CN113857800B

CN113857800B - Automatic assembling device

Info

Publication number: CN113857800B
Application number: CN202010624193.3A
Authority: CN
Inventors: 陈海博; 杜长林; 何秋飞; 刘锋; 曾宪钎
Original assignee: Fu Ding Electronical Technology Jiashan Co Ltd
Current assignee: Fu Ding Electronical Technology Jiashan Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2022-11-01
Anticipated expiration: 2040-06-30
Also published as: CN113857800A

Abstract

The invention provides an automatic assembling device, which comprises a transmission mechanism and an assembling mechanical arm arranged on one side of the transmission mechanism, wherein the transmission mechanism comprises a support frame and a streamline arranged on the support frame, the assembling mechanical arm is used for grabbing parts and assembling the parts on a product, and the automatic assembling device also comprises: the positioning mechanism is arranged on the streamline and moves along with the streamline, and is used for positioning a product; the first sensor is connected with the support frame and arranged adjacent to the assembling mechanical arm, and is used for sending a first sensing signal when sensing a product; and the control mechanism is electrically connected with the flow line, the manipulator and the first sensor, and is used for acquiring the running speed of the flow line and controlling the assembling manipulator to synchronously move with the flow line after receiving the first sensing signal so that the assembling manipulator assembles parts onto a product. The automatic assembly device can assemble products on line, and the assembly efficiency is improved.

Description

Automatic assembling device

Technical Field

The invention relates to the field of mechanical automation, in particular to an automatic assembling device.

Background

In the assembly process of electronic products, the products are often transported by using a production line, when the products are transported to a processing position, the production line stops running, a manipulator assembles a workpiece to be assembled on the products, and then the production line continues running.

However, the above assembly method not only needs to accurately position the product on the processing position, but also needs to suspend the operation of the assembly line, and therefore, the assembly efficiency is not high.

Disclosure of Invention

In view of the above situation, it is necessary to provide an automatic assembling device to solve the above problems.

The invention provides an automatic assembling device, which comprises a transmission mechanism and an assembling mechanical arm arranged on one side of the transmission mechanism, wherein the transmission mechanism comprises a support frame and a streamline arranged on the support frame, the assembling mechanical arm is used for grabbing parts and assembling the parts on a product, and the automatic assembling device also comprises:

the positioning mechanism is arranged on the streamline and moves along with the streamline, and is used for positioning a product;

the first sensor is connected with the supporting frame and arranged adjacent to the assembling mechanical arm, and is used for sending a first sensing signal when sensing a product; and

the control mechanism is electrically connected with the streamline, the manipulator and the first sensor, and is used for acquiring the running speed of the streamline and controlling the assembling manipulator and the streamline to move synchronously after receiving the first sensing signal, so that the assembling manipulator assembles parts onto a product.

The automatic assembling device comprises a transmission mechanism, an assembling mechanical arm, a positioning mechanism, a first sensor and a control mechanism, wherein the first sensor is arranged close to the assembling mechanical arm and used for sending a first sensing signal when sensing a product; the control mechanism is electrically connected with the flow line, the manipulator and the first sensor, and is used for acquiring the running speed of the flow line and controlling the assembling manipulator and the flow line to move synchronously after receiving the first sensing signal, so that the assembling manipulator assembles parts onto products. Therefore, the automatic assembling device can assemble products on the basis of a continuous streamline, and saves assembling time and assembling cost.

Drawings

Fig. 1 is a perspective view of an automatic assembly device according to an embodiment of the present invention.

Fig. 2 is a plan view of a partial structure of the automatic assembling apparatus shown in fig. 1.

Fig. 3 is a perspective view of a positioning mechanism in the automatic assembling apparatus shown in fig. 1.

Fig. 4 is a perspective view of a positioning mechanism and a pressing mechanism in the automatic assembling apparatus shown in fig. 1.

Fig. 5 is a perspective view of a secondary positioning mechanism in the automatic assembling device shown in fig. 1.

Fig. 6 is a schematic perspective view of the secondary positioning mechanism shown in fig. 5 from another angle.

Fig. 7 is a perspective view of an assembly gripper of the automatic assembly apparatus shown in fig. 1.

Figure 8 is a perspective view of the assembled gripper of figure 7 from another angle.

Description of the main elements

Automatic assembling device 100

Transmission mechanism 10

Flow line 11

Supporting frame 12

Mounting table 121

Servo motor 13

Drive wheel 14

Driven wheel 15

Synchronous belt 16

Guide strip 17

Assembly robot 20

First robot arm 21

Assembly gripper 22

Paw type connecting part 221

Rotating assembly 222

Substrate 2221

Driving cylinder 2222

Sliding block 2223

Chute board 2224

Follower 2225

First sliding groove 2226

Second sliding groove 2227

Sheave element 2228

Edge resting component 223

Slider 2231

Side support 2232

Assembly component 224

Connecting block 2241

Pump body 2242

Positioning mechanism 30

Self-locking assembly 31

Connecting piece 311

Catch 312

Self-locking elastic piece 313

Guide plate 314

Guide bar 315

First suction attachment 316

Second adsorption member 317

Fixing member 32

First positioning member 33

First fixing block 331

The first push block 332

First elastic member 333

Roller 334

Second positioning member 34

Second fixed block 341

Second push block 342

Second elastic member 343

Sensing mechanism 40

First inductor 41

Second inductor 42

Third inductor 43

Control mechanism 50

First hold-down mechanism 60

Push-down actuator 61

Pressing block 62

Secondary positioning mechanism 70

Supporting plate 71

Positioning drive assembly 72

Positioning driving member 721

Positioning push block 722

First inclined surface 7221

Inclined pushing block 723

Second inclined surface 7231

Positioning member 73

Second pressing mechanism 80

Feeding manipulator 90

Second robot 91

Feeding claw 92

Product 200

Part 201

Tray 300

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 and 2, an automatic assembling apparatus 100 for automatically assembling a workpiece to a product is provided. The automatic assembling apparatus 100 includes a transfer mechanism 10, an assembling robot 20, a positioning mechanism 30, a sensing mechanism 40, and a control mechanism 50.

The transmission mechanism 10 is used for transmitting the product 200, the transmission mechanism 10 includes a flow line 11, a support frame 12 and a servo motor 13, the flow line 11 is a transmission belt and is rotatably disposed on the support frame 12, and the servo motor 13 is fixed on the support frame 12 and is used for driving the flow line 11 to rotate according to a preset operation speed.

The transmission mechanism 10 further comprises a driving wheel 14, a driven wheel 15 and a synchronous belt 16, wherein the driving wheel 14 is connected with the servo motor 13, the driven wheel 15 is rotatably arranged on the supporting frame, and the synchronous belt 16 is simultaneously sleeved on the driving wheel 14 and the driven wheel 15 and used for driving the streamline 11 to rotate.

It can be understood that the transmission mechanism 10 further includes two rotating shafts (not shown) respectively disposed at two sides of the supporting frame 12, two ends of the flow line 11 are respectively sleeved on the two rotating shafts, and one of the rotating shafts is connected with the driven wheel 15, so that the flow line 11 is not easy to slip, and the transmission stability is improved.

The assembling robot 20 is provided at one side of the transfer mechanism 10, and is used to pick up parts and assemble the parts to products. The assembly robot 20 includes a first robot arm 21 and an assembly gripper 22 attached to an end of the first robot arm.

The positioning mechanism 30 is disposed on the flow line 11 and moves along with the flow line 11, and the positioning mechanism 30 is used for positioning the product 200.

The sensing mechanism 40 includes a first sensor 41, the first sensor 41 is connected to the rack 12 and disposed adjacent to the assembling robot 20, and the first sensor 41 is configured to emit a first sensing signal when the product 200 is sensed.

The control mechanism 50 is electrically connected to the transmission mechanism 10, the assembly robot 20 and the sensing mechanism respectively. The control mechanism 50 is configured to obtain the operation speed of the flow line 11, and control the assembling robot 20 to move synchronously with the flow line 11 after receiving the first sensing signal, so that the assembling robot 20 assembles the parts onto the product, and therefore, the automatic assembling apparatus 100 does not need to shut down the flow line 11, and realizes online assembly, thereby improving the assembly efficiency.

In the present embodiment, the servomotor 13 transmits a velocity signal of the flow line 11 to the control mechanism 50 so that the control mechanism 50 can acquire the running velocity of the flow line 11. In particular, the servomotor 13 is provided with an encoder which sends the speed of rotation of the servomotor to the control means 50, the control means 50 calculating the running speed of the flow line according to said speed of rotation.

In this embodiment, the automatic assembling apparatus 100 further includes a mounting table 121 fixed to the support frame 12, and the mounting table 121 is disposed adjacent to the assembling robot 20 and used for placing the tray 300 for accommodating the parts. Thus, the assembling robot 20 can grasp the parts in the tray 300.

In the present embodiment, the number of the positioning mechanisms 30 is plural, and the plural positioning mechanisms 30 are sequentially provided on the streamline 11.

Referring to fig. 3, the positioning mechanism 30 includes a self-locking assembly 31 and a fixing member 32 spaced apart from each other in the first direction X. The first direction X is parallel to the direction of transmission of the stream line 11.

The self-locking assembly 31 includes a connecting member 311, a retaining member 312 and a self-locking elastic member 313, and two ends of the self-locking elastic member 313 respectively support against the connecting member 311 and the retaining member 312. The retaining member 312 is movably disposed on the streamline 11 and located on a side of the connecting member 311 facing the fixing member 32, and the retaining member 312 is used for pushing the product 200 to move along the first direction X to cooperate with the fixing member 32 to position the product 200 in the first direction X.

The self-locking assembly 31 further includes a guide plate 314 and a guide rod 315, the guide plate 314 is located on one side of the connecting member 311 far away from the retaining member 312, one end of the guide rod 315 is connected to the retaining member 312, the other end of the guide rod is connected to the guide plate 314, and the self-locking elastic member 313 is sleeved on the guide rod 315. The guide plate 314 is movably disposed on the flow line 11. A gap is provided between the guide plate 314 and the connection member 311. In this embodiment, the connection piece 311 is fixed to the flow line 11.

In the present embodiment, the positioning mechanism 30 further includes a first positioning member 33 and a second positioning member 34 oppositely disposed in the second direction Y. The second direction Y is perpendicular to the first direction X.

The first positioning member 33 includes a first fixing block 331, a first pushing block 332, a first elastic member 333, and a roller 334. The first fixing block 331 is fixed on the streamline 11, the first push block 332 and the roller 334 are respectively located on opposite sides of the first fixing block 331, the first push block 332 is movably connected with the first fixing block 331 and used for pushing the product 200, and the first elastic member 333 is arranged between the first push block 332 and the first fixing block 331 and used for providing elastic force to the first push block 332 along the second direction Y. The roller 334 is rotatably connected to the first fixing block 331.

The second positioning member 34 includes a second fixed block 341, a second pushing block 342, and a second elastic member 343. The second fixed block 341 is fixed on the flow line 11, the second push block 342 is movably connected with the second fixed block 341 and used for pushing the product 200, and the second elastic member 343 is disposed between the second fixed block 341 and the second push block 342 and used for providing elastic force to the second push block 342 along the second direction Y.

In an embodiment, the first positioning element 33 and the second positioning element 34 both include a connecting rod, one end of the connecting rod is connected to the first pushing block 332 or the second pushing block 342, and the other end of the connecting rod is slidably disposed on the first fixing block 331 or the second fixing block 341 through the connecting rod, so as to guide the first pushing block 332 or the second pushing block 342.

Referring to fig. 2 again, the automatic assembling device further includes a guide strip 17, and the guide strip 17 is located at a side of the supporting frame 12 and at a side of the mounting platform 121 and the first pressing mechanism 60 away from the loading end. When the positioning mechanism 30 moves to the position of the guide bar 17 along the streamline 11, the roller 334 of the first positioning member 33 abuts against the guide bar 17, and the first pushing block 332 moves towards the second pushing block 342 along the second direction Y to position the product in the second direction Y. The guide strips 17 have guide slopes at both ends thereof to facilitate the sliding of the rollers 334.

Referring to fig. 4, in the self-locking assembly 31, one of the connecting member 311 and the retaining member 312 includes a magnet, and the other includes an iron block, and the magnet is disposed opposite to the iron block. When the clamping piece 312 and the connecting piece 311 are close to each other, the magnet and the iron block are attracted to each other, and the self-locking assembly 31 is in an unlocking state and does not clamp the product 200; when the retaining member 312 and the connecting member 311 are away from each other, the magnet and the iron block are not adsorbed any more, i.e. a certain distance is kept between the retaining member 312 and the connecting member 311, and at this time, the self-locking assembly 31 is in a locking state to clamp the product 200. For example, the connecting member 311 includes a first absorbing member 316, and the holding member 312 includes a second absorbing member 317, wherein the first absorbing member 316 is a magnet, and the second absorbing member 317 is an iron block; alternatively, the first absorbing member 316 is an iron block, and the second absorbing member 317 is a magnet.

The automatic assembling device 100 further comprises a first pressing mechanism 60, the first pressing mechanism 60 is fixed above the flow line 11 and comprises a pressing driving member 61 and a pressing block 62 which are connected, the pressing driving member 61 is used for driving the pressing block 62 to move up and down along a direction (a third direction Z) perpendicular to the flow line 11, so that the pressing block 62 is inserted between the connecting member 311 and the retaining member 312, and the retaining member 312 moves towards the fixing member 32. In the present embodiment, the push-down driving member 61 is fixed to the mounting table 121.

Preferably, a first guiding inclined surface is arranged on one side of the holding member 312 facing the connecting member 311, and a second guiding inclined surface matched with the first guiding inclined surface is arranged on one end of the pressing block 62 far away from the pressing driving member 61.

The sensing mechanism 40 further includes a second sensor 42, and the second sensor 42 is disposed adjacent to the first pressing mechanism 60 for sensing the product and emitting a second sensing signal. Specifically, when the positioning mechanism 30 moves to the second sensor 42, the second sensor 42 sends a second sensing signal, the control mechanism 50 receives the second sensing signal and controls the pressing driving member 61 to make the pressing block 62 driven by the pressing driving member 61 to descend, and the pressing block 62 is inserted between the connecting member 311 and the clamping block 312 to make the clamping member 312 move toward the fixing member 32, so as to accurately position the product 200 in the first direction X.

Referring to fig. 1, 5 and 6, the automatic assembling apparatus 100 further includes a secondary positioning mechanism 70 fixed on the mounting table 121, and the secondary positioning mechanism includes a supporting plate 71, a positioning driving assembly 72 and two secondary positioning members 73. The supporting plate 71 is fixed on one side of the mounting table 121 facing the streamline 11, and a through hole is formed in the supporting plate 71.

The positioning driving assembly 72 includes a positioning driving member 721, a positioning pushing block 722 and two inclined pushing blocks 723, the end of the positioning pushing block 722 is provided with two first inclined surfaces 7221 with opposite inclined directions, the two inclined pushing blocks 723 are movably disposed on the supporting plate 71 and respectively include second inclined surfaces 7231, and the second inclined surfaces 7231 are matched with the corresponding first inclined surfaces 7221.

The two secondary positioning members 73 are arranged on one side of the support plate 71 far away from the streamline 11 and are perpendicular to each other, and the two secondary positioning members 73 are respectively connected with the two inclined pushing blocks 723.

The positioning driving member 721 can drive the positioning pushing block 722 to move linearly, and the positioning pushing block 722 pushes two inclined pushing blocks 723 to move simultaneously through two first inclined surfaces 7221, so that the two secondary positioning members 73 move simultaneously to move in the first direction X and the second direction Y, and the two secondary positioning members 73 position the parts to be assembled together.

In the present embodiment, the positioning driver 721 is a cylinder, but is not limited thereto, and may be another driver such as a hydraulic cylinder.

The assembly gripper 22 shown in figures 7 and 8 is intended to cooperate with the first robot arm 21 to effect the fitting of the part 201 into the tank of the product. In one embodiment, the assembly gripper 22 includes a gripper connector 221, a rotation component 222, an edge-abutting component 223 and a mounting component 224, the gripper connector 221 is connected to the first robot arm 21, so that the assembly gripper 22 is moved by the first robot arm 21, the rotation component 222 is connected to the gripper connector 221, and the edge-abutting component 223 and the mounting component 224 are connected to the rotation component 222 to rotate under the driving of the rotation component 222.

The rotating assembly 222 includes a base plate 2221, a driving cylinder 2222, a sliding block 2223, a sliding slot plate 2224, and a driven member 2225.

The base plate 2221 is connected to the claw connecting member 221, and a first sliding groove 2226 is formed in the base plate 2221.

The sliding block 2223 is slidably connected to the first sliding groove 2226 and connected to the driving cylinder 2222, and is driven by the driving cylinder 2222 to move back and forth along the first sliding groove 2226.

The chute plate 2224 abuts against the base plate 2221. A second sliding groove 2227 is disposed on the sliding groove plate 2224, and the second sliding groove 2227 is used for limiting the movement of the follower 2225. In one embodiment, the second sliding groove 2227 has a circular arc shape, and the circular arc angle is set to be 40 °.

The follower 2225 is hinged to the sliding block 2223, and in an embodiment, the rotating assembly 222 further includes a sheave element 2228, the sheave element 2228 is symmetrically arranged with the follower 2225, one end of the sheave element 2228 is slidably arranged in the second sliding groove 2227, and the sheave element 2228 is matched with the second sliding groove 2227 to realize sliding. In one embodiment, the sheave 2228 and the follower 2225 are connected by a bolt, and the sheave 2228 has a cross section substantially in the shape of an isosceles triangle and a closed angle of 10 degrees. It can be understood that the rotation is eccentric rotation, and in a specific use process, the rotation at different angles can be realized by replacing the sliding groove plate 2224 with different shapes, so as to meet the installation requirements of different products.

The side member 223 includes a slider 2231 and a side member 2232, and the side member 2232 is connected to an end of the slider 2231 to fit the product 200 for subsequent installation of the component 201. The slider 2231 is movably connected to the follower 2225. The edge rest assembly 223 further includes a buffer spring (not shown) disposed at the junction of the slider 2231 and the follower 2225 for absorbing energy generated when the edge rest 2232 is attached to a product. In one embodiment, the side rest 2232 is substantially rectangular.

Assembly component 224 includes connecting block 2241, sucking disc (not shown) and the pump body 2242, and connecting block 2241 connects on slider 2231, the sucking disc connect in connecting block 2241 for absorb part 201, pump body 2242 connect in connecting block 2241 and with the sucking disc forms the vacuum, in order to realize absorbing and putting down part 101.

Referring to fig. 1 and fig. 2 again, in an embodiment, the automatic assembling device 100 further includes a second pressing mechanism 80, and the second pressing mechanism 80 has the same structure as the first pressing mechanism 60, and is not repeated. The second pressing mechanism 80 is disposed on a side of the diversion strip 17 away from the first pressing mechanism 60, and is used for unlocking the self-locking assembly 31.

The second pressing mechanism 80 can be inserted into the gap between the guide plate 314 and the connecting member 311, so as to drive the guide plate 314, the guide rod 315 and the catch 312 to move away from the fixing member 31, so as to unlock the self-locking assembly 31.

The sensing mechanism 40 further includes a third sensor 43, and the third sensor 43 is disposed adjacent to the second pressing mechanism 80. When the third sensor 43 senses the product, it sends a third sensing signal, and the control mechanism 50 receives the third sensing signal and controls the second pressing mechanism 80 to move toward the self-locking assembly 31, so that the connecting member 311 and the retaining member 312 are close to each other.

In one embodiment, the automatic assembling apparatus 100 further includes a feeding robot 90 disposed at the feeding end of the conveying mechanism 10, and the feeding robot 90 includes a second robot arm 91 and a feeding gripper 92 connected to the second robot arm 91. In the present embodiment, the feeding gripper 92 includes a plurality of suction cups, but is not limited thereto, and may include a clamping member such as a clamping jaw. When the control mechanism 50 receives the third sensing signal, the control mechanism 50 controls the feeding manipulator 90 to take the product 200.

The automatic assembly device 100 is used as follows.

Firstly, a product is placed in the positioning mechanism 30, the streamline 11 conveys the product along a first direction X, when the second sensor 42 senses the product 200, the second sensor 42 sends a second sensing signal, the control mechanism 50 controls the first pressing mechanism 60 to press the self-locking assembly 31 downwards, so that the clamping piece 312 in the self-locking assembly 31 moves towards the fixing piece 32, and the product 200 is accurately positioned in the first direction X;

meanwhile, the assembling manipulator grabs the part 201 from the tray 300 and places the part 201 into the secondary positioning mechanism 70 to position the part 201 to be assembled, and then the assembling manipulator grabs the part 201 from the secondary positioning mechanism 70 to wait for assembling;

then, the product 200 continues to move along the flow line 11, the roller of the first positioning member 33 abuts against the flow guide strip 17, and the first pushing block 332 of the first positioning member 33 moves toward the second pushing block 342 to position the product 200 in the second direction Y; the first sensor 41 senses the product 200 and sends a first sensing signal, the control mechanism 50 controls the assembling manipulator 20 to move synchronously with the flow line 11 according to the speed of the flow line 11, and the assembling paw mounts 22 the part 201 on the product 200;

then, the product 200 moves along with the flow line 11, the third sensor 43 senses the product 200, and the control mechanism 50 controls the second pushing mechanism 80 to move to push the self-locking assembly 31 downward, so that the retainer 312 and the connecting member 311 approach each other, and the retainer 312 no longer retains the product 200, i.e., releases the product in the first direction X; and, the first pusher 332 moves away from the second pusher 342 to release the product 200 in the second direction Y; the blanking manipulator 90 takes away the product 200.

The automatic assembling device 100 includes a transmission mechanism 10, an assembling robot 20, a positioning mechanism 30, a first sensor 41 and a control mechanism 50, wherein the first sensor 41 is disposed adjacent to the assembling robot 20, and the first sensor 41 is configured to send a first sensing signal when sensing a product 200; the control mechanism 50 is electrically connected to the flow line 11, the assembling robot 20 and the first sensor 41, and the control mechanism 50 is configured to acquire the operation speed of the flow line 11 and control the assembling robot 20 to move synchronously with the flow line 11 after receiving the first sensing signal, so that the assembling robot 20 assembles the parts 201 onto the products 200. Therefore, the automatic assembling device 100 can assemble products on the basis of a continuous flow line, so that online assembly is realized, the assembly efficiency is improved, and the assembly time and the assembly cost are saved.

Meanwhile, the positioning mechanism 30 comprises the self-locking assembly 31 and the fixing piece 32, the product 200 can be accurately positioned, the parts 201 are assembled on the product 200 accurately, and the assembly yield is improved. Moreover, the first pressing mechanism 60 and the second pressing mechanism 80 can control the locking and unlocking of the self-locking assembly 31, so that the product 200 can be conveniently clamped or released, and the automation degree and the assembly efficiency are further improved.

In addition, other modifications within the spirit of the invention may occur to those skilled in the art, and such modifications are, of course, included within the scope of the invention as claimed.

Claims

1. The utility model provides an automatic assembly device, includes transmission device and locates the equipment manipulator of transmission device one side, transmission device includes the support frame and locates streamline on the support frame, equipment manipulator is used for snatching the part and assembles the part on the product, its characterized in that, automatic assembly device still includes:

the positioning mechanism is arranged on the streamline and moves along with the streamline, and the positioning mechanism is used for positioning a product;

the control mechanism is electrically connected with the streamline, the assembling manipulator and the first inductor and is used for acquiring the running speed of the streamline and controlling the assembling manipulator to synchronously move with the streamline after receiving the first induction signal so that the assembling manipulator assembles parts on a product;

the positioning mechanism comprises self-locking assemblies and fixing pieces which are arranged at intervals in a first direction;

the self-locking assembly comprises a connecting piece, a clamping piece and a self-locking elastic piece, two ends of the self-locking elastic piece respectively support against the connecting piece and the clamping piece, the clamping piece is movably arranged on the flow line and positioned on one side of the connecting piece facing the fixing piece, and the clamping piece is used for pushing a product to move along the first direction;

the automatic assembling device also comprises an installation platform arranged on the support frame, and the installation platform is arranged adjacent to the assembling mechanical arm and used for placing a material tray containing parts;

the automatic assembling device also comprises a secondary positioning mechanism fixed on the mounting table and used for positioning the parts grabbed by the assembling mechanical arm from the charging tray for the assembling mechanical arm to grab;

the secondary positioning mechanism comprises a supporting plate, a positioning driving assembly and two secondary positioning pieces, the positioning driving assembly comprises a positioning driving piece, a positioning pushing block and two inclined pushing blocks, two first inclined planes with opposite inclined directions are arranged at the end part of the positioning pushing block, the two inclined pushing blocks are respectively and movably arranged on the supporting plate in a penetrating manner and respectively comprise a second inclined plane, and the second inclined planes are matched with the corresponding first inclined planes; the two secondary positioning pieces are arranged on one side, far away from the streamline, of the supporting plate and are perpendicular to each other, and the two secondary positioning pieces are connected with the two inclined pushing blocks respectively;

the assembling mechanical arm comprises a first mechanical arm and an assembling paw;

the assembling paw comprises a paw connecting piece, a rotating component, an edge leaning component and an assembling component, wherein the paw connecting piece is connected with the first mechanical arm, the rotating component is connected with the paw connecting piece, and the edge leaning component and the assembling component are connected with the rotating component so as to rotate under the driving of the rotating component;

the rotating assembly comprises a substrate, a driving cylinder, a sliding block, a chute plate and a driven piece;

the base plate is connected with the paw connecting piece and is provided with a first sliding chute;

the sliding block is connected with the first sliding chute in a sliding manner and is connected to the driving cylinder;

the chute board with the base plate butt, the follower with the sliding block is articulated to be set up, be equipped with the second spout on the chute board, the second spout is used for the restriction the motion of follower.

2. The automatic assembling device according to claim 1, wherein one of said connecting member and said holding member includes a magnet, and the other includes an iron block, said magnet being disposed opposite to said iron block;

the automatic assembling device further comprises a first pressing mechanism, the first pressing mechanism is fixed above the streamline and comprises a pressing driving piece and a pressing block which are connected, the pressing driving piece is used for driving the pressing block to move up and down along the direction perpendicular to the streamline, so that the pressing block is inserted into the connecting piece and clamped between the clamping pieces, and the clamping pieces move towards the fixing piece.

3. The automated assembly device of claim 2, further comprising a second sensor disposed adjacent to the first hold-down mechanism for sensing a product and emitting a second sensing signal;

the control mechanism is further used for receiving the second sensing signal and controlling the pressing driving piece to enable the pressing driving piece to drive the pressing block to descend.

4. The automatic assembling device according to claim 2, wherein the self-locking assembly further comprises a guide plate and a guide rod, the guide plate is located on one side of the connecting block away from the retaining member and is movably disposed on the flow line, one end of the guide rod is connected to the retaining member, the other end of the guide rod is connected to the guide plate, and the self-locking elastic member is sleeved on the guide rod.

5. The automatic assembly device of claim 2, wherein the positioning mechanism further comprises a first positioning member and a second positioning member disposed opposite in a second direction, the second direction being perpendicular to the first direction;

the first positioning piece comprises a first fixed block, a first push block, a first elastic piece and a roller, the first fixed block is fixed on a flow line, the first push block and the roller are respectively positioned on two opposite sides of the first fixed block, the first push block is movably connected with the first fixed block, the first elastic piece is arranged between the first push block and the first fixed block, and the roller is rotatably connected with the first fixed block;

the second positioning piece comprises a second fixed block, a second pushing block and a second elastic piece, the second fixed block is fixed on the flow line, the second pushing block is movably connected with the second fixed block, and the second elastic piece is arranged between the second fixed block and the second pushing block;

the automatic assembly device further comprises a flow guide strip, wherein the flow guide strip is positioned on the side edge of the support frame and on one side, far away from the feeding end, of the first pressing mechanism.

6. The automatic assembly device of claim 5, further comprising a second pressing mechanism disposed on a side of the tie bar away from the first pressing mechanism;

the automatic assembling device further comprises a third sensor, the third sensor is arranged adjacent to the second pressing mechanism, and the third sensor is used for sending a third sensing signal when sensing a product;

the control mechanism is further used for receiving the third sensing signal and controlling the second pressing mechanism to move towards the self-locking assembly, so that the connecting piece and the clamping piece are close to each other.