CN114290048A - Full-automatic moving blade component assembling and conveying device and method - Google Patents

Abstract

The invention relates to a full-automatic assembling and conveying device and method for moving blade parts, wherein a moving blade clamping unit clamps a moving blade by a production line and puts the moving blade part conveying unit; the moving blade part conveying unit keeps clamping the moving blade, conveys the moving blade to a moving blade assembling station and keeps clamping the moving blade; the base assembling device is used for clamping the over-travel spring base, the centering spring at one end of the movable cutter base and the centering spring base at one end by a production line and sequentially mounting the over-travel spring base, the centering spring at one end of the movable cutter base to the movable cutter; the pin shaft assembling device is used for clamping a large pin shaft, a small pin shaft, a spring at the center of the other end and a spring base at the center of the other end by a production line, and is sequentially installed to the movable cutter. The invention realizes the automatic clamping of all parts of the moving blade component, the assembly of the parts into the moving blade component and the automatic conveying of the moving blade component.

Description

Full-automatic moving blade component assembling and conveying device and method

Technical Field

The invention relates to the technical field of circuit breakers, in particular to a full-automatic movable cutter part assembling and conveying device and method.

Background

Moulded case circuit breaker is widely used in distribution network, photovoltaic, new energy automobile fill electric pile, electric complete set field. There are tens of millions of production worldwide each year. The moving knife assembly is used as a core component in the molded case circuit breaker, and comprises an isolation knife sleeve 101, three moving knives 102, three moving knife bases 109, three large pin shafts 107, three small pin shafts 105, six over travel springs 103, three centering spring bases 104, six centering springs 106 and six centering spring bases 108 in combination with the drawing 1, and the number of the parts is large.

The existing assembly mode is that a moving knife is manually clamped, transported and installed. The process is complicated and the efficiency is low.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a full-automatic movable cutter part assembling and conveying device and method.

In order to achieve the above object, the present invention provides a full-automatic assembly conveying device for movable cutter parts, comprising: the movable knife clamping unit, the movable knife part conveying unit, the base assembling device, the pin shaft assembling device and the control module are arranged on the base;

the movable knife clamping unit clamps the movable knife by a production line under the control of the control module and puts the movable knife into the movable knife part conveying unit;

the moving blade part conveying unit keeps clamping the moving blade under the control of the control module, conveys the moving blade to a moving blade assembling station and keeps clamping the moving blade;

the base assembling device is controlled by the control module to clamp an over-travel spring base, a centering spring at one end of the movable cutter base and a centering spring base at one end of the movable cutter base by a production line, and the base assembling device is sequentially arranged on the movable cutter;

the pin shaft assembling device is controlled by the control module to clamp the large pin shaft, the small pin shaft, the other end centered spring and the other end centered spring base through a production line, and the pin shaft assembling device is sequentially installed on the movable knife.

The assembling method of the full-automatic assembling and conveying device for the movable cutter component comprises the following steps:

the movable knife clamping unit is controlled to clamp the movable knife by a production line and put into the movable knife part conveying unit;

controlling the moving blade part conveying unit to keep clamping the moving blade, conveying the moving blade to a moving blade assembling station and keeping clamping the moving blade;

controlling the base assembling device to clamp the over-travel spring base from a production line and mounting the over-travel spring base to the movable cutter;

the pin shaft assembling device is used for clamping a small pin shaft by a production line and installing the small pin shaft to the movable knife;

controlling the base assembling device to clamp the movable cutter base from a production line and mounting the movable cutter base to the movable cutter;

the control pin shaft assembling device is used for clamping a large pin shaft by a production line and installing the large pin shaft to the movable cutter;

controlling the base assembling device and the pin shaft assembling device to clamp a centered spring at one end and the other end by a production line and installing the centered spring to the movable knife;

and controlling the base assembling device and the pin shaft assembling device to clamp the centered spring base with one end and the other end by a production line and installing the centered spring base to the movable knife.

The technical scheme of the invention has the following beneficial technical effects:

(1) the invention provides a full-automatic movable cutter part assembling and conveying device which can automatically clamp and clamp parts of a movable cutter part, assemble the parts into the movable cutter part and realize automatic conveying of the movable cutter part.

(2) The moving blade clamping device is provided with a rotating device, a vertical moving device and a transverse moving device, and is in three-axis linkage, and moving blade parts are automatically clamped and assembled.

(3) The movable knife part conveying device is provided with the clamping plate, so that movable knife parts can be clamped and fixed, and the whole movable knife part can be conveniently assembled. Be equipped with little holder device, can realize the interim screens to spring placed in the middle, prevent that it from taking place to drop in assembling process.

(4) The base assembling device is provided with a rotating device, a vertical moving device, a transverse moving device, a longitudinal moving device and four-axis linkage. And be equipped with the device of getting of four different grade types of clamp, can install on a station and move four different spare parts of sword base, over travel spring base, spring placed in the middle, spring base placed in the middle, save space, improve packaging efficiency.

(5) The pin shaft assembling device is provided with a rotating device, a vertical moving device, a transverse moving device, a longitudinal moving device and four-shaft linkage. And the clamping device with four different types is arranged, four different parts such as a large pin shaft, a small pin shaft, a centered spring and a centered spring base can be arranged on one station, the space is saved, and the assembly efficiency is improved.

(6) The clamping device of the centered spring, the centered spring base, the large pin shaft and the small pin shaft can rotate on the macro movement basis, and can clamp and assemble parts in any direction, so that the operation is flexible. And the clamping jaw is unilateral semicircular structure, and the part is grabbed in better laminating, improves and snatchs the performance.

Drawings

FIG. 1 is a schematic view of a moving blade assembly;

FIG. 2 is a schematic diagram of a fully automatic assembly system for a moving blade assembly of a molded case circuit breaker;

FIG. 3 is a schematic view of a full-automatic assembling and conveying device for movable cutter parts;

FIG. 4 is a partial schematic view of the moving blade clamping device;

FIG. 5 is a schematic view showing a gripping state of the movable knife gripping device;

FIG. 6 is a schematic view of a moving blade part conveying device;

FIG. 7 is a schematic view of a transfer assembly;

FIG. 8 is a schematic view of the containment assembly and the centering spring clamp assembly;

FIG. 9 is a schematic view of the interior of the containment assembly;

FIG. 10 is a schematic view of a centering spring in a link of clamping and fixing the movable blade part by a clamping base;

FIG. 11 is a schematic structural view of a base assembly apparatus;

FIG. 12 is a schematic view of a clamping device of the movable blade base;

FIG. 13 is a schematic view of the gripping device of the over travel spring base section;

FIG. 14 is a schematic view of a clamping mechanism with one spring centered on one end;

FIG. 15 is a front view of a spring position centered by gripping;

FIG. 16 is a schematic view of a gripping apparatus with one end centered on a spring base;

FIG. 17 is a schematic view of a first electromagnetic chuck;

FIG. 18 is a schematic structural view of a pin assembling apparatus;

FIG. 19 is a schematic view of the large pin gripping apparatus;

FIG. 20 is a schematic view of the mounting holes of the movable blade member;

FIG. 21 is a schematic view of the small pin gripping device;

FIG. 22 is a schematic view of the gripping device with the other end centering the spring;

FIG. 23 is a schematic view of the other end of the clamping assembly centering the spring base;

FIG. 24 is a schematic view of a first electromagnetic chuck;

fig. 25 is a flowchart of the moving blade assembly assembling sequence.

Wherein, 101-isolating knife sleeve; 102-moving blade; 103-over travel spring; 104-over travel spring mount; 105-a small pin; 106-centering spring; 107-big pin shaft; 108-centered spring mount; 109-moving blade base; 100-moving blade assembly; 200-isolating a knife pouch clamping device; 300-over travel spring assembly means; 400-centering spring assembly means; 500-moving blade clamping device; 600-moving blade component conveying device; 700-base assembly means; 800-pin shaft assembling device; 501-a fifth bottom plate; 502-a first base; 503-a first motor mount; 504-a first motor; 505-a first gear; 506-a second gear; 507-a first rotating shaft; 508-a first rotating bed; 509-first cylinder seat; 510-a first cylinder; 511-a first cylinder rod; 512-a second cylinder block; 513-a second cylinder; 514-a second cylinder rod; 515-a third cylinder block; 516-a first clamping cylinder; 517-a first jaw; 518-a second jaw; 601-a support; 602-a second motor mount; 603-a second motor; 604-first V-band; 605-a first shaft; 606-a third pulley; 607-a fourth pulley; 608-a second shaft; 609-a transmission support; 610-a first pulley; 611-a second pulley; 612-second V-band; 613-square box; 614-third cylinder; 615-a third cylinder rod; 616-a fourth cylinder block; 617-fourth cylinder; 618-fourth cylinder rod; 619-a holder; 620-a first splint; 621-a second splint; 622-small spring; 701-a sixth bottom plate; 702-a second base; 703-a third motor mount; 704-a fifteenth motor; 705-tenth gear; 706-eleventh gear; 707-a thirteenth rotation shaft; 708-a second swivel; 709-a seventh cylinder block; 710-a fifth cylinder; 711-fifth cylinder rod; 712-an eighth cylinder block; 713-sixth cylinder; 714-sixth cylinder rod 714; 715-a third base; 716-a ninth cylinder block; 717-a seventh cylinder; 718-a seventh cylinder rod; 719-tenth cylinder block; 720-a second clamping cylinder; 721-eleventh jaw; 722-a twelfth jaw; 723-eleventh cylinder block; 724-eighth cylinder; 725-eighth cylinder rod; 726-a third clamping cylinder; 727-twelfth cylinder seat; 728-a thirteenth jaw; 729-a fourteenth jaw; 730-a thirteenth cylinder block; 731-ninth cylinder; 732-a ninth cylinder rod; 733 — a first support frame; 734-a sixteenth motor; 735-a fourteenth cylinder block; 736-a fourteenth rotation axis; 737-fourth clamping cylinder; 738-fifteenth jaw; 739-a sixteenth jaw; 740-a fifteenth cylinder block; 741-tenth cylinder; 742-a tenth cylinder rod; 743 — a second support frame; 744-seventeenth motor; 745-first suction cup seat; 746-fifteenth axis of rotation; 747-first suction cup control box; 748 — a first electromagnetic chuck; 801-a seventh base plate; 802-a fourth base; 803-a fourth motor mount; 804-an eighteenth motor; 805-sixteenth axis of rotation; 806-twelfth gear; 807-a thirteenth gear; 808-a third swivel; 809-a sixteenth cylinder block; 810-eleventh cylinder; 811-eleventh cylinder rod; 812-a seventeenth cylinder block; 813-twelfth cylinder; 814-a twelfth cylinder rod; 815-a fifth base; 816-eighteenth cylinder block; 817-a thirteenth cylinder; 818-a thirteenth cylinder rod; 819 — a third support frame; 820-a nineteenth motor; 821-nineteenth cylinder block; 822-a seventeenth axis of rotation; 823-fifth clamping cylinder; 824-seventeenth jaw; 825-an eighteenth jaw; 826-twentieth cylinder block; 827-fourteenth cylinder; 828-a fourteenth cylinder rod; 829-a fourth support frame; 830-a twentieth motor; 831-twenty-first cylinder block; 832-eighteenth rotation axis; 833-sixth clamping cylinder; 834-nineteenth jaw; 835-twentieth jaw; 836-twenty-second cylinder block; 837-a fifteenth cylinder; 838-a fifteenth cylinder rod; 839-a fifth support frame; 840-a twenty-first motor; 841-twenty-third cylinder block; 842-nineteenth axis of rotation; 843-a seventh clamping cylinder; 844-twenty-first jaw; 845-a twenty-second jaw; 846-twenty-four cylinder block; 847-sixteenth cylinder; 848-sixteenth cylinder rod; 849-a sixth support frame; 850-a twenty-second motor; 851-second chuck base; 852-twentieth rotation axis; 853-a second chuck control box; 854 — second electromagnetic chuck.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

With reference to fig. 2-3, a full-automatic assembly system for moving blade assemblies of molded case circuit breakers includes: the device comprises an isolation knife pouch clamping device 200, an over-travel spring assembling device 300, a centering spring assembling device 400, a moving knife clamping unit 500, a moving knife part conveying unit 600, a base assembling device 700 and a pin shaft assembling device 800. Wherein 100 is the moving blade assembly.

The full-automatic assembly and conveying of the movable cutter parts need to realize automatic clamping of the movable cutter, assembly of a base, assembly of a pin shaft and conveying of the movable cutter parts. The invention aims to provide a full-automatic movable cutter part assembling and conveying device which comprises a movable cutter clamping unit 500, a movable cutter part conveying unit 600, a base assembling device 700, a pin shaft assembling device 800 and a control module.

(1) Moving knife clamping unit

Referring to fig. 4, the clamping device includes a fifth bottom plate 501, a first base 502, a first motor base 503, a first motor 504, a first gear 505, a second gear 506, a first rotating shaft 507, a first rotating base 508, a first cylinder base 509, a first cylinder 510, a first cylinder rod 511, a second cylinder base 512, a second cylinder 513, a second cylinder rod 514, a third cylinder base 515, a first clamping cylinder 516, a first clamping jaw 517, and a second clamping jaw 518.

The moving blade gripping unit 500 is located in the front position of the moving blade part conveying device. The first base 502 is fixedly installed on the fifth base plate 501, the first motor base 503 is installed on the bottom side inside the first base 502, the first motor 504 is fixed on the first motor base 503, a motor shaft is fixedly connected with the first gear 505, the second gear 506 is fixedly connected with the first rotating shaft 507, and the first rotating shaft 507 is fixedly connected with the first rotating base 508. The first gear 505 and the second gear 506 are in meshed transmission. The first rotary base 508 is mounted on the first base 502 to be rotatable with respect to the first base 502. A first cylinder seat 509 is fixedly installed on the first rotary seat 508, a first cylinder 510 is fixedly installed on the first cylinder seat 509, and a first cylinder rod 511 is assembled on the first cylinder 510 and can vertically move relative to the first cylinder 510. A second cylinder block 512 is fixedly mounted on an end portion of first cylinder rod 511, a second cylinder 513 is fixedly mounted on second cylinder block 512, and a second cylinder rod 514 is mounted on second cylinder 513 and can move transversely with respect to second cylinder 513. A third cylinder block 515 is fixedly mounted at the end of the second cylinder rod 514, and a first clamping cylinder 516 is fixedly mounted on the third cylinder block 515. First and second jaws 517 and 518 are mounted on first clamp cylinder 516 and may be moved toward or away from each other.

The production line of moving the sword is located and moves the front end that the sword got unit 500, and when the assembly that needs moved the sword part, starts first motor 504, drives first clamping jaw 517 and second clamping jaw 518 and rotates around the center of first base 502 as the centre of a circle, starts first cylinder 510, drives the clamping jaw and takes place vertical movement, starts second cylinder 513, drives the clamping jaw and takes place lateral shifting. Through the linkage cooperation of the first air cylinder 510, the second air cylinder 513 and the first motor 504, the first clamping jaw 517 and the second clamping jaw 518 are moved to the upper part of the movable knife on the production line, then the first air cylinder 510 is controlled, the two clamping jaws slowly fall to the position capable of clamping the movable knife, the first clamping air cylinder 516 is started, the first clamping jaw 517 and the second clamping jaw 518 are close to each other, and the movable knife is clamped, so that the movable knife is combined with the graph 5. Then, the movable knife is moved away from the production line of the movable knife and reaches the upper part of the assembly station of the movable knife part through the linkage control of the first air cylinder 510, the second air cylinder 513 and the first motor 504.

(2) Moving blade component conveying unit

Referring to fig. 6, the moving blade member conveying unit 600 includes a bracket 601, a second motor base 602, a second motor 603, a first V-belt 604, a first rotating shaft 605, a third belt pulley 606, a fourth belt pulley 607, a second rotating shaft 608, a transmission support 609, a first belt pulley 610, a second belt pulley 611, and a second V-belt 612. The housing assembly includes a cube box 613. The centering spring clamping assembly comprises a third cylinder 614, a third cylinder rod 615, a fourth cylinder block 616, a fourth cylinder 617, a fourth cylinder rod 618, a clamp block 619, a first clamp plate 620, a second clamp plate 621 and a small spring 622.

The moving blade part conveying unit 600 is located at the rear side of the moving blade clamping unit 500, is a station where the moving blade parts are assembled, and temporarily stores the moving blade parts. The bracket 601 is fixedly connected with the bottom plate, a second motor base 602 is fixedly installed on one side plate of the bracket 601, a second motor 603 is installed on the second motor base 602, a motor shaft is fixedly connected with a first rotating shaft 605, a third belt pulley 606 and a first belt pulley 610 are respectively and fixedly installed at two ends of the first rotating shaft 605, the third belt pulley 606 is connected with a fourth belt pulley 607 through a first V belt 604, the fourth belt pulley 607 is connected with a second belt pulley 611 through a second V belt 612, the fourth belt pulley 607 and the second belt pulley 611 are fixedly installed at two ends of a second rotating shaft 608, the second rotating shaft 608 is installed at the rear side of the bracket 601, and the first rotating shaft 605 and the second rotating shaft 608 can rotate. Referring to fig. 7, drive support 609 is fixedly mounted to first V-belt 604 and second V-belt 612.

The second motor 603 is started to drive the first rotating shaft 605, the third belt pulley 606, the first belt pulley 610, the first V-belt 604, the second V-belt, the fourth belt pulley 607 and the second belt pulley 611 to rotate in sequence, so that the transmission support 609 moves.

Referring to fig. 8, a square box 613 is fixedly mounted above the transmission support 609, the square box 613 is hollow inside, a third air cylinder 614 is mounted on one side of the outer side of the square box 613, which is far away from the movable knife clamping unit 500, a third air cylinder rod 615 is mounted on the third air cylinder 614, a fourth air cylinder block 616 is fixed at the end of the rod of the third air cylinder 614, a fourth air cylinder 617 is fixedly mounted on the fourth air cylinder block 616, and a fourth air cylinder rod 618 extends out of the fourth air cylinder 617 and is fixedly mounted at the end of the clamp 619. By controlling the third cylinder 614, the holder 619 can be moved up and down, and by controlling the fourth cylinder 617, the holder 619 can be moved laterally. The clamp base 619 is used for clamping the centering spring 106 in the link of fixedly assembling the movable blade part, and prevents the centering spring from falling off in the assembling process, which is shown in the combined figure 10.

With reference to fig. 9, when the movable blade clamping unit 500 places the movable blade on the upper portion of the square box 613 of the movable blade component conveying unit 600, the first cylinder is controlled to drive the movable blade to slowly fall down and enter the middle of the first clamping plate 620 and the second clamping plate 621, so that the two clamping plates are spread until the movable blade component is mostly placed in the square box 613, the clamping plates are spread, the small spring 622 is further compressed, the small spring 622 generates a larger reverse clamping force, the movable blade is firmly clamped by the first clamping plate 620 and the second clamping plate 621, the movable blade is prevented from moving when other parts of the movable blade component are assembled, and therefore the assembling performance is ensured.

Four groups of springs are respectively arranged on two sides of the square box 613, which are parallel to the moving blades to be assembled, the small spring 622 on one side is respectively connected with the first clamping plate 620 and the square box 613, and the small spring 622 on the other side is respectively connected with the second clamping plate 621 and the square box 613. The small spring 622 is in a compressed state and can press the first clamping plate 620 and the second clamping plate 621 together. The upper parts of the two clamping plates are outwards opened, so that the movable knife can be conveniently put in.

Through the linkage control of the first air cylinder 510, the second air cylinder 513 and the first motor 504, the movable knife is far away from the production line of the movable knife and reaches the upper part of the assembly station of the movable knife part, and the movable knife is positioned at the upper part of the inner space of the two clamping plates. By controlling the first cylinder 510, the moving blade is fed into the first clamp plate 620 and the second clamp plate 621, and the small spring 622 is compressed. The first clamping jaw 517 and the second clamping jaw 518 are controlled to be away from each other, and the movable knife is released. The moving knife is assembled, and after the centering spring is installed, the third air cylinder 614 and the fourth air cylinder 617 are controlled, so that the clamping seat 619 clamps the centering spring, temporary clamping of the centering spring can be realized, and the centering spring is prevented from falling in the assembling process.

(3) Base assembling device

The base assembling device is positioned on the right side of the moving blade part conveying device and is responsible for assembling the over-travel spring base, the moving blade base, the centered spring at one end and the centered spring base at one end.

The base assembling device is divided into two parts, the lower part controls the macroscopic movement of the assembling device, and the upper part is used for assembling parts of the movable knife.

With reference to fig. 11, the lower portion includes a sixth bottom plate 701, a second base 702, a third motor base 703, a fifteenth motor 704, a tenth gear 705, an eleventh gear 706, a thirteenth rotation shaft 707, a second rotation base 708, a seventh cylinder base 709, a fifth cylinder 710, a fifth cylinder rod 711, an eighth cylinder base 712, a sixth cylinder 713, a sixth cylinder rod 714, and a third base 715. The sixth bottom plate 701 is installed on the support, a plurality of bull-eye wheels are installed on the bottom side of the bottom plate, the sixth bottom plate 701 can horizontally move on the support, the bull-eye wheels reduce friction force between the sixth bottom plate and the support, and the service life is prolonged. The second base 702 is fixedly installed on the sixth bottom plate 701, the third motor base 703 is installed on the bottom side inside the second base 702, the fifteenth motor 704 is fixed on the third motor base 703, a motor shaft is fixedly connected with the tenth gear 705, the eleventh gear 706 is fixedly connected to the thirteenth rotating shaft 707, and the thirteenth rotating shaft 707 is fixedly connected to the second rotating base 708. The second rotary base 708 is mounted on the second base 702 and can rotate relative to the second base 702. An eighth cylinder block 712 is fixedly mounted on the second rotary base 708, a sixth cylinder 713 is fixedly mounted on the eighth cylinder block 712, and a sixth cylinder rod 714 is mounted on the sixth cylinder 713 and can vertically move relative to the sixth cylinder 713. A third base 715 is fixedly mounted at the end of the sixth cylinder rod 714, and a cylinder base in an assembly for clamping and assembling moving blade parts is fixedly mounted on the third base 715. The seventh cylinder block 709 is fixedly mounted on the bracket, the fifth cylinder 710 is fixedly mounted on the seventh cylinder block 709, and a fifth cylinder rod 711 is assembled inside, and the fifth cylinder rod 711 is fixedly connected with the sixth base plate 701.

And controlling the fifth air cylinder 710, and pushing the sixth bottom plate 701 to horizontally move on the bracket by the fifth air cylinder rod 711, so that the base assembling device is finally moved to different stations. And controlling a fifteenth motor 704 to sequentially drive a tenth gear 705, a thirteenth rotating shaft 707, an eleventh gear 706 and a second rotating base 708 to rotate. Finally, the four clamping devices on the upper part of the base assembling device can be randomly switched to the part clamping and assembling stations. The upper four gripping devices can be vertically moved by controlling the sixth air cylinder 713.

Referring to fig. 12, the clamping device for the movable blade base comprises a ninth cylinder seat 716, a seventh cylinder 717, a seventh cylinder rod 718, a tenth cylinder seat 719, a second clamping cylinder 720, an eleventh clamping jaw 721 and a twelfth clamping jaw 722. The ninth cylinder seat 716 is arranged on the third base 715, a seventh cylinder 717 is fixedly arranged on the third cylinder seat, a seventh cylinder rod 718 is arranged in the seventh cylinder 717, a tenth cylinder seat 719 is fixedly arranged at the end part of the seventh cylinder rod 718, the second clamping cylinder 720 is fixedly arranged on the tenth cylinder seat 719, and the eleventh clamping jaw 721 and the twelfth clamping jaw 722 are arranged on the second clamping cylinder 720 and can be close to or far away from each other relative to the second clamping cylinder 720.

The seventh air cylinder 717 is controlled to drive the eleventh clamping jaw 721 and the twelfth clamping jaw 722 to horizontally move. The production line of the movable knife base is positioned on the right side of the base assembling device, and the assembling position of the movable knife base is positioned on the left side of the base assembling device. When the movable knife base needs to be clamped and assembled, the fifth air cylinder 710 is started, the whole base assembling device is moved to the position where the movable knife base needs to be assembled, and the eleventh clamping jaw 721 and the twelfth clamping jaw 722 are moved to the position right above the movable knife base on the production line through linkage matching of the sixth air cylinder 713, the seventh air cylinder 717 and the fifteenth motor 704. The sixth air cylinder 713 is controlled, the two clamping jaws slowly fall to the position where the movable knife base can be clamped, the second clamping air cylinder 720 is controlled to enable the clamping jaws to clamp the movable knife base, then the movable knife base is moved to the position above the assembly position of the movable knife part through the linkage matching of the sixth air cylinder 713, the seventh air cylinder 717 and the fifteenth motor 704, the sixth air cylinder 713, the eleventh clamping jaw 721 and the twelfth clamping jaw 722 are controlled to clamp the assembly position of the movable knife base, the movable knife slowly falls down, then a large pin shaft is assembled, and the assembly of the movable knife base is completed.

Referring to fig. 13, the clamping device of the over travel spring base includes an eleventh cylinder block 723, an eighth cylinder 724, an eighth cylinder rod 725, a third clamping cylinder 726, a twelfth cylinder block 727, a thirteenth clamping jaw 728, and a fourteenth clamping jaw 729. An eleventh cylinder block 723 is mounted on the third base 715 and abuts against the ninth cylinder block 716, an eighth cylinder 724 is fixedly mounted on the eleventh cylinder block 723, an eighth cylinder rod 725 is mounted inside the eighth cylinder 724, a twelfth cylinder block 727 is fixedly mounted at the end of the eighth cylinder rod 725, a third clamping cylinder 726 is fixedly mounted on the twelfth cylinder block 727, and a thirteenth clamping jaw 728 and a fourteenth clamping jaw 729 are mounted on the third clamping cylinder 726 and can move toward or away from each other relative to the third clamping cylinder 726.

The eighth cylinder 724 is controlled to drive the thirteenth clamping jaw 728 and the fourteenth clamping jaw 729 to move horizontally. The production line of the over travel spring base is positioned on the right side of the base assembling device, and the assembling position of the over travel spring base is positioned on the left side of the base assembling device. When needing to press from both sides and get assembly overtravel spring base, start fifth cylinder 710, remove whole base assembly device to the position that needs the assembly overtravel spring base, through the linkage cooperation of sixth cylinder 713, eighth cylinder 724, fifteenth motor 704, move thirteenth clamping jaw 728 and fourteenth clamping jaw 729 directly over the overtravel spring base on the assembly line. The sixth air cylinder 713 is controlled, the two clamping jaws slowly fall to positions where the two clamping overtravel spring bases can be clamped, the third clamping air cylinder 726 is controlled, the clamping jaws clamp the overtravel spring bases, then the sixth air cylinder 713, the eighth air cylinder 724 and the fifteenth motor 704 are in linkage fit, the overtravel spring bases are moved to the positions above the assembly positions of the movable knife parts, the sixth air cylinder 713 is controlled, the thirteenth clamping jaw 728 and the fourteenth clamping jaw 729 clamp the assembly positions of the overtravel spring bases, the movable knives slowly fall down, then the small pin shafts are assembled, and assembly of the overtravel spring bases is completed.

Referring to fig. 14, the clamping device with one centered spring includes a thirteenth cylinder block 730, a ninth cylinder 731, a ninth cylinder rod 732, a first support frame 733, a sixteenth motor 734, a fourteenth cylinder block 735, a fourteenth rotation shaft 736, a fourth clamping cylinder 737, a fifteenth clamping jaw 738, and a sixteenth clamping jaw 739.

The thirteenth cylinder seat 730 is mounted on the third base 715 and abuts against the eleventh cylinder seat 723, a ninth cylinder 731 is fixedly mounted on the thirteenth cylinder seat 730, a ninth cylinder rod 732 is mounted inside the ninth cylinder 731, a first support frame 733 is fixedly mounted at an end of the ninth cylinder rod 732, a sixteenth motor 734 is fixedly mounted at one side of the first support frame 733, a fourteenth rotating shaft 736 is mounted at the other side of the first support frame 733 and can rotate relatively, a motor shaft of the sixteenth motor 734 is fixedly connected with the fourteenth cylinder seat 735, the other side of the fourteenth cylinder seat 735 is fixedly connected with one end of the fourteenth rotating shaft 736, the sixteenth motor 734 is started, and the fourteenth cylinder seat 735 rotates around a center of the fourteenth rotating shaft 736 as a circle center, as shown in fig. 15. A fourth clamping cylinder 737 is fixedly mounted in the fourteenth cylinder seat 735, a fifteenth clamping jaw 738 and a sixteenth clamping jaw 739 are mounted on the fourth clamping cylinder 737, the two clamping jaws can be relatively close to or far away from each other, one side of the fifteenth clamping jaw 738 is in arc-shaped mounting, one side of the sixteenth clamping jaw 739 close to the fifteenth clamping jaw 738 is also in arc-shaped mounting, the two arcs are opposite in opening position, and the centering spring can be better clamped.

The ninth cylinder 731 is controlled to drive the fifteenth clamping jaw 738 and the sixteenth clamping jaw 739 to move horizontally. The production line of the spring with one end placed in the middle is positioned on the right side of the base assembling device, and the assembling position of the spring with one end placed in the middle is positioned on the left side of the base assembling device. When the centering spring needs to be clamped and assembled, the fifth air cylinder 710 is started, the whole base assembling device is moved to the position where the centering spring needs to be assembled, the fifteenth clamping jaw 738 and the sixteenth clamping jaw 739 are moved to the position right above the centering spring on the production line through the linkage fit of the sixth air cylinder 713, the ninth air cylinder 731, the fifteenth motor 704 and the sixteenth motor 734, the axis of the centering spring is made to be coaxial with the arc axis of the fifteenth clamping jaw 738 and the arc axis of the sixteenth clamping jaw 739, the ninth air cylinder 731 is controlled, the two clamping jaws are slowly moved to the position where the centering spring can be clamped, the fourth clamping air cylinder 737 is controlled to make the clamping jaws clamp the centering spring, then the centering spring is moved to the front of the assembling position of the movable blade part through the linkage fit of the sixth air cylinder 713, the eighth air cylinder 724, the fifteenth motor 704 and the sixteenth motor 734, and the centering spring is made to be coaxial with the large pin axis of the movable blade part, the ninth cylinder 731, the fifteenth clamping jaw 738 and the sixteenth clamping jaw 739 are controlled to clamp the centered spring and slowly enter the assembly position of the movable knife, and pass through the large pin shaft, at this time, the movable knife part conveying device is started to enable the small clamping seat to reach the centered spring position assembled in the movable knife part, at this time, the small clamping seat just clamps the centered spring, and the centered spring is prevented from falling off, as shown in fig. 10. And then assembling a spring base with one centered end to complete the assembly of the spring with one centered end.

Referring to fig. 16, the gripping device with one end centered on the spring base includes a fifteenth cylinder block 740, a tenth cylinder 741, a tenth cylinder rod 742, a second support frame 743, a seventeenth motor 744, a first chuck block 745, a fifteenth spindle 746, a first chuck control box 747, and a first electromagnetic chuck 748.

The fifteenth cylinder seat 740 is mounted on the third base 715 and abuts against the thirteenth cylinder seat 730, the fifteenth cylinder seat 740 is fixedly mounted with a tenth cylinder 741, the tenth cylinder 741 is internally mounted with a tenth cylinder rod 742, the end of the tenth cylinder rod 742 is fixedly mounted with the second support frame 743, one side of the second support frame 743 is fixedly mounted with a seventeenth motor 744, the fifteenth rotating shaft 746 is mounted on the other side of the second support frame 743 and can rotate relatively, the motor shaft of the seventeenth motor 744 is fixedly connected with the first chuck seat 745, the other side of the first chuck seat 745 is fixedly connected with one end of the fifteenth rotating shaft 746, the seventeenth motor 744 is started, and the first chuck seat 745 rotates around the center of the fifteenth rotating shaft 746 as the center of a circle. A first chuck control box 747 is fixedly installed in the first chuck base 745, a first electromagnetic chuck 748 is installed on the first chuck control box 747, and three long probes are arranged at the end of the electromagnetic chuck, as shown in fig. 17. The three long probes also have magnetic forces when the first electromagnetic chuck 748 is energized and tightly grips the centered spring base. The three long probes are distributed at intervals, so that a seventh clamping jaw and an eighth clamping jaw in the centering spring assembling device can conveniently pass through, and the centering spring assembling device can conveniently clamp the movable knife part.

The tenth air cylinder 741 is controlled to drive the first electromagnetic chuck 748 to move horizontally. The production line of the spring base with one end placed in the middle is positioned on the right side of the base assembling device, and the assembling position of the spring base with one end placed in the middle is positioned on the left side of the base assembling device. When the centered spring base needs to be clamped and assembled, the fifth air cylinder 710 is started, the whole base assembling device is moved to the position where the centered spring base needs to be assembled, the first electromagnetic chuck 748 is moved to the position right above the centered spring base on the assembly line through the linkage coordination of the sixth air cylinder, the tenth air cylinder 741, the fifteenth motor 704 and the seventeenth motor 744, the axis of the centered spring base is coaxial with the axis of the first electromagnetic chuck 748, the tenth air cylinder 741 is controlled, the two clamping jaws are slowly moved to the position where the centered spring base can be clamped, the first electromagnetic chuck 748 is enabled to tightly suck the centered spring base through the first chuck control box 747, then the centered spring base is moved to the front of the assembling position of the movable blade part through the linkage coordination of the sixth air cylinder, the tenth air cylinder 741, the fifteenth motor 704 and the seventeenth motor 744, and the large pin axis in the centered spring and the movable blade part is enabled to be coaxial, and controlling the tenth air cylinder 741 to enable the first electromagnetic chuck 748 to tightly suck the centered spring base to slowly enter the assembly position of the movable cutter, enable the centered spring base to be abutted against the centered spring, complete the assembly of the centered spring base, and at the moment, not loosening the first electromagnetic chuck 748 to wait for the subsequent process of carrying the movable cutter component.

(4) Pin shaft assembling device

The pin shaft assembling device is positioned on the left side of the moving cutter part conveying device and is responsible for assembling a small pin shaft, a large pin shaft, a centered spring at the other end and a centered spring base at the other end.

The pin shaft assembling device comprises a moving platform, a clamping device for a large pin shaft, a clamping device for a small pin shaft, a clamping device for a spring with one end placed in the middle and a clamping device for a spring base with one end placed in the middle. The movable platform is positioned at the lower part and can move along the horizontal and vertical directions and rotate, so that macroscopic movement is realized.

The clamping device of the large pin shaft, the clamping device of the small pin shaft, the clamping device of the spring arranged in the middle at one end and the clamping device of the spring base arranged in the middle at one end are fixed at the top end of the moving platform and distributed along the circumferential direction.

The clamping device of the large pin shaft is used for clamping the large pin shaft of the movable cutter assembly; the clamping device of the small pin shaft is used for clamping the small pin shaft of the movable cutter component; the clamping device of the spring in the middle at one end is used for clamping the spring in the middle at one end of the moving blade assembly; the clamping device of the spring base with one centered end is used for clamping the spring base with one centered end of the movable cutter component.

Referring to fig. 18, the moving platform includes a seventh bottom plate 801, a fourth base 802, a fourth motor base 803, an eighteenth motor 804, a sixteenth rotating shaft 805, a twelfth gear 806, a thirteenth gear 807, a third rotating base 808, a sixteenth cylinder base 809, an eleventh cylinder 810, an eleventh cylinder rod 811, a seventeenth cylinder base 812, a twelfth cylinder 813, a twelfth cylinder rod 814, and a fifth base 815.

Seventh bottom plate 801 is installed on the support to a plurality of bull's eyes wheel are installed to the bottom plate bottom side, and seventh bottom plate 801 can be relative support horizontal migration, and the bull's eyes wheel reduces the frictional force between the two, improves life. Fourth base 802 is fixedly installed on seventh bottom plate 801, fourth motor base 803 is installed on the bottom side inside fourth base 802, eighteenth motor 804 is fixed on fourth motor base 803, the motor shaft is fixedly connected with twelfth gear 806, thirteenth gear 807 is fixedly connected on sixteenth rotating shaft 805, sixteenth rotating shaft 805 is fixedly connected with third rotating base 808. The third rotating base 808 is mounted on the fourth base 802 to be rotatable with respect to the fourth base 802. A seventeenth cylinder seat 812 is fixedly arranged on the third rotating seat 808, a twelfth cylinder 813 is fixedly arranged on the seventeenth cylinder seat 812, and a twelfth cylinder rod 814 is assembled on the twelfth cylinder 813 and can vertically move relative to the twelfth cylinder 813. A fifth base 815 is fixedly installed at the end of the twelfth cylinder rod 814, and each cylinder base in the assembly body for clamping and assembling the moving blade parts is fixedly installed on the fifth base 815. A sixteenth cylinder block 809 is fixedly installed on the bracket, an eleventh cylinder 810 is fixedly installed on the sixteenth cylinder block 809 and is internally provided with an eleventh cylinder rod 811, and the eleventh cylinder rod 811 is fixedly connected with the seventh bottom plate 801.

And the eleventh air cylinder 810 is controlled, and the eleventh air cylinder rod 811 pushes the seventh bottom plate 801 to horizontally move on the bracket, so that the pin shaft assembling device is finally moved to different stations. The eighteenth motor 804 is controlled to sequentially drive the twelfth gear 806, the sixteenth rotating shaft 805, the thirteenth gear 807 and the third rotating base 808 to rotate. Finally, the four clamping devices on the upper part of the pin shaft assembling device can be randomly switched to a part clamping and assembling station. The twelfth cylinder 813 is controlled to vertically move the upper four gripping devices.

The clamping device of the large pin shaft comprises an eighteenth air cylinder block 816, a thirteenth air cylinder 817, a thirteenth air cylinder rod 818, a third supporting frame 819, a nineteenth motor 820, a nineteenth air cylinder block 821, a seventeenth rotating shaft 822, a fifth clamping air cylinder 823, a seventeenth clamping jaw 824 and an eighteenth clamping jaw 825.

With reference to fig. 19, the eighteenth cylinder block 816 is mounted on the fifth base 815, a thirteenth cylinder 817 is fixedly mounted on the eighteenth cylinder block 816, a thirteenth cylinder rod 818 is assembled inside the thirteenth cylinder 817, a third support frame 819 is fixedly mounted at an end of the thirteenth cylinder rod 818, a nineteenth motor 820 is fixedly mounted on one side of the third support frame 819, a seventeenth rotating shaft 822 is mounted on the other side of the third support frame 819 and can rotate relative to the third support frame 819, a motor shaft of the nineteenth motor 820 is fixedly connected to the nineteenth cylinder block 821, the other side of the nineteenth cylinder block 821 is fixedly connected to one end of the seventeenth rotating shaft 822, the nineteenth motor 820 is started, and the nineteenth cylinder block 821 rotates around the seventeenth rotating shaft 822 as a circle center. The inside fixed mounting of nineteenth cylinder block 821 has fifth die clamping cylinder 823, is equipped with seventeenth clamping jaw 824 and eighteenth clamping jaw 825 on the fifth clamping cylinder 823, and two clamping jaws can be close to relatively or keep away from each other to one side of seventeenth clamping jaw 824 is circular-arc, and one side similar with seventeenth clamping jaw 824 in the eighteenth clamping jaw 825 also becomes circular-arc, and two circular arcs open the opposite position, big round pin axle of clamp that can be better.

The eleventh air cylinder 810 is controlled to drive the seventeenth clamping jaw 824 and the eighteenth clamping jaw 825 to move horizontally. The production line of the large pin shaft is positioned on the left side of the base assembling device, and the assembly position of the large pin shaft is positioned on the right side of the base assembling device. When a large pin shaft needs to be clamped and assembled, the eleventh air cylinder 810 is started, the whole base assembling device is moved to the position where a small pin shaft needs to be assembled, the seventeenth clamping jaw 824 and the eighteenth clamping jaw 825 are moved to the position right above the large pin shaft on the production line through the linkage matching of the twelfth air cylinder 813, the eighteenth motor 804, the thirteenth air cylinder 817 and the nineteenth motor 820, the axis of the large pin shaft is coaxial with the arc axis of the seventeenth clamping jaw 824 and the eighteenth clamping jaw 825, the twelfth air cylinder 813 is controlled, the two clamping jaws are slowly moved to the position where the large pin shaft can be clamped, the fifth clamping air cylinder 823 is controlled, the clamping jaws clamp the large pin shaft, then the twelfth air cylinder 813, the eighteenth motor 804, the thirteenth air cylinder 817 and the nineteenth motor 820 are in linkage matching, the large pin shaft is moved to the front of the assembling position of the movable blade part, and the large pin shaft and a hole for installing the large pin shaft in the movable blade are coaxially controlled, and a thirteenth air cylinder 817, a seventeenth clamping jaw 824 and an eighteenth clamping jaw 825 are controlled to clamp the large pin shaft and slowly enter the assembly position of the movable knife, and penetrate through the movable knife base and the movable knife to complete the assembly of the large pin shaft.

Referring to fig. 21, the gripping device of the small pin shaft includes a twentieth air cylinder seat 826, a fourteenth air cylinder 827, a fourteenth air cylinder rod 828, a fourth support frame 829, a twentieth motor 830, a twenty-first air cylinder seat 831, an eighteenth rotating shaft 832, a sixth clamping air cylinder 833, a nineteenth clamping jaw 834, and a twentieth clamping jaw 835;

the twentieth air cylinder seat 826 is mounted on the fifth base 815, a fourteenth air cylinder 827 is fixedly mounted on the twentieth air cylinder seat 826, a fourteenth air cylinder rod 828 is mounted inside the fourteenth air cylinder 827, a fourth support frame 829 is fixedly mounted at the end of the fourteenth air cylinder rod 828, a twentieth motor 830 is fixedly mounted on one side of the fourth support frame 829, an eighteenth rotating shaft 832 is mounted on the other side of the fourth support frame 829 and can rotate relatively, a motor shaft of the twentieth motor 830 is fixedly connected with the twenty-first air cylinder seat 831, the other side of the twenty-first air cylinder seat 831 is fixedly connected with one end of the eighteenth rotating shaft 832 to start the twentieth motor 830, and the twenty-first air cylinder seat 831 rotates around the center of the eighteenth rotating shaft 832 as a circle center. The twenty-first cylinder seat 831 is internally and fixedly provided with a sixth clamping cylinder 833, the sixth clamping cylinder 833 is provided with a nineteenth clamping jaw 834 and a twentieth clamping jaw 835, the two clamping jaws can be relatively close to or far away from each other, one side of the nineteenth clamping jaw 834 is arc-shaped, one side of the twentieth clamping jaw 835 close to the nineteenth clamping jaw 834 is arc-shaped, the two arcs are opposite in opening position, and the small pin shaft can be better clamped.

The eleventh air cylinder 810 is controlled to drive the nineteenth clamping jaw 834 and the twentieth clamping jaw 835 to horizontally move. The production line of little round pin axle is located the left side of base assembly device, and the assembly position of little round pin axle is located the right side of base assembly device. When the small pin shaft needs to be clamped and assembled, the eleventh air cylinder 810 is started, the whole base assembling device is moved to the position where the small pin shaft needs to be assembled, the nineteenth clamping jaw 834 and the twentieth clamping jaw 835 are moved to the position right above the small pin shaft on the production line through the linkage matching of the twelfth air cylinder 813, the eighteenth motor 804, the fourteenth air cylinder 827 and the twentieth motor 830, the axis of the small pin shaft is coaxial with the arc axis of the nineteenth clamping jaw 834 and the arc axis of the twentieth clamping jaw 835, the twelfth air cylinder 813 is controlled, the two clamping jaws are slowly moved to the position where the small pin shaft can be clamped, the sixth clamping air cylinder 833 is controlled to enable the clamping jaws to clamp the small pin shaft, then the small pin shaft is moved to the front of the assembling position of the movable knife part through the linkage matching of the twelfth air cylinder 813, the eighteenth motor 804, the fourteenth air cylinder 827 and the twentieth motor 830, the small pin shaft is coaxially arranged with the hole in the movable knife, and a fourteenth air cylinder 827, a nineteenth clamping jaw 834 and a twentieth clamping jaw 835 are controlled to clamp the small pin shaft and slowly enter the assembly position of the movable knife, and penetrate through the over-travel spring base and the movable knife to finish the assembly of the small pin shaft.

Referring to fig. 22, the centering spring clamping device at the other end includes a twenty-second cylinder seat 836, a fifteenth cylinder 837, a fifteenth cylinder rod 838, a fifth support frame 839, a twenty-first motor 840, a twenty-third cylinder seat 841, a nineteenth rotating shaft 842, a seventh clamping cylinder 843, a twenty-first clamping jaw 844 and a twenty-second clamping jaw 845;

the twenty-second cylinder seat 836 is mounted on the fifth base 815, a fifteenth cylinder 837 is fixedly mounted on the twentieth cylinder seat 826, a fifteenth cylinder rod 838 is mounted inside the fifteenth cylinder 837, a fifth support frame 839 is fixedly mounted at the end of the fifteenth cylinder rod 838, a twenty-first motor 840 is fixedly mounted on one side of the fifth support frame 839, the nineteenth rotating shaft 842 is mounted on the other side of the fifth support frame 839 and can rotate relatively, a motor shaft of the twenty-first motor 840 is fixedly connected with the twenty-third cylinder seat 841, the other side of the twenty-third cylinder seat 841 is fixedly connected with one end of the nineteenth rotating shaft 842, the twenty-first motor 840 is started, and the twenty-third cylinder seat 841 rotates around the center of the nineteenth rotating shaft 842 as a circle center. The twenty-third cylinder seat 841 is internally and fixedly provided with a seventh clamping cylinder 843, the seventh clamping cylinder 843 is provided with a twenty-first clamping jaw 844 and a twenty-second clamping jaw 845, the two clamping jaws can be relatively close to or far away from each other, one side of the twenty-first clamping jaw 844 is in arc installation, one side of the twenty-second clamping jaw 845, which is close to the twenty-first clamping jaw 844, is also in arc shape, the two arcs are opposite in opening position, and the centered spring can be better clamped.

The eleventh air cylinder 810 is controlled to drive the twenty-first clamping jaw 844 and the twenty-second clamping jaw 845 to horizontally move. The production line of the spring with the other end placed in the middle is positioned on the left side of the base assembling device, and the assembling position of the spring with the other end placed in the middle is positioned on the right side of the base assembling device. When the centering spring needs to be clamped and assembled, the eleventh air cylinder 810 is started, the whole base assembling device is moved to the position where the centering spring needs to be assembled, the twenty-first clamping jaw 844 and the twenty-second clamping jaw 845 are moved to the position right above the centering spring on the production line through the linkage fit of the twelfth air cylinder 813, the eighteenth motor 804, the fifteenth air cylinder 837 and the twenty-first motor 840, the axis of the centering spring is coaxial with the arc axis of the twenty-first clamping jaw 844 and the arc axis of the twenty-second clamping jaw 845, the twelfth air cylinder 813 is controlled, the two clamping jaws are slowly moved to the position where the centering spring can be clamped, the seventh clamping air cylinder 843 is controlled, the clamping jaws clamp the centering spring, and then the centering spring is moved to the front of the assembling position of the movable blade part through the linkage fit of the twelfth air cylinder 813, the eighteenth motor 804, the fifteenth air cylinder 837 and the twenty-first motor 840, and make spring and the big round pin axle of moving in the sword part in the middle of with the axle center, control fifteenth cylinder 837, twenty-first clamping jaw 844 and twenty-second clamping jaw 845 press from both sides the spring in the middle of tightly slowly getting into the mounted position of moving the sword to pass big round pin axle pressure on moving the sword base, start the third cylinder among the sword part conveyor this moment, make little holder shift up, control the fourth cylinder again, make the fourth cylinder pole stretch out, and make little holder reach the spring position in the middle of the assembly in moving the sword part, little holder card owner spring in the middle of this moment just in time, prevent that the spring in the middle of from dropping. And then assembling a spring base with the other end centered to finish the assembly of the spring with the other end centered.

Referring to fig. 23, the clamping device of the spring base centered at the other end comprises a twenty-fourth cylinder seat 846, a sixteenth cylinder 847, a sixteenth cylinder rod 848, a sixth supporting frame 849, a twenty-second motor 850, a second suction cup seat 851, a twentieth rotating shaft 852, a second suction cup control box 853 and a second electromagnetic suction cup 854.

Twenty-fourth cylinder seat 846 is installed on the third base, fixed mounting has sixteenth cylinder 847 above the twenty-fourth cylinder seat 846, sixteenth cylinder 847 internal assembly has sixteenth cylinder pole 848, sixteenth cylinder pole 848 tip fixed mounting has sixth braced frame 849, one side fixed mounting of sixth braced frame 849 has twenty-second motor 850, twenty-second motor 852 is installed at the opposite side of sixth braced frame 849, can rotate relatively, the motor shaft of twenty-second motor 850 links firmly with second sucking disc seat 851, the opposite side of second sucking disc seat 851 links firmly with the one end of twenty-second pivot 852, start twenty-second motor 850, second sucking disc seat 851 rotates for the centre of a circle around twenty-second pivot 852 center. Inside fixed mounting of second sucking disc seat 851 has second sucking disc control box 853, is equipped with second electromagnet 854 on the second sucking disc control box 853, and electromagnet's tip is three long probe, and three long probe also has magnetic force when second electromagnet 854 is electrified to tightly hold spring base placed in the middle. Three long probes are distributed at intervals, so that clamping jaws in the centering spring assembling device can conveniently pass through, and the centering spring assembling device can conveniently clamp the movable knife part.

The eleventh cylinder 810 is controlled to drive the first electromagnetic chuck to move horizontally. The production line of the spring base with the other end placed in the middle is positioned on the left side of the base assembling device, and the assembling position of the spring base with the other end placed in the middle is positioned on the right side of the base assembling device. When the centered spring base needs to be clamped and assembled, the eleventh air cylinder 810 is started, the whole base assembling device is moved to the position where the centered spring base needs to be assembled, the second electromagnetic chuck 854 is moved to the position right above the centered spring base on the assembly line through the linkage fit of the twelfth air cylinder 813, the eighteenth motor 804, the sixteenth air cylinder 847 and the twenty second motor 850, the axis of the centered spring base is coaxial with the axis of the second electromagnetic chuck 854, the twelfth air cylinder 813 is controlled, the two clamping jaws are slowly moved to clamp the position of the centered spring base, the second electromagnetic chuck 854 is tightly sucked to the centered spring base through the second chuck control box 853, and then the centered spring base is moved to the front of the assembling position of the movable cutter component through the linkage fit of the twelfth air cylinder 813, the eighteenth motor 804, the sixteenth air cylinder 847 and the twenty second motor 850, and the centering spring and the large pin shaft in the movable cutter part are coaxial, the sixteenth air cylinder 847 is controlled, the first electromagnetic chuck tightly sucks the centering spring base to slowly enter the assembly position of the movable cutter, the centering spring base is abutted against the centering spring to complete the assembly of the centering spring base at the other end, and the second electromagnetic chuck 854 is not loosened at the moment to wait for the subsequent moving cutter part carrying process.

(5) Control module

The control module is used for controlling each device. The movable knife clamping unit 500 is controlled to clamp the movable knife by a production line and put into the movable knife part conveying unit 600;

the moving blade part conveying unit 600 is controlled to keep clamping the moving blade, convey the moving blade to the moving blade assembling station and keep clamping the moving blade;

controlling the base assembling device 700 to clamp the over-travel spring base from the production line and to install the over-travel spring base to the movable knife;

the pin shaft assembling device 800 is used for clamping a small pin shaft by a production line and installing the small pin shaft to the movable knife;

controlling the base assembling device 700 to clamp the movable knife base by a production line and to install the movable knife base on the movable knife;

the control pin shaft assembling device 800 is used for clamping a large pin shaft by a production line and installing the large pin shaft to the movable knife;

controlling the base assembling device 700 and the pin shaft assembling device 800 to clamp a centered spring at one end and the other end by a production line and installing the centered spring to the movable knife;

and controlling the base assembling device 700 and the pin shaft assembling device 800 to clamp the centered spring base at one end and the other end by a production line and installing the spring base to the movable knife.

On the other hand, the method for assembling the full-automatic movable blade component assembling and conveying device is provided, with reference to fig. 25, and includes:

(1) the movable knife clamping unit 500 is controlled to clamp the movable knife by a production line and put into the movable knife part conveying unit 600;

(2) the moving blade part conveying unit 600 is controlled to keep clamping the moving blade, convey the moving blade to the moving blade assembling station and keep clamping the moving blade;

(3) controlling the base assembling device 700 to clamp the over-travel spring base from the production line and to install the over-travel spring base to the movable knife;

(4) the pin shaft assembling device 800 is used for clamping a small pin shaft by a production line and installing the small pin shaft to the movable knife;

(5) controlling the base assembling device 700 to clamp the movable knife base by a production line and to install the movable knife base on the movable knife;

(6) the control pin shaft assembling device 800 is used for clamping a large pin shaft by a production line and installing the large pin shaft to the movable knife;

(7) controlling the base assembling device 700 and the pin shaft assembling device 800 to clamp a centered spring at one end and the other end by a production line and installing the centered spring to the movable knife;

(8) and controlling the base assembling device 700 and the pin shaft assembling device 800 to clamp the centered spring base at one end and the other end by a production line and installing the spring base to the movable knife.

In summary, the invention relates to a full-automatic assembling and conveying device and a conveying method for moving blade parts, wherein a moving blade clamping unit clamps a moving blade by a production line and puts the moving blade part conveying unit into the moving blade clamping unit; the moving blade part conveying unit keeps clamping the moving blade, conveys the moving blade to a moving blade assembling station and keeps clamping the moving blade; the base assembling device is used for clamping the over-travel spring base, the centering spring at one end of the movable cutter base and the centering spring base at one end by a production line and sequentially mounting the over-travel spring base, the centering spring at one end of the movable cutter base to the movable cutter; the pin shaft assembling device is used for clamping a large pin shaft, a small pin shaft, a spring at the center of the other end and a spring base at the center of the other end by a production line, and is sequentially installed to the movable cutter. The invention realizes the automatic clamping of all parts of the moving blade component, the assembly of the parts into the moving blade component and the automatic conveying of the moving blade component.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims (9)

1. The utility model provides a move full automatic assembly conveyor of sword part which characterized in that includes: the movable knife clamping device comprises a movable knife clamping unit (500), a movable knife component conveying unit (600), a base assembling device (700), a pin shaft assembling device (800) and a control module;

the movable knife clamping unit (500) clamps the movable knife by a production line under the control of the control module and puts the movable knife part conveying unit (600) into the production line;

the moving blade part conveying unit (600) keeps clamping the moving blade under the control of the control module, conveys the moving blade to a moving blade assembling station and keeps clamping the moving blade;

the base assembling device (700) is controlled by the control module to clamp an over-travel spring base, a centering spring at one end of the movable cutter base and a centering spring base at one end of the movable cutter base by a production line and is installed on the movable cutter;

the pin shaft assembling device (800) is controlled by the control module to be clamped by a production line to form a large pin shaft, a small pin shaft, a spring at the center of the other end and a spring base at the center of the other end, and is installed on the movable knife.

2. The full-automatic moving blade part assembling and conveying device according to claim 1, wherein the moving blade clamping unit (500) comprises a first rotating assembly, a first vertical telescopic assembly, a first horizontal telescopic assembly and a clamping assembly;

the first rotating assembly is provided with the first vertical telescopic assembly and can drive the first vertical telescopic assembly to rotate;

the first horizontal telescopic assembly is arranged at the telescopic end of the first vertical telescopic assembly, and the telescopic end of the first vertical telescopic assembly can be stretched in the vertical direction to drive the first horizontal telescopic assembly to move up and down;

the telescopic end of the first horizontal telescopic component is provided with the clamping component, and the telescopic end of the first horizontal telescopic component extends and retracts along the horizontal direction to drive the clamping component to adjust the distance between the clamping component and the first rotating component in the horizontal direction;

the clamping assembly is used for clamping or releasing the movable knife and placing the movable knife in the accommodating assembly.

3. The full-automatic moving blade component assembling and conveying device according to claim 2, wherein the moving blade component conveying unit (600) comprises a conveying assembly, a containing assembly and a centering spring clamping assembly;

the conveying assembly conveys the accommodating assembly through a conveying belt;

the accommodating assembly comprises an accommodating part and a clamping part; the accommodating part is used for placing a movable knife, and the clamping part is used for clamping the movable knife part in the accommodating part;

and the centering spring clamping assembly is used for clamping centering springs arranged on two sides of the movable cutter part.

4. The full-automatic moving blade component assembling and conveying device according to claim 3, wherein the conveying assembly comprises: the device comprises a support (601), a second motor base (602), a second motor (603), a first V belt (604), a first rotating shaft (605), a third belt wheel (606), a fourth belt wheel (607), a second rotating shaft (608), a transmission support (609), a first belt wheel (610), a second belt wheel (611) and a second V belt (612);

the bracket (601) comprises two supporting plates which extend upwards and are arranged in parallel, and a first V-shaped belt (604) and a second V-shaped belt (612) are respectively arranged at the inner sides of the two supporting plates;

the second motor base (602) is fixed to a support plate, and a second motor (603) is mounted on the second motor base (602); a motor shaft of the second motor (603) is fixedly connected with the first rotating shaft (605), two ends of the first rotating shaft (605) are respectively and fixedly provided with a third belt wheel (606) and a first belt wheel (610), the third belt wheel (606) is connected with a fourth belt wheel (607) through a first V belt (604), the fourth belt wheel (607) is connected with a second belt wheel (611) through a second V belt (612), the fourth belt wheel (607) and the second belt wheel (611) are fixedly arranged at two ends of the second rotating shaft (608), the second rotating shaft (608) is arranged at the rear side of the bracket (601), and the first rotating shaft (605) and the second rotating shaft (608) can rotate; the transmission support (609) is fixedly arranged on the first V belt (604) and the second V belt (612).

5. The full-automatic moving blade component assembling and conveying device according to claim 4, wherein the accommodating component comprises a square box (613), and the square box (613) is hollow; a first clamping plate (620) and a second clamping plate (621) are arranged in the square box (613); the accommodating parts for placing the movable blades are arranged in the first clamping plate (620) and the second clamping plate (621); the clamping part of the accommodating assembly comprises a first clamping plate (620) and a second clamping plate (621), a plurality of compression springs are arranged between the inner walls of the first clamping plate (620) and the square box (613), and a plurality of compression springs are arranged between the inner walls of the second clamping plate (621) and the square box (613).

6. The full-automatic moving blade component assembling and conveying device according to claim 4, wherein the base assembling device comprises a first moving platform, a clamping device of the moving blade base, a clamping device of the over-travel spring base, a clamping device of a spring with one end centered and a clamping device of the spring base with one end centered;

the first moving platform can move along the horizontal direction and the vertical direction and can rotate;

the clamping device of the moving knife base, the clamping device of the over-travel spring base, the clamping device of the spring at the middle of one end and the clamping device of the spring base at the middle of one end are fixed at the top end of the moving platform and are distributed along the circumferential direction;

the clamping device of the movable knife base is used for clamping the movable knife base; the clamping device of the over-travel spring base is used for clamping the over-travel spring; the clamping device of the spring in the middle at one end is used for clamping the spring in the middle at one end of the moving blade assembly; the clamping device of the spring base with one centered end is used for clamping the spring base with one centered end of the movable cutter component.

7. The full-automatic movable blade component assembling and conveying device according to claim 8, wherein the pin shaft assembling device comprises a second moving platform, a clamping device for a large pin shaft, a clamping device for a small pin shaft, a clamping device for a spring centered at the other end and a clamping device for a spring base centered at the other end;

the second moving platform can move along the horizontal direction and the vertical direction and can rotate;

the clamping device of the large pin shaft, the clamping device of the small pin shaft, the clamping device of the spring in the middle at one end and the clamping device of the spring base in the middle at one end are fixed at the top end of the moving platform and are distributed along the circumferential direction;

the clamping device of the large pin shaft is used for clamping the large pin shaft of the movable cutter assembly; the clamping device of the small pin shaft is used for clamping the small pin shaft of the movable cutter component; the clamping device of the centering spring at the other end is used for clamping the centering spring at the other end of the movable cutter component; the clamping device of the spring base at the other end in the middle is used for clamping the spring base at the other end of the movable cutter component in the middle.

8. The full-automatic moving blade component assembling and conveying device according to one of claims 1 to 7, characterized in that a book control module controls the moving blade clamping unit (500) to clamp the moving blades by a production line and place the moving blade components into the moving blade component conveying unit (600);

the movable knife part conveying unit (600) is controlled to keep clamping the movable knife, the movable knife is conveyed to a movable knife assembling station and keeps clamping the movable knife;

controlling the base assembling device (700) to clamp the over-travel spring base by a production line and mounting the over-travel spring base to the movable knife;

the pin shaft assembling device (800) is used for clamping a small pin shaft by a production line and installing the small pin shaft to the movable cutter;

controlling the base assembling device (700) to clamp the movable knife base by a production line and mounting the movable knife base on the movable knife;

the control pin shaft assembling device (800) is used for clamping a large pin shaft by a production line and installing the large pin shaft to the movable cutter;

controlling the base assembling device (700) and the pin shaft assembling device (800) to clamp a centered spring at one end and the other end by a production line and installing the centered spring to the movable knife;

and controlling the base assembling device (700) and the pin shaft assembling device (800) to clamp the centered spring base at one end and the other end by a production line and installing the spring base to the movable knife.

9. An assembling method of the full-automatic assembling and conveying device for the movable cutter parts according to any one of claims 1 to 8, which is characterized by comprising the following steps:

controlling the movable knife clamping unit (500) to clamp the movable knife by a production line and putting the movable knife part conveying unit (600);

the movable knife part conveying unit (600) is controlled to keep clamping the movable knife, the movable knife is conveyed to a movable knife assembling station and keeps clamping the movable knife;

controlling the base assembling device (700) to clamp the over-travel spring base by a production line and mounting the over-travel spring base to the movable knife;

the pin shaft assembling device (800) is used for clamping a small pin shaft by a production line and installing the small pin shaft to the movable cutter;

controlling the base assembling device (700) to clamp the movable knife base by a production line and mounting the movable knife base on the movable knife;

the control pin shaft assembling device (800) is used for clamping a large pin shaft by a production line and installing the large pin shaft to the movable cutter;

controlling the base assembling device (700) and the pin shaft assembling device (800) to clamp a centered spring at one end and the other end by a production line and installing the centered spring to the movable knife;

and controlling the base assembling device (700) and the pin shaft assembling device (800) to clamp the centered spring base at one end and the other end by a production line and installing the spring base to the movable knife.

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