 to open and close, so that the bracket B15 and the ninth clamping jaw B14 lift synchronously, the horizontal arm B154 is fixedly connected with the lower end of the vertical arm B153, a positioning column is disposed at the head end of the horizontal arm B154, a connection part between the end of the horizontal arm B154 and the vertical arm B153 is recessed inwards to form a mounting recess B155, the end of the horizontal arm B154 is near one end of the ninth gripper B13, the horizontal arm B154 is located at the end opposite to the end as the head end, the limiting blocking arm B152 includes a connecting portion B156 and a blocking portion B157 extending downward, the connecting portion B156 is mounted in the mounting recess B155, and a gap is left between the side wall of the limiting blocking arm B152 and the vertical arm B153, the connecting part B156 is provided with a waist-shaped hole B159, the mounting concave position B155 is provided with a plurality of connecting holes B158 which are transversely arranged at intervals corresponding to the waist-shaped hole B159, the waist-shaped hole B159 is internally penetrated with a screw (not shown in the screw figure) connected with one connecting hole B158, the screw can movably assemble the limiting baffle arm B152 on the mounting concave position B155, the mounting mode of the limiting baffle arm B152 can form an integral structure with the bracket B150 as much as possible, the mounting space is better saved, meanwhile, the connecting part B156 is arranged in the mounting concave position B155, the connecting part B156 can realize limit to the connecting part B156 through the cross arm B154 and the vertical arm B153 so as to limit the swinging amplitude of the connecting part B156 without setting a limit structure, moreover, the waist-shaped hole B159 and the connecting holes B158 can be used for an operator to select the proper connecting hole B158 according to the size of an actual trigger head 031, thereby adding a fifth transfer module B10 that can be used to transfer the specifications of the locking device 03.

Referring to fig. 1, 7, 12 and 13, the ninth gripper B13 includes a fifth lifting cylinder B131, a tenth clamping jaw B132 and an eleventh clamping jaw B133 connected to output ends of the fifth lifting cylinder B131, the tenth clamping jaw B132 and the eleventh clamping jaw B133 may be controllably opened or closed to clamp the wiring contact 032 and the thermal component 033, the fifth lifting cylinder B131 drives the tenth clamping jaw B132 and the eleventh clamping jaw B133 to lift, and in a specific embodiment, the opening and closing of the tenth clamping jaw B132 and the eleventh clamping jaw B133 may be implemented by cylinders.

Referring to fig. 1, 12 and 13, the ninth gripper B13 further includes a sixth lifting cylinder B134 connected to the output end of the fifth lifting cylinder B131, and a pressing block B135 connected to the output end of the sixth lifting cylinder B134, where the pressing block B135 can be controlled to descend against the thermal component 033, since the assembly locking device 03 is to install the trigger head 031 first, then install the thermal component 033, and then, the third installation position 023 is tightly matched with the thermal component 033, it is difficult to completely install the thermal component 033 in the third installation position 023 only by the eleventh clamping jaw B133, so that the pressing block 25 is provided to press the thermal component 033 after the eleventh clamping jaw B133 completes the placement of the thermal component 033, so that the thermal component 033 is further installed in the third installation position 023, and the installation is ensured to be firm.

Referring to fig. 14, the trigger assembly station C includes a second transfer module C10, two second supply modules C20 disposed on opposite sides of the second transfer module C10, and a turning device C30, the two second supply modules C20 respectively outputting a handle 081 and a rotating member 082 conforming to a reference posture, the second transfer module C10 transferring the handle 081 conforming to the reference posture into the turning device C30 to turn over, converting the handle 081 into an assembly posture, and assembling the rotating member 082 conforming to the reference posture onto the turned handle 081, and assembling the combined handle 081 and rotating member 082 together into the lower case 02.

Referring to fig. 14, each of the two second feeding modules C20 includes a second discharging device C21, a second vibration device C22, and a second visual recognition unit C23, each of the second vibration devices C22 includes a second vibration plate C24 connected to the second discharging device C21, and a second vibration mechanism C25, wherein the second discharging device C21 of one second feeding module C20 is used for transmitting a handle 081 to the second vibration plate C24 thereof, the second vibration plate C24 vibrates the handle 081 through the second vibration mechanism C25 thereof, the second visual recognition unit C23 of the second feeding module C20 acquires the posture corresponding to the handle 081 in the second vibration plate C24, and sends out a feedback signal when there are at least n handles 081 having the same current posture as the reference posture in the second vibration plate C24, the feedback signal includes coordinate information of the handle 081 conforming to the reference posture, and the control module stops the second vibration device C22 according to the feedback signal and drives the second transfer module C10 to grasp the posture of the handle 081 of the second feeding module C20.

The second discharging device C21 of the other second feeding module C20 is configured to transfer the rotating member 082 to the second vibrating plate C24 thereof, the second vibrating plate C24 vibrates the rotating member 082 through the second vibrating mechanism C25 thereof, the second visual recognition unit C23 of the second feeding module C20 obtains the posture of the rotating member 082 corresponding to the second vibrating plate C24, and sends out a feedback signal when there are at least n rotating members 082 having the same current posture as the reference posture in the second vibrating plate C24, the feedback signal includes coordinate information of the rotating member 082 conforming to the reference posture, and the control module stops the second vibrating device C22 according to the feedback signal and drives the second transferring module C10 to grasp the rotating member 082 conforming to the reference posture in the second vibrating plate C24 of the second feeding module C20.

Referring to fig. 14 to 19, the second transfer module C10 includes a first gripper C1a and a second gripper C1b that are liftable, and in a specific embodiment, the first gripper C1a and the second gripper C1b are respectively driven to lift by a lifting mechanism, which may be a lifting cylinder. In a specific arrangement, the first gripper C1a comprises a first gripper C11 and a second gripper C12, the first gripper C11 being configured to grip the handle 081 according to the reference posture output by the second feeding module, the second gripper C12 being configured to grip the handle 081 and the rotating member 082 (i.e. the triggering device 08) combined on the turning device C30, the second gripper C1b comprising a third gripper C21, the third gripper C21 being configured to grip the rotating member 082 according to the reference posture output by the second feeding module. The clamping jaw can be opened and closed through an air cylinder. Corresponding parts can be clamped by the first clamping jaw C11, the second clamping jaw C12 and the third clamping jaw C21 specially, so that the working beats of the first clamping hand C1a and the second clamping hand C1b are optimized, redundant actions of the second transfer module C10 are reduced, in a specific embodiment, the second transfer module C10 is an SDARA robot body, the first clamping hand C1a and the second clamping hand C1b are connected to the output end of the SDARA robot, and the SDARA robot rotates through driving the output end of the SDARA robot, so that the first clamping hand C1a and the second clamping hand C1b are driven to rotate to grasp different parts.

Referring to fig. 14 to 19, the turning device C30 includes a rotary seat C31 and a rotary mechanism C32 for driving the rotary seat C31 to rotate, the rotary mechanism C32 may be an existing motor or a rotary cylinder, a first mounting column C33 and a second mounting column C34 are disposed on the rotary seat C31 at intervals, a first positioning hole 086 corresponding to the first mounting column C33 is formed in the mounting groove 085 of the turning part 083, a second positioning hole 087 corresponding to the second mounting column C34 is formed in the toggle part 084, the second transfer module C10 transfers the handle 081 onto the rotary seat C31, so that the first mounting column C33 is inserted into the first positioning hole 086, and the second mounting column C34 is inserted into the second positioning hole 087, before turning the handle 081, the first mounting column C33 and the second mounting column C34 are oriented to correspond to the first positioning hole 086 and the second positioning hole 087 in the reference posture, and therefore the second transfer module C10 can grasp the handle outputted by the second feeding module and can be directly aligned with the first positioning hole 0833 and the second positioning hole 087, and can be mounted on the rotary shaft hole 082 through the rotary sleeve 082, and the turning device can be simultaneously mounted on the rotary sleeve 082 through the first mounting column 0833.

Referring to fig. 14 to 19, the first clamping jaw C11 includes two first clamping arms C13 that are disposed opposite to each other, the bottom ends of the first clamping arms C13 are respectively provided with a hollow structure C14 corresponding to the first positioning hole 086, when the handle 081 is clamped, the first clamping arms C13 are clamped at two sides of the rotating portion 083, so that the hollow structure C14 is aligned with the first positioning hole 086, and the toggle portion 084 is located outside the first clamping arms C13, so that the handle 081 is assembled on the rotating seat C31, and the hollow structure C14 is specially provided for the first positioning hole 086 on the rotating portion 083, so that the first clamping jaw C11 can be directly clamped at two sides of the rotating portion 083 with a larger volume without blocking the first positioning hole 086 when the handle 081 is clamped by setting the hollow structure C14, thereby further enhancing the clamping performance when the first positioning hole 086 is matched with the first mounting post C33.

Referring to fig. 17, fixing bases C35 are respectively connected between the first mounting post C33, the second mounting post An Zhu and the rotating base C31, and the fixing bases C35 leave a preset gap between the handle 081 mounted on the rotating base C31 and the rotating base C31, and the gap is used for allowing the first clamping jaw C11 to withdraw from the space between the mounting post and the rotating base C31 after the handle 081 is transferred.

Referring to fig. 20, the spring assembling station D includes a third transfer module D10, two third supply modules D20 disposed at opposite sides of the third transfer module D10, the two third supply modules D20 respectively output the first springs 04 and the second springs 05 conforming to the reference postures, the third transfer module D10 includes a second manipulator D11, a fourth gripper D12 and a fifth gripper D13 respectively provided on an output end of the second manipulator D11 for gripping the first springs 04 and the second springs 05, and the third transfer module D10 respectively assembles the first springs 04 and the second springs 05 conforming to the reference postures into the lower case 02.

Referring to fig. 20, the two third feeding modules D20 each include a third discharging device D21, a third vibrating device D22 and a third visual recognition unit D23, each third vibrating device D22 includes a third vibrating tray D24 connected with the third discharging device D21 and a third vibrating mechanism D25, wherein the third discharging device D21 of one third feeding module D20 is used for transmitting a first spring 04 to the third vibrating tray D24 thereof, the third vibrating tray D24 vibrates the first spring 04 through the third vibrating mechanism thereof, the first spring 04 is provided with two supporting legs, the third vibrating tray D24 is provided with a first spring positioning hole D241 matched with the supporting legs of the first spring 04, when the first spring 04 is vibrated into the supporting legs of the first vibrating tray D241, the third visual recognition unit D23 of the third feeding module D20 acquires the posture of the first spring 04 in the corresponding third vibrating tray D24, and when at least n current postures of the third vibrating tray D24 exist, the first vibration module D24 is in accordance with the first vibration module D04, the first visual recognition unit D20 gives out a feedback signal in accordance with the first vibration module D04, and the first vibration module D10 is in accordance with the third vibration module coordinate information;

The third discharging device D21 of the other third feeding module D20 is configured to transmit the second spring 05 to the third vibration plate D24 thereof, the third vibration plate D24 vibrates the second spring 05 through the third vibration mechanism thereof, the second spring 05 is provided with two legs, the third vibration plate D24 is provided with a second spring positioning hole D242 adapted to the legs of the second spring 05, when the second spring 05 is vibrated until the legs of the second spring 05 are inserted into the second spring positioning hole D242, the third visual recognition unit D23 of the third feeding module D20 obtains the posture of the second spring 05 in the corresponding third vibration plate D24, and sends a feedback signal when there are at least n second springs 05 with the same current posture as the reference posture in the third vibration plate D24, the feedback signal includes the coordinate information of the second spring 05 in accordance with the reference posture, the control module stops the third vibration device D22 according to the feedback signal, and the third transferring module D10 grasps the second spring 05 in the third vibration plate D24 in accordance with the reference posture.

Referring to fig. 20, the fourth gripper D12 includes a first lifting cylinder D121, a second driving cylinder D122 connected to an output end of the first lifting cylinder D121, and a fifth gripper D123 connected to an output end of the second driving cylinder D122, where the fifth gripper D123 may be controllably opened or closed to grip the first spring 04 under the driving of the second driving cylinder D122, and the first lifting cylinder D121 drives the fifth gripper D123 to lift; the fifth gripper D13 includes a third driving cylinder D131, and a fourth clamping jaw D132 connected to an output end of the third driving cylinder D131, where the fourth clamping jaw D132 is driven by the third driving cylinder D131 to be opened or closed so as to clamp the second spring 05, in a specific working scenario, after the fifth gripper D13 grabs the second spring 05, the control module may drive the second manipulator D11 to directly transfer the second spring 05 to the installation position of the second spring 05 according to the coordinates of the second spring 05 fed back by the visual recognition unit 3, then, because the installation heights of the first spring 04 and the second spring 05 are different, after the fourth gripper D12 grabs the first spring 04, the second manipulator D11 transfers the first spring 04 to a position above the installation position thereof and descends to a height when the second spring 05 is installed, and then, the first lifting cylinder D121 drives the fourth gripper D11 to descend so as to install the first spring 04 in the installation position thereof, and then, the first gripper D11 and the second manipulator D05 are installed in a manner that the first gripper D11 and the second manipulator D05 are prevented from interfering with each other when the first gripper D05 is installed.

Referring to fig. 21, the tripper and arc extinguishing assembly station E includes a fourth transfer module E10, two fourth supply modules E20 disposed on two opposite sides of the fourth transfer module E10, the two fourth supply modules E20 respectively output the electromagnetic tripper 07 and the arc extinguishing 06 conforming to the reference gesture, the fourth transfer module E10 includes a third manipulator E101, a sixth gripper E11, a seventh gripper E12 and a pressing block E13 are disposed on an output end of the third manipulator E101, the sixth gripper E11 is used for grabbing the electromagnetic tripper 07, the seventh gripper E12 is used for grabbing the arc extinguishing 06, the fourth transfer module E10 respectively assembles the electromagnetic tripper 07 and the arc extinguishing 06 conforming to the reference gesture into the lower case 02, and controls the pressing block E13 to descend to press the assembled electromagnetic tripper 07.

Referring to fig. 21 and 22, two fourth feeding modules E20 each include a fourth feeding device E21, a fourth vibration device E22 and a fourth visual recognition unit E23, each fourth vibration device E22 includes a fourth vibration disc E24 connected with the fourth feeding device E21 and a fourth vibration mechanism E25, wherein the fourth feeding device E21 of one fourth feeding module E20 is used for transmitting arc extinguishing 06 to the fourth vibration disc E24 thereof, the fourth vibration disc E24 vibrates arc extinguishing 06 through the fourth vibration mechanism E25 thereof, the upper and lower outer side surfaces of arc extinguishing 06 are flat surfaces, one side between the flat surfaces on the upper and lower sides is provided with an opening, the opposite side is provided with a connecting surface connected with the flat surfaces, when the arc extinguishing 06 is vibrated to the flat surfaces facing the fourth visual recognition unit E23, the fourth visual recognition unit E23 of the fourth feeding module E20 obtains the posture of the fourth vibration disc E24 corresponding to be driven, and when at least n current postures exist in the fourth vibration disc E24, the fourth vibration disc E06 is in accordance with the posture of the fourth vibration disc E06 and the feedback module E06 is in accordance with the feedback coordinate of the fourth vibration module E10, the vibration module E is controlled by the vibration module E06 is in accordance with the feedback signals of the fourth vibration module;

The fourth discharging device E21 of the other fourth feeding module E20 is configured to transmit the electromagnetic tripper 07 to the fourth vibration plate E24 thereof, the fourth vibration plate E24 vibrates the electromagnetic tripper 07 through the fourth vibration mechanism E25 thereof, the electromagnetic tripper 07 includes a wire contact 072, a coil 071, and a fixed contact 073, a wire screw is disposed on a side portion of the wire contact 072, the electromagnetic tripper 07 conforms to the reference posture when the wire screw is vibrated to an axis of the fourth visual recognition unit E23, the fourth visual recognition unit E23 of the fourth feeding module E20 acquires the posture of the electromagnetic tripper 07 corresponding to the fourth vibration plate E24, and sends a feedback signal when there are at least n electromagnetic trippers 07 with the same current posture as the reference posture in the fourth vibration plate E24, the feedback signal includes coordinate information of the electromagnetic tripper 07 conforming to the reference posture, and the control module stops the fourth vibration device E22 according to the feedback signal and drives the fourth transferring module E10 to grasp the electromagnetic tripper 07 conforming to the reference posture in the fourth vibration plate E24 of the fourth feeding module E20.

Referring to fig. 21 and 22, the sixth gripper E11 includes a second lifting cylinder E111, a fourth driving cylinder E112 connected to an output end of the second lifting cylinder E111, a fifth driving cylinder E113 located at a front side of the second lifting cylinder E111, a sixth driving cylinder E114 located at a rear side of the second lifting cylinder E111, a sixth jaw E115 connected to the fourth driving cylinder E112, a seventh jaw E116 connected to the fifth driving cylinder E113, an eighth jaw E117 connected to the sixth driving cylinder E114, the sixth jaw E115 being controllably opened or closed by the driving of the fourth driving cylinder E112, and being lifted by the driving of the second lifting cylinder E111, the seventh jaw E116 being controllably opened or closed by the driving of the fifth driving cylinder E113, the eighth jaw E117 being controllably opened or closed by the driving of the sixth driving cylinder E114, and gripping the electromagnetic trip 07, the sixth clamping jaw E115 clamps both ends of the coil 071, the seventh clamping jaw E116 clamps the upper end of the wire connection contact 072, the eighth clamping jaw E117 clamps the upper end of the fixed contact 073, after the third manipulator E101 transfers the electromagnetic release 07 to the upper side of its installation position, its output end descends a certain height, make the coil 071 first load into its corresponding installation position, then the second lifting cylinder E111 ascends to make the sixth clamping jaw E115 ascend a certain height, the output end of the third manipulator E101 continues to descend to insert the wire connection contact 072 and the fixed contact 073 into the corresponding installation positions, because the wire connection contact 072 and the fixed contact 073 are relatively tightly matched with each other, so that the third manipulator E101 needs to be further pressed down to be installed firmly, and the installation position of the coil 071 is relatively loose, when the coil 071 is installed, so that after the assembly of the coil 071 is completed, in order to avoid interference of the sixth clamping jaw E115 when the wiring contact 072 and the fixed contact 073 are assembled later, the sixth clamping jaw E115 is moved upwards, and then the wiring contact 072 and the fixed contact 073 are assembled later.

Referring to fig. 1, 21 and 22, the output end of the third manipulator E101 is further provided with a fourth lifting cylinder E118, the output end of the fourth lifting cylinder E118 is connected with the pressing block E13, and when the sixth clamping jaw E115, the seventh clamping jaw E116 and the eighth clamping jaw E117 are assembled with the electromagnetic release 07, the fourth lifting cylinder E118 drives the pressing block E13 to descend to abut against the upper end of the electromagnetic release 07, so that the electromagnetic release 07 is further inserted into a corresponding installation position, and the installation is more stable.

Referring to fig. 1, 21 and 22, in a specific embodiment, the seventh gripper E12 includes a third lifting cylinder E121 and an adsorption assembly E122 connected to an output end of the third lifting cylinder E121, and the adsorption assembly E122 is controllably lifted by the driving of the third lifting cylinder E121, so as to adsorb the arc extinction 06 and transfer it to a corresponding mounting position, and preferably, the adsorption assembly E122 includes a suction cup.

Referring to fig. 3 and 4, the packaging station F includes a fifth manipulator F1, where the fifth manipulator F1 is preferably a six-axis manipulator, and a gripper is disposed at an output end of the six-axis manipulator, and when the upper shell 01 and the lower shell 02 are combined, the fifth manipulator first grabs the upper shell 01 located on the jig, and covers the upper shell 01 on the lower shell 02, so as to obtain a packaged circuit breaker, and then the fifth manipulator grabs the circuit breaker to realize blanking, so as to complete assembly of the circuit breaker.

According to the feeding module, the feeding device and the vibrating device are arranged, the corresponding parts are vibrated to the reference postures by the corresponding vibrating device after being fed, the visual recognition unit is arranged to monitor the parts conforming to the reference postures, when only the number of the parts conforming to the conditions is consistent, the parts are fed back to the control module, the vibration of the vibration disc is stopped by the control module, the transfer module is controlled to grab away the parts conforming to the reference postures, wherein the reference posture information is preset, the reference posture information comprises the acquired view of the corresponding parts when the corresponding parts are allowed to be transferred on the vibration disc, namely, the parts are allowed to be transferred only when the parts are vibrated to the corresponding visual recognition unit with the designated side facing to the corresponding visual recognition unit, the angles of the parts in the directions parallel to the vibration disc are not limited, the coordinates of the parts conforming to the reference postures can be adjusted by the transfer module when the parts are transferred, and particularly, the coordinates of the parts conforming to the reference postures are fed back to the control module when the visual recognition unit feeds back signals to the control module, the coordinates of the parts are not required to be adjusted in detail through the control module, and the corresponding coordinates are not required to be processed by the drive module. In a specific embodiment, the reference posture information of the component may be stored in the control module or may be stored in the visual recognition unit. Through the operation, the transfer module can immediately grasp corresponding parts and transfer the parts to corresponding stations or directly assemble the parts on corresponding installation positions according to the information fed back by the visual identification unit, so that the function of automatically assembling the circuit breaker is realized, the production efficiency is improved, the cost is reduced, and the assembly quality is improved.

Referring to fig. 21, the discharging device of each feeding module includes a bracket H1, a bin H2 arranged on the bracket H1 and capable of swinging up and down, a swinging mechanism H3 connected with the bin H2, and a hopper H4 arranged at the lower side of the bin H2, wherein the front end of the bin H2 is provided with a discharge outlet, the upper and lower ends of the hopper H4 are open, the inner wall of the bin H4 is provided with a guide wall H41 which narrows gradually from top to bottom, the opening of the lower end of the hopper H4 is connected with a guide groove H5 extending towards the vibration disc 21, the swinging mechanism H3 selectively drives the bin H2 to swing downwards so as to intermittently convey parts into the hopper H4, the parts move downwards to the opening of the lower end of the hopper H4 under the guide of the guide wall H41 and enter the vibration disc through the guide groove H5, the intermittent discharging can avoid the excessive accumulation of the parts to block the hopper H4, and the arrangement of the hopper H4 and the guide groove H5 can effectively dredge the parts to the vibration disc, so that the parts are prevented from being damaged in the falling process.

Referring to fig. 21, in a specific embodiment, the bin H2 includes a mounting frame H21, a tray H22 and positioning cylinders H23, two clamping grooves H24 are relatively disposed on the lower side of the mounting frame H21, flanges H25 are disposed at opposite ends of the tray H22 corresponding to the clamping grooves H24, the tray H22 is inserted between the two clamping grooves H24 so that the flanges H25 are supported on the clamping grooves H24, two positioning cylinders H23 are disposed at opposite corners of the upper side of the mounting frame H21 corresponding to the tray H22, output ends of the two positioning cylinders H23 selectively press down against the flanges H25 to fix the tray H22 on the clamping grooves H24, the bin H2 is disposed in a manner convenient for supplementing parts, and after the parts of the bin H2 are exhausted, output ends of the positioning cylinders H23 are driven to retract, so that the tray H22 can be taken out from the clamping grooves H24, and the tray H22 with the parts can be directly replaced.

Referring to fig. 21, the visual recognition unit of each station includes a camera module H0 for capturing images, and the camera module H0 is vertically disposed above the corresponding vibration plate.

The working principle of the invention is as follows:

the first feeding platform A10 is provided with a lower shell 02 conforming to a reference posture in advance, the second feeding platform B20 is provided with a locking device 03 conforming to the reference posture in advance, the first transferring module A30 transfers the lower shell 02 to a jig of a material channel G, meanwhile, the first feeding module A20 vibrates the upper shell 01 until vibration is stopped when at least n upper shells 01 conforming to the reference posture exist on a vibration disc of the first feeding module A, then the first transferring module transfers one upper shell 01 conforming to the reference posture to the jig, the first feeding module A20 vibrates again, when the upper shell 01 and the lower shell 02 are placed on the jig, the material channel G transfers the jig to the next station, and transfers the next jig to the upper shell feeding station A and the lower shell 02, and the steps are repeated to realize continuous feeding of the upper shells 01 and the lower shells 02.

The material channel G conveys the jig to the locking device assembling station B, the fifth transferring module B10 clamps the trigger nose 031, the wiring contact 032 and the thermal component 033 of the locking device 03 through the eighth clamp B12 and the ninth clamp B13, in the clamping process, as the eighth clamp B12 descends, the limiting column B151 firstly presses against the upper end face of the trigger nose 031, the limiting blocking arm B152 presses against the outer side face of the trigger nose 031, which is positioned close to one side of the ninth clamp B13, so that the locking device 03 is pressed on the second material platform B20, the locking device 03 cannot deviate when the eighth clamp B12 and the ninth clamp B13 clamp, the fifth transferring module B10 transfers the locking device 03 to the upper side of the lower shell 02 after clamping, then the eighth clamp B12 descends to place the trigger nose 031 into the first mounting position 021, the ninth clamp B13 descends to place the wiring contact 032 and the thermal component 033 into the corresponding mounting position, finally the sixth clamp B135 descends to drive the wiring contact 033 into the lifting position, the third clamp B135 to further mount the pressing device 03 to the locking device 03, and the step of the locking device is further assembled, and the assembling station B03 is completed.

The lane G transfers the jig to the trigger assembly station C, the second supply module C20 vibrates the handle 081 and the rotating member 082, respectively, when there are at least n handles 081 conforming to the reference posture, the corresponding second supply module C20 stops vibrating, the second transfer module C10 transfers one handle 081 conforming to the reference posture to the turning device C30 to turn over, thereby converting the handle 081 into the assembly posture, when there are at least n rotating members 082 conforming to the reference posture, the corresponding second supply module C20 stops vibrating, then the second transfer module C10 installs one rotating member 082 conforming to the reference posture on the turned handle 081, then the second transfer module C10 assembles the combined handle 081 and rotating member 082 into the lower case 02 on the jig, then the lane G transfers the jig to the next station, and transfers the next jig to the trigger assembly station C, and the above steps are repeated to continue the assembly of the trigger 08.

The material channel G transmits the jig to the spring assembly station D, the third feeding module D20 vibrates the first spring 04 and the first spring 05 respectively, when at least n parts (the first spring 04 or the second spring 05) which meet the reference posture exist on the corresponding vibration disc, the corresponding third feeding module D20 stops vibrating, the third transferring module D10 immediately assembles one part (the first spring 04 or the second spring 05) which meet the reference posture into the lower shell 02 positioned on the jig, the third feeding module D20 vibrates again, at the moment, the other third feeding module D20 also vibrates at least n parts which meet the reference posture, the third transferring module D10 assembles one part which meet the reference posture on the third feeding module D20 into the lower shell 02, after the first spring 04 and the second spring 05 are installed in the lower shell 02 on the jig, the material channel G transmits the jig to the next station, and the next jig is transmitted to the spring assembly station D, and the steps are repeated for assembling the first spring 04 and the second spring 05.

The material channel G transmits the jig to the tripper and arc-extinguishing assembly station E, the fourth material supply module E20 vibrates the arc-extinguishing 06 and the electromagnetic tripper 07 respectively, when at least n electromagnetic trippers 07 conforming to the reference postures exist on the corresponding vibration disc, the corresponding fourth material supply module E20 stops vibrating, the fourth material supply module E10 assembles one electromagnetic tripper 07 conforming to the reference postures into the lower shell 02 on the jig, at the moment, the other fourth material supply module E20 also vibrates at least n arc-extinguishing 06 conforming to the reference postures, the fourth material supply module E10 assembles one arc-extinguishing 06 conforming to the reference postures into the lower shell 02, after the arc-extinguishing 06 and the electromagnetic tripper 07 are installed in the lower shell 02 on the jig, the material channel G transmits the jig to the next station, and transmits the next jig to the tripper and arc-extinguishing assembly station E, and the steps are repeated to continue the assembly of the arc-extinguishing 06 and the electromagnetic tripper 07.

The material channel G conveys the jig to the packaging station F, the fifth manipulator F1 covers the upper shell 01 on the jig on the lower shell 02 to complete the packaging of the circuit breaker, and the packaged circuit breaker is transferred from the jig to realize blanking.

Compared with the prior art, the circuit breaker assembly equipment provided by the invention is provided with the material channel G, the upper shell feeding station A, the lower shell feeding station A, the locking device assembly station, the trigger device assembly station C, the spring assembly station D, the tripper, the arc extinguishing assembly station E and the packaging station F which are sequentially arranged along the feeding direction of the material channel G, so that all parts are automatically assembled in the lower shell in a specific gesture, and the circuit breaker assembly equipment is high in automation degree, overcomes the defect that the circuit breaker is assembled manually in the prior art, effectively improves the assembly efficiency and quality, and reduces the labor cost.

Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.

Claims

1. Breaker equipment, the circuit breaker that involves includes epitheca, inferior valve, trigger device, locking device, first spring, second spring, electromagnetic release and arc extinction, its characterized in that, equipment includes control module, material way and a plurality of stations that set gradually along the material way pay-off direction, the material way to in proper order a plurality of stations conveying tool, a plurality of stations include:

the upper shell and lower shell feeding station is used for transferring the upper shell and the lower shell to the jig in a reference posture;

the locking device assembly station is used for assembling the locking device in the lower shell in a reference posture;

the trigger device assembly station is used for converting a trigger device in a reference posture into an assembly posture, installing the trigger device in a lower shell in the assembly posture, and comprises a second transfer module, two second feeding modules and a turnover device, wherein the two second feeding modules are arranged on two opposite sides of the second transfer module;

A spring assembly station for assembling the first spring and the second spring in the lower case in a reference posture;

and the packaging station is used for closing the upper shell cover on the lower shell.

2. The circuit breaker assembly apparatus of claim 1 wherein the upper and lower case loading stations comprise a first loading station, a first feeding module and a first transfer module, the first feeding module outputs an upper case conforming to a reference posture, a lower case conforming to the reference posture is preset on the first loading station, and the first transfer module transfers the upper case and the lower case conforming to the reference posture to the jig, respectively.

3. The circuit breaker assembly device according to claim 1, wherein the turning device comprises a rotating seat and a rotating mechanism for driving the rotating seat to turn over, a first mounting column and a second mounting column are arranged on the rotating seat, a first positioning hole corresponding to the first mounting column is formed in the rotating portion, a second positioning hole corresponding to the second mounting column is formed in the poking portion, and the second transfer module transfers the handle to the rotating seat so that the first mounting column is inserted into the first positioning hole and the second mounting column is inserted into the second positioning hole.

4. The circuit breaker assembly apparatus of claim 3, wherein the second transfer module includes a first gripper and a second gripper, the first gripper includes a first gripper and a second gripper, the second gripper is used for gripping a handle and a rotating member combined on the turning device, the second gripper is used for gripping a rotating member output by the second feeding module and conforming to a reference gesture, the first gripper includes two gripper arms oppositely arranged, the bottom ends of the gripper arms are respectively provided with a hollowed-out structure corresponding to the first positioning hole, the gripper arms are clamped on two sides of the rotating portion when gripping the handle, the hollowed-out structure is aligned to the first positioning hole, and the poking portion is located outside the gripper arms, so that the handle is assembled on the rotating seat.

5. The circuit breaker assembly apparatus of claim 1 wherein the spring assembly station comprises a third transfer module, two third feed modules disposed on opposite sides of the third transfer module, the two third feed modules outputting first and second springs conforming to the reference attitude, respectively, the third transfer module being provided with fourth and fourth grips for gripping the first and second springs, respectively, the third transfer module assembling the first and second springs conforming to the reference attitude into the lower case, respectively.

6. The circuit breaker assembly device of claim 1, wherein the tripper and arc extinguishing assembly station comprises a fourth transfer module, two fourth supply modules arranged on two opposite sides of the fourth transfer module, the two fourth supply modules respectively output an electromagnetic tripper and arc extinguishing according to a reference gesture, the fourth transfer module comprises a fifth gripper, a sixth gripper and a pressing block, the fifth gripper is used for grabbing the electromagnetic tripper, the sixth gripper is used for grabbing the arc extinguishing, the fourth transfer module respectively assembles the electromagnetic tripper and the arc extinguishing according to the reference gesture into the lower shell, and controls the pressing block to descend to press the assembled electromagnetic tripper.

7. The circuit breaker assembly apparatus of claim 1 wherein the locking device assembly station includes a second loading station on which a locking device conforming to a reference attitude is preset, and a fifth transfer module including a trigger head, a thermal assembly connected to the trigger head, and a wire connection contact connected to the thermal assembly, the fifth transfer module including a seventh gripper and an eighth gripper that are liftable when the locking device is assembled, the seventh gripper gripping the trigger head and the thermal assembly to transfer the locking device above the lower case, and then the seventh gripper descends to assemble the trigger head into the lower case, and then the eighth gripper descends to assemble the wire connection contact and the thermal assembly into the lower case.

8. The circuit breaker assembly device of claim 7, wherein the seventh gripper comprises a third gripper jaw and a fourth gripper jaw, the third gripper jaw comprises a third gripper arm and a fourth gripper arm which are clamped on the outer side face of the trigger head, the seventh gripper further comprises a limiting assembly, the limiting assembly comprises a limiting column which is arranged between the third gripper arm and the fourth gripper arm and is used for pressing the upper end face of the trigger head downwards, and a limiting blocking arm which is arranged on one side, close to the eighth gripper, of the seventh gripper, a limiting hole matched with a pin shaft of the upper end face of the trigger head is formed in the lower end of the limiting column, the limiting blocking arm has a preset swing amplitude in the direction from the seventh gripper to the eighth gripper, and the limiting blocking arm is used for blocking the outer side face, close to the eighth gripper, of the trigger head when the seventh gripper grips the trigger head.

9. The circuit breaker assembly apparatus of any one of claims 2 to 5 wherein the feed modules of each station each include a blanking device, a vibrating device and a visual recognition unit, the vibrating device includes a vibrating tray engaged with the blanking device and a vibrating mechanism, the blanking device is used for conveying parts to the vibrating tray, the vibrating tray vibrates the parts through the vibrating mechanism, the visual recognition unit obtains the postures of the parts in the vibrating tray and sends a feedback signal when at least n parts with the same current postures as the reference postures exist in the vibrating tray, the feedback signal includes coordinate information of the parts conforming to the reference postures, and the control module stops the vibrating device according to the feedback signal and drives the transfer module to grasp the parts conforming to the reference postures in the vibrating tray.