CN215393688U - Automatic pendulum assembling machine - Google Patents

Abstract

The utility model discloses an automatic pendulum assembly machine, which relates to the field of automatic assembly of pendulum components on an automobile safety belt and comprises a rack, a first jig, a second jig, a third jig, a feeding manipulator, an automatic pendulum seat feeding and assembling mechanism, an automatic pendulum body feeding and assembling mechanism, an automatic pawl feeding and assembling mechanism and a pendulum body angle detection mechanism, wherein the first jig, the second jig, the third jig, the feeding manipulator, the automatic pendulum seat feeding and assembling mechanism, the automatic pendulum body feeding and assembling mechanism, the pawl feeding and assembling mechanism and the pendulum body angle detection mechanism are respectively arranged on the rack; the feeding manipulator comprises a feeding driving device, a feeding tong mounting seat in transmission connection with the feeding driving device and three feeding tongs fixed on the feeding driving device; a feeding clamping hand of one fixture places a pendulum bob seat in the first fixture into a second fixture; a feeding clamping hand of the second jig places the pendulum hammer seat and the pendulum hammer body in the second jig into a third jig; thirdly, the pendulum assembly positioned in the third jig is placed in the pendulum body angle detection mechanism by the feeding clamping hand; the utility model mainly solves the technical problem that the assembly efficiency of the existing pendulum assembly is low.

Description

Automatic pendulum assembling machine

Technical Field

The utility model relates to the field of automatic assembly of pendulum bob components on automobile safety belts, in particular to an automatic pendulum bob assembling machine.

Background

The pendulum assembly is arranged in the automobile safety belt and plays a role in retracting and releasing the safety belt, and specifically, refer to the chinese patent with publication number CN102079287A, as shown in fig. 1 and fig. 2, the pendulum assembly comprises a pendulum seat 01, a pendulum body 02 and a pawl 03, the assembly of the pendulum in the prior art is usually completed manually, and the manual operation has the disadvantages of low working efficiency, high assembly cost and unstable assembly quality, and does not meet the production requirement of the current market for high efficiency and high quality.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects in the prior art and provides an automatic pendulum assembly machine, which mainly solves the technical problem that the existing pendulum assembly is low in assembly efficiency.

In order to achieve the purpose, the utility model provides an automatic pendulum bob assembling machine which comprises a rack, a first jig, a second jig, a third jig, a feeding manipulator, an automatic pendulum bob base feeding and assembling mechanism, an automatic pendulum bob body feeding and assembling mechanism, an automatic pawl feeding and assembling mechanism and a pendulum bob body angle detecting mechanism, wherein the first jig is arranged on the rack and used for bearing a pendulum bob base, the second jig is used for bearing the pendulum bob base and a pendulum bob body, the third jig is used for bearing a complete pendulum bob assembly, the automatic pendulum bob base feeding and assembling mechanism is used for automatically feeding the pendulum bob base and automatically placing the pendulum bob base into the first jig, the automatic pawl feeding and assembling mechanism is used for automatically feeding pawls and automatically placing the pawls into the third jig, and the pendulum bob body angle detecting mechanism is used for automatically detecting whether the swing angle of the pendulum bob body relative to the pendulum bob base is qualified or not; the feeding manipulator comprises a feeding driving device, a feeding tong mounting seat in transmission connection with the feeding driving device and three feeding tongs fixed on the feeding driving device; a feeding clamping hand of one fixture places a pendulum bob seat in the first fixture into a second fixture; a feeding clamping hand of the second jig places the pendulum hammer seat and the pendulum hammer body in the second jig into a third jig; and a feeding clamping hand of the third tool places the pendulum assembly in the third tool into the pendulum angle detection mechanism.

Preferably, the pendulum seat automatic feeding and assembling mechanism comprises a pendulum seat vibration disc, a pendulum seat feeding channel, a vibrator, a pendulum seat dislocation device and a pendulum seat grabbing and transferring device, wherein the pendulum seat vibration disc is arranged on the rack and used for automatically feeding the pendulum seat, the pendulum seat feeding channel is communicated with a discharge port of the pendulum seat vibration disc, the vibrator is arranged below the pendulum seat feeding channel and fixed on the rack, the pendulum seat dislocation device is arranged at the discharge port of the pendulum seat feeding channel, and the pendulum seat grabbing and transferring device is arranged on the rack; the pendulum seat dislocation device comprises a dislocation driving device fixed on one side of the discharge port of the pendulum seat feeding channel and a pendulum seat dislocation block in transmission connection with the dislocation driving device; the staggered block of the pendulum hammer seat is provided with a notch for receiving a pendulum hammer seat at the tail end of a discharge port of a pendulum hammer seat feeding channel; the pendulum seat grabbing and transferring device grabs and transfers the pendulum seat in the notch into the first jig.

Preferably, the pendulum seat grabbing and transferring device comprises a transferring assembly and a rotary clamping jaw cylinder which are arranged on the rack, and the transferring assembly drives the rotary clamping jaw cylinder to do plane motion of two axes or do space motion of three axes.

Preferably, the pendulum body automatic feeding and assembling mechanism comprises a pendulum body vibration disc, a pendulum body feeding channel, a straight vibrator, a pendulum body dislocation device, a pendulum body grabbing and transferring device and a pendulum body detection device, wherein the pendulum body vibration disc is arranged on the rack and used for automatically feeding pendulum bodies, the pendulum body feeding channel is communicated with a discharge port of the pendulum body vibration disc, the straight vibrator is arranged below the pendulum body feeding channel and fixed on the rack, the pendulum body dislocation device is arranged at the discharge port of the pendulum body feeding channel, the pendulum body grabbing and transferring device is arranged on the rack, and the pendulum body detection device is arranged on one side of the discharge port of the pendulum body feeding channel and used for automatically detecting whether the height of a pendulum body at the tail end of the discharge port of the pendulum body feeding channel is qualified or not; the pendulum mass dislocation device comprises a dislocation driving source fixed on one side of the discharge port of the pendulum mass feeding channel and a pendulum mass dislocation block in transmission connection with the dislocation driving source; the staggered block of the pendulum hammer body is provided with an accommodating groove for receiving the pendulum hammer body at the tail end of the discharge port of the pendulum hammer body feeding channel; the pendulum mass grabbing and transferring device grabs and transfers the pendulum mass in the accommodating groove to the second jig.

Preferably, the pendulum body detection device comprises a lifting driving source, a detection column and a displacement detection block, wherein the lifting driving source, the detection column and the displacement detection block are fixed on the rack and positioned on one side of the discharge port of the pendulum body feeding channel; the lifting driving source drives the detection column to do lifting motion in the vertical direction, the detection column slides in a telescopic mode in the displacement detection block, and the displacement detection block automatically acquires distance information of the detection column extending out.

Preferably, the pendulum body grabbing and transferring device comprises a moving assembly and a rotary clamping cylinder which are arranged on the frame, and the moving assembly drives the rotary clamping cylinder to do plane motion of two axes or do space motion of three axes.

Preferably, the automatic pawl feeding and assembling mechanism comprises a pawl vibration disc, a pawl feeding channel, a direct current vibrator, a pawl dislocation device and a pawl grabbing and transferring device, wherein the pawl vibration disc is arranged on the rack and used for automatically feeding pawls, the pawl feeding channel is communicated with a discharge port of the pawl vibration disc, the direct current vibrator is arranged below the pawl feeding channel and fixed on the rack, the pawl dislocation device is arranged at the discharge port of the pawl feeding channel, and the pawl grabbing and transferring device is arranged on the rack; the pawl dislocation device comprises a lifting driving device and a pawl dislocation block which are fixed on one side of the discharge port of the pawl feeding channel, and the lifting driving device drives the pawl dislocation block to do lifting motion in the vertical direction; the pawl staggered block is provided with a receiving groove which is used for receiving a pawl at the tail end of a discharge hole of the pawl feeding channel and is open upwards; the pawl grabbing and transferring device grabs and transfers the pawls in the receiving grooves to the third jig.

Preferably, the pawl dislocation device further comprises a power source and a cover plate; the power source and the pawl error block are relatively fixed, and the lifting driving device drives the power source to do lifting motion in the vertical direction; the cover plate covers the upward opening of the receiving groove, so that the posture of the pawl in the receiving groove is consistent with the posture of the pawl in the pawl feeding channel; the power source drives the cover plate to move transversely in the horizontal direction so as to open the opening of the receiving groove, which is opened upwards.

Preferably, the pawl grabbing and transferring device comprises a transferring device arranged on the rack, a pawl clamping and driving device, a first clamping block and a second clamping block; the transfer device drives the pawl clamping driving device, the first clamping block and the second clamping block to do single-axis linear motion, two-axis plane motion or three-axis spatial motion; the pawl clamping driving device drives the first clamping block and the second clamping block to clamp the arc-shaped tail portion of the pawl located in the receiving groove.

Preferably, the pendulum body angle detection mechanism comprises a transfer driving device arranged on the frame, a motor arranged on the transfer driving device, a clamping jaw air cylinder mounting seat in transmission connection with an output shaft of the motor, a clamping jaw air cylinder fixed on the clamping jaw air cylinder mounting seat, a bearing block relatively fixed with a cylinder body of the clamping jaw air cylinder, two clamping blocks fixed on a clamping jaw of the clamping jaw air cylinder, a camera and a light source arranged on the frame; the bearing block is provided with a bearing part which protrudes upwards and supports the pendulum bob seat, and the bearing part is arranged between the two clamping blocks; the light source lights the pendulum assembly on the bearing part; the motor drives the clamping jaw air cylinder mounting seat, the clamping jaw air cylinder and the bearing block to rotate; the camera collects image information of the pendulum assembly on the bearing part; the transfer driving device drives the pendulum bob component on the bearing part to be transferred to a qualified product area or a defective product area.

Compared with the prior art, the utility model has the beneficial effects that:

during operation, the pendulum seat automatic feeding assembly mechanism automatically feeds the pendulum seat and automatically places the pendulum seat in the first jig, then the feeding clamping hand of the feeding driving device drives the pendulum seat in the first jig to be placed in the second jig, then the pendulum body automatic feeding assembly mechanism automatically feeds the pendulum body and automatically places the pendulum body in the second jig, thereby completing the assembly operation between the pendulum seat and the pendulum body, next the feeding driving device drives the feeding clamping hand of the feeding driving device to place the pendulum seat and the pendulum body in the second jig in the third jig, then the pawl automatic feeding assembly mechanism automatically feeds the pawl and automatically places the pawl in the third jig, thereby completing the assembly operation of the pendulum seat, the pendulum body and the pawl, forming a complete pendulum body assembly, next the feeding driving device drives the feeding clamping hand of the feeding driving device to place the pendulum body assembly in the third jig to detect the pendulum body angle, and then the pendulum body angle is detected In the mechanism, pendulum body angle detection mechanism automated inspection pendulum body is qualified to the swing angle of pendulum hammer seat, carries out the unloading to the pendulum hammer subassembly at last, and this technical scheme can realize the automatic material loading operation of pendulum hammer subassembly and automatic equipment operation, improves the packaging efficiency of pendulum hammer subassembly by a wide margin, reduces hand labor's cost by a wide margin.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of a pendulum assembly provided in the prior art;

FIG. 2 is an exploded view of a pendulum assembly provided in the prior art;

FIG. 3 is a schematic structural view of an automatic pendulum assembling machine according to the present invention;

FIG. 4 is a schematic structural view of a feeding manipulator and a pendulum bob depressing mechanism provided by the present invention;

FIG. 5 is a schematic structural view of an automatic feeding and assembling mechanism for a pendulum mount in an automatic pendulum assembling machine according to the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

FIG. 7 is a schematic structural diagram of a pendulum seat misalignment apparatus provided by the present invention;

FIG. 8 is a schematic view of the structure of a pendulum holder feed chute provided by the present invention;

FIG. 9 is a schematic structural view of an automatic feeding and assembling mechanism for a pendulum mass according to the present invention;

FIG. 10 is an enlarged view of a portion of FIG. 9 at A;

FIG. 11 is a schematic structural view of a pendulum body misalignment apparatus and a pendulum body detection apparatus provided in the present invention;

FIG. 12 is a schematic structural view of a pendulum feed chute provided by the present invention;

FIG. 13 is a schematic structural view of an automatic pallet loading and assembling mechanism according to the present invention;

FIG. 14 is an enlarged view of a portion of FIG. 13 at A;

FIG. 15 is a schematic view of the pawl displacement mechanism (cover in open position) provided by the present invention;

FIG. 16 is a schematic structural view of a pawl feed channel provided by the present invention;

FIG. 17 is a schematic view of the pendulum angle detection mechanism provided by the present invention;

FIG. 18 is an enlarged view of a portion of FIG. 17 at A;

fig. 19 is a schematic structural view of the pendulum angle detection mechanism provided by the present invention at another angle.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 3, the present invention provides an automatic pendulum assembling machine, which includes a frame 1, wherein the frame 1 is respectively provided with a first jig 21, a second jig 22, a third jig 23, a feeding manipulator 3, an automatic pendulum seat feeding and assembling mechanism 4, an automatic pendulum feeding and assembling mechanism 5, an automatic pawl feeding and assembling mechanism 6, a pendulum angle detecting mechanism 7, and a pendulum pressing mechanism 9.

Specifically, referring to fig. 4, the feeding manipulator 3 includes a feeding driving device 31, a feeding gripper mounting seat 32, and three feeding grippers 33. The three feeding clamping hands 33 are respectively fixed on the feeding clamping hand mounting seat 32, and the feeding driving device 31 drives the feeding clamping hand mounting seat 32 and the three feeding clamping hands 33 to do single-axis linear motion, double-axis planar motion or three-axis spatial motion. In this embodiment, the feeding driving device 31 is a mechanism formed by three linear modules connected in the XYZ direction, where the linear modules may be a cylinder linear module, a screw linear module, or a linear motor. When the feeding driving device 31 drives the feeding clamping hand 33 of one of the two feeding clamping hands and the feeding clamping hand 33 of the other one feeding clamping hand to move, the feeding clamping hand 33 of the other two feeding clamping hands and the feeding clamping hand 33 of the other three feeding clamping hands can also move synchronously, so that after the feeding clamping hand 33 of the one feeding clamping hand places the material from the first jig 21 onto the second jig 22, the material originally positioned in the second jig 22 is transferred to the third jig 23 by the feeding clamping hand 33 of the other two feeding clamping hands, and meanwhile, the material originally positioned in the third jig 23 is transferred to the pendulum body angle detection mechanism 7, in sum, the feeding manipulator 3 with the structural design can greatly improve the assembly efficiency of the pendulum body assembly.

More specifically, the pendulum bob pressing mechanism 9 includes a pressing cylinder 91 and a pressing block 92 fixed to the frame 1, and the pressing cylinder 91 drives the pressing block 92 to move up and down in the vertical direction.

Specifically, referring to fig. 1-4, in operation, the pendulum base automatic feeding and assembling mechanism 4 automatically feeds the pendulum base 01 and automatically places the pendulum base 01 into the first fixture 21, the feeding driving device 31 drives the feeding gripper 33 of one of the pendulum bases to place the pendulum base 01 located in the first fixture 21 into the second fixture 22, the pendulum body automatic feeding and assembling mechanism 5 automatically feeds the pendulum body 02 and automatically places the pendulum body 02 into the second fixture 22, thereby completing the assembling operation between the pendulum base 01 and the pendulum body 02, the feeding driving device 31 drives the feeding gripper 33 of the other of the pendulum bases to place the pendulum base 01 and the pendulum body 02 located in the second fixture 22 into the third fixture 23, the pawl automatic feeding and assembling mechanism 6 automatically feeds the pawl 03 and automatically places the pawl 03 into the third fixture 23, therefore, the assembly operation of the pendulum seat 01, the pendulum body 02 and the pawl 03 is completed, a complete pendulum assembly is formed, then the pressing cylinder 91 drives the pressing block 92 to descend, the pressing block 92 presses the pendulum body 02 down, the pendulum seat 01, the pendulum body 02 and the pawl 03 are reliably assembled, then the feeding driving device 31 drives the feeding clamping hands 33 of the three to place the pendulum assembly located in the third jig 23 into the pendulum body angle detection mechanism 7, the pendulum body angle detection mechanism 7 automatically detects whether the swinging angle of the pendulum body 02 relative to the pendulum seat 01 is qualified or not, and finally the pendulum assembly is subjected to blanking.

Each mechanism is described in detail below with reference to the drawings.

Referring to fig. 5-7, the pendulum seat automatic feeding and assembling mechanism 4 includes a pendulum seat vibrating plate 41, a pendulum seat feeding channel 42, a vibrator 43, a pendulum seat dislocation device 44, and a pendulum seat grabbing and transferring device 45.

Specifically, the pendulum seat vibrating plate 41, the vibrator 43, the pendulum seat shifting device 44 and the pendulum seat grabbing and transferring device 45 are all fixed on the frame 1, and the pendulum seat feeding channel 42 is installed above the vibrator 43 and communicated to the discharge port of the pendulum seat vibrating plate 41. Next, a sensor mounting block 46 fixed on the frame 1 is provided at the discharge port of the pendulum seat feeding channel 42, a sensor 47 is fixed on the sensor mounting block 46, and the sensor 47 is used for detecting whether a pendulum seat is present in the notch 4421. In addition, be fixed with inductor installation piece 48 at pendulum mass seat pay-off way 42 feed inlet department, be fixed with inductor 49 on this inductor installation piece 48, this inductor 49 is used for detecting pendulum mass seat pay-off way 42 feed inlet department and is piled up pendulum mass seat 01, if pendulum mass seat pay-off way 42 feed inlet department piles up pendulum mass seat 01, will send the signal for pendulum mass seat vibration dish 41, pendulum mass seat vibration dish 41 will stop the feeding temporarily, set up this inductor 49 and have the advantage of saving the power consumption.

The pendulum seat dislocation device 44 comprises a dislocation driving device 441 and a pendulum seat dislocation block 442, the pendulum seat dislocation block 442 is provided with a notch 4421 for accommodating one pendulum seat 01, and when the dislocation driving device 441 does not drive the pendulum seat dislocation block 442 to perform transverse movement, the notch 4421 is communicated with the discharge port of the pendulum seat feeding channel 42 to receive one pendulum seat 01 at the tail end of the discharge port of the pendulum seat feeding channel 42.

More specifically, in the present embodiment, referring to fig. 8, the cross section of the pendulum seat feeding channel 42 includes a rectangular notch 421 and a bar notch 422, and the bar notch 422 is disposed at the bottom of the rectangular notch 421 and is recessed downward, so that the rectangular notch 421 and the bar notch 422 form a T-shape together, and in addition, a corner 4211 of the rectangular notch 421 is opened.

Referring to fig. 1-7, during operation, the pendulum seat 01 is automatically fed into the pendulum seat feeding channel 42 by the vibration of the pendulum seat vibrating plate 41, and then the pendulum seat 01 located in the pendulum seat feeding channel 42 is continuously transported forward by the vibration of the vibrator 43, when the pendulum seat 01 at the tail end of the pendulum seat feeding channel 42 enters the notch 4421 of the pendulum seat error block 442, the sensor 47 senses that the notch 4421 has the pendulum seat 01, the dislocation driving device 441 drives the pendulum seat error block 442 to move transversely and staggerly, so that the pendulum seat 01 is conveniently grabbed by the subsequent pendulum seat grabbing and transferring device 45, and when the pendulum seat grabbing and transferring device 45 grabs the pendulum seat 01 located in the notch 4421 on the pendulum seat error block 442, the pendulum seat grabbing and transferring device 45 transfers the pendulum seat 01 to an external jig, thereby facilitating the subsequent assembly operation of the pendulum body and the pawl, this technical scheme can realize the automatic material loading operation of pendulum hammer seat 01 and automatic equipment operation, improves the packaging efficiency of pendulum hammer subassembly by a wide margin, reduces hand labor's cost simultaneously by a wide margin.

In the present embodiment, the displacement driving device 441 is a low-cost cylinder, and since the linear precision of the cylinder driving is poor, in order to improve the linear motion precision of the pendulum seat error block 442, the displacement driving device 441 further includes a guide rail 443 fixed to the frame 1, the pendulum seat error block 442 is slidably connected to the guide rail 443, and in addition, for the convenience of processing and operation reliability, the direction in which the displacement driving device 441 drives the pendulum seat error block 442 to move is perpendicular to the feeding direction of the pendulum seat feeding channel 42. In other embodiments, the displacement driving device 441 can be a screw linear module or a linear motor. The protection scope of the present application is only that the dislocation driving device 441 drives the dislocation block 442 of the pendulum seat to perform the lateral movement.

In this embodiment, the pendulum seat grabbing and transferring device 45 includes a transferring assembly 451 and a rotating jaw cylinder 452 mounted on the frame 1, the transferring assembly 451 is used to drive the rotating jaw cylinder 452 to perform two-axis planar motion or three-axis spatial motion, and the rotating jaw cylinder 452 is used to grab the pendulum seat 01 located in the notch 4421 of the pendulum seat error block 442 and rotate the pendulum seat 01, so that the pendulum seat 01 is placed on an external fixture in a proper posture. However, the pendulum holder gripping and transferring device 45 is not limited to the above-mentioned structure design, and in other embodiments, the pendulum holder gripping and transferring device 45 may be a structure design of a multi-axis robot with a suction cup.

In this embodiment, the transfer component 451 is used for driving the rotary clamping jaw cylinder 452 to perform a two-axis planar motion, specifically, the transfer component 451 includes an X-axis linear module 4511 and a Z-axis linear module 4512, the X-axis linear module 4511 is fixed on the frame 1, the Z-axis linear module 4512 is overlapped on the X-axis linear module 4511, and the rotary clamping jaw cylinder 452 is installed on the Z-axis linear module 4512. During the operation, the straight line module 4511 of X axle can drive the whole sideslip motion of X axle of making of the straight line module 4512 of Z axle and rotatory clamping jaw cylinder 452, the straight line module 4512 of Z axle can drive rotatory clamping jaw cylinder 452 and make elevating movement in the vertical direction to rotatory clamping jaw cylinder 452 snatchs pendulum hammer seat 01, wherein the straight line module 4511 of X axle and the straight line module 4512 of Z axle are the lower cylinder straight line module of cost, of course, the straight line module 4511 of X axle and the straight line module 4512 of Z axle can also be synchronous belt straight line module or linear electric motor etc..

Referring to fig. 9 to 11, the pendulum automatic feeding and assembling mechanism 5 includes a pendulum vibration plate 51, a pendulum feeding channel 52, a straight vibrator 53, a pendulum misplacing device 54, a pendulum grabbing and transferring device 55 and a pendulum detecting device 56.

Specifically, the pendulum mass vibrating plate 51, the straight vibrator 53, the pendulum mass displacing device 54, the pendulum mass grabbing and transferring device 55, and the pendulum mass detecting device 56 are all fixed on the frame 1, wherein the pendulum mass feeding channel 52 is installed above the straight vibrator 53 and communicated to the discharge port of the pendulum mass vibrating plate 51. Secondly, be fixed with inductor fixed block 57 at the feed inlet department of pendulum mass pay-off way 52, be fixed with material way inductor 58 on this inductor fixed block 57, this material way inductor 58 is used for detecting whether pendulum mass pay-off way 52 feed inlet department piles up pendulum mass 02, if pendulum mass pay-off way 52 feed inlet department piles up pendulum mass 02, will send the signal for pendulum mass vibration dish 51, pendulum mass vibration dish 51 will stop the feed temporarily, set up this material way inductor 58 and have the advantage of saving electric energy loss.

The pendulum body detection device 56 is used for detecting whether the height of the pendulum body 02 is qualified, and includes a lifting drive source 561, a detection column 562, a displacement detection block 563, and a photoelectric sensor 564. The lifting driving source 561 is fixed on the frame 1 and located at one side of the discharge opening of the pendulum feeding channel 52, in this embodiment, the lifting driving source 561 is a sliding table cylinder, in other embodiments, the lifting driving source 561 may also be a screw linear module or a linear motor, etc., and the lifting driving source 561 is used for driving the detecting column 562 to move up and down in the longitudinal direction. The function of the displacement detection block 563 is to automatically obtain the descending length information of the detection pillar 562, in this embodiment, the detection pillar 562 slides in the displacement detection block 563. In other embodiments, the pendulum body detection device 56 may also be a distance sensor that detects a less accurate height position.

The pendulum mass dislocation device 54 comprises a dislocation driving source 541 and a pendulum mass dislocation block 542, wherein the pendulum mass dislocation block 542 is provided with an accommodating groove 5421 for accommodating a pendulum mass 02, and when the dislocation driving source 541 does not drive the pendulum mass dislocation block 542 to perform transverse movement, the accommodating groove 5421 is communicated with the discharge hole of the pendulum mass feed channel 52 so as to receive the pendulum mass 02 at the tail end of the discharge hole of the pendulum mass feed channel 52.

More specifically, for feeding the pendulum bob 02, in the embodiment, referring to fig. 12, the notch section of the pendulum bob feeding channel 52 is designed in an i-shape.

Referring to fig. 1-4 and 9-11, in operation, the pendulum 02 is automatically fed into the pendulum feeding channel 52 by the vibration of the pendulum vibrating tray 51, and then the pendulum 02 located in the pendulum feeding channel 52 is continuously transported forward by the vibration of the straight vibrator 53, when the pendulum 02 at the tail end of the pendulum feeding channel 52 enters the accommodating groove 5421 of the pendulum error block 542, the photoelectric sensor 564 detects that the pendulum 02 is located in the accommodating groove 5421, the lifting driving source immediately drives the detecting column 562 to descend, the detecting column 562 is attached to the top of the pendulum 02 in the accommodating groove 5421, the displacement detecting block 563 detects whether the descending distance of the detecting column 562 is qualified to determine whether the height of the pendulum 02 is qualified, and the staggered driving source 541 drives the pendulum error block 542 to stagger, so as to facilitate the subsequent pendulum grabbing and transferring device 55 to grab the pendulum 02, after pendulum mass snatchs transfer device 55 and grabs the pendulum mass 02 that is located holding tank 5421, pendulum mass snatchs transfer device 55 and transfers highly qualified pendulum mass 02 to outside tool, thereby be convenient for the operation of follow-up equipment pawl, pendulum mass snatchs transfer device 55 and transfers highly unqualified pendulum mass 02 to outside collection region, this technical scheme can realize the automatic material loading operation of pendulum mass 02 and the automatic equipment operation, improve the packaging efficiency of pendulum mass subassembly by a wide margin, reduce hand labor's cost simultaneously by a wide margin.

In this embodiment, the displacement driving source 541 is a low-cost cylinder, and since the linear precision of the cylinder driving is poor, in order to improve the linear motion precision of the pendulum mass error block 542, the displacement driving source 541 further includes a slide rail 543 fixed to the frame 1, the pendulum mass error block 542 is slidably connected to the slide rail 543, and for the convenience of processing and operation reliability, the direction in which the displacement driving source 541 drives the pendulum mass error block 542 to move is perpendicular to the feeding direction of the pendulum mass feeding channel 52. In other embodiments, the driving source 541 can be a screw linear module or a linear motor. As long as the dislocation driving source 541 drives the dislocation block 542 of the pendulum mass to perform the lateral movement, the protection scope of the present application is all.

In this embodiment, the pendulum mass grabbing and transferring device 55 includes a moving assembly 551 and a rotating clamping cylinder 552 mounted on the frame 1, the moving assembly 551 is used to drive the rotating clamping cylinder 552 to perform two-axis planar motion or three-axis spatial motion, and the rotating clamping cylinder 552 is used to grab the pendulum mass 02 of the accommodating groove 5421 on the pendulum mass dislocation block 542 and rotate the pendulum mass 02, so that the pendulum mass 02 is placed on an external fixture in a proper posture. However, the pendulum mass grasping and transferring device 55 is not limited to the above-mentioned structure design, and in other embodiments, the pendulum mass grasping and transferring device 55 may be a structure design of a multi-axis robot with a suction cup.

In this embodiment, the moving assembly 551 is used to drive the rotating clamping cylinder 552 to perform two-axis planar motion, specifically, the moving assembly 551 includes an X-axis module 5511 and a Z-axis module 5512, the X-axis module 5511 is fixed on the frame 1, the Z-axis module 5512 is disposed on the X-axis module 5511, and the rotating clamping cylinder 552 is disposed on the Z-axis module 5512. During operation, the X-axis module 5511 can drive the Z-axis module 5512 and the rotary clamping cylinder 552 to move transversely, the Z-axis module 5512 can drive the rotary clamping cylinder 552 to move up and down in the vertical direction, so that the rotary clamping cylinder 552 can grasp the pendulum hammer body 02, wherein the X-axis module 5511 and the Z-axis module 5512 are cylinder linear modules with lower cost, and of course, the X-axis module 5511 and the Z-axis module 5512 can also be synchronous belt linear modules or linear motors and the like.

Referring to fig. 13-15, the automatic pallet feeding mechanism 6 includes a pallet vibration plate 61, a pallet feeding channel 62, a dc vibrator 63, a pallet dislocation device 64, and a pallet gripping and transferring device 65.

Specifically, the pallet vibration tray 61, the direct current vibrator 63, the pallet dislocation device 64 and the pallet grabbing and transferring device 65 are all fixed on the frame 1, and the pallet feeding channel 62 is installed above the direct current vibrator 63 and is communicated to a discharge port of the pallet vibration tray 61. Secondly, be fixed with inductor mount 66 in pawl pay-off way 62 feed inlet department, be fixed with full inductor 67 on this inductor mount 66, this full inductor 67 of material is used for detecting whether pawl 03 is piled up in pawl pay-off way 62 feed inlet department, if pawl 03 is piled up in pawl pay-off way 62 feed inlet department, will send the signal for pawl vibration dish 61, pawl vibration dish 61 will stop the feed temporarily, set up this full inductor 67 of material and have the advantage of saving the electric energy loss.

The detent dislocation device 64 includes a lifting driving device 641, a detent dislocation block 642, a power source 643, a cover 644, a sensor fixing seat 645 and a material sensor 646. Wherein the power source 643 and the ratchet error block 642 are designed to be fixed relatively, the elevating driving device 641 drives the power source 643 and the ratchet error block 642 to move vertically. In addition, the pallet error block 642 is provided with a receiving groove 6421 opened upward, and when the lifting driving device 641 does not drive the pallet error block 642 to do lifting movement, the receiving groove 6421 is communicated with the discharge hole of the pallet feed channel 62 to receive a pallet 03 at the extreme end of the discharge hole of the pallet feed channel 62. The cover 644 is used to cover the upwardly open opening of the receiving slot 6421 to limit the posture shape of the pawl 03 in the receiving slot 6421, and specifically, the posture of the pawl 03 in the receiving slot 6421 and the posture of the pawl in the pawl feeding channel 62 can be kept consistent, so that the pawl 03 in the receiving slot 6421 can be accurately grabbed by the subsequent pawl grabbing and transferring device 65, and after the pawl 03 in the receiving slot 6421 is grabbed by the pawl grabbing and transferring device 65, the power source 643 drives the cover 644 to perform a transverse moving motion in the horizontal direction to open the upwardly open opening of the receiving slot 6421, so that the pawl grabbing device 65 can take and transfer the pawl 03 to an external jig. Wherein the sensor fixing seat 645 is fixed at one side of the ratchet error block 642, the material sensor 646 is fixed at the sensor fixing seat 645, and the material sensor 646 is used for detecting whether the ratchet 03 exists in the receiving groove 6421.

More specifically, in the present embodiment, referring to fig. 16, the section of the pawl feeding channel 62 is T-shaped for feeding the pawl 03.

Specifically, referring to fig. 1-4 and 13-15, in operation, the pawls 03 are automatically fed into the pawl feeding channel 62 by the vibration of the pawl vibrating plate 61, and then the pawls 03 located in the pawl feeding channel 62 are continuously transported and advanced by the vibration of the dc vibrator 63, when the pawls 03 at the extreme end of the pawl feeding channel 62 enter the receiving slots 6421 of the pawl error block 642 (at this time, the cover plate 644 is in a state of covering the receiving slots 6421), the lifting driving device 641 immediately drives the pawl error block 642 to move upward to stagger the pawls 03 located in the receiving slots 6421 and the pawls 03 located in the pawl feeding channel 62 when the material sensor 646 detects that there are pawls 03 in the receiving slots 6421, so as to facilitate the subsequent pawl grabbing and transferring device 65 to grab the pawls 03, and when the pawl grabbing and transferring device 65 grabs the pawls 03 located in the receiving slots 6421 on the pawl error block 642, the power source 643 drives the cover plate 644 to move transversely in the horizontal direction to open the upward opening of the receiving groove 6421, at the moment, the pawl grabbing and transferring device 65 transfers the pawl 03 to an external jig, namely, the pawl 03 is inserted into the mounting hole of the pendulum seat 02, and therefore automatic assembly operation of the pendulum assembly is completed.

In this embodiment, the lifting driving device 641 is a cylinder with low cost, and in other embodiments, the lifting driving device 641 may also be a screw linear module or a linear motor. As long as the lifting driving device 641 drives the pendulum seat error block 442 to move transversely, the protection scope of the present application is included.

In this embodiment, the pallet gripping and transferring device 65 includes a transferring device 651, a pallet gripping and driving device 652, a first clamp block 653, and a second clamp block 654. The pawl clamping driving device 652 drives the first clamping block 653 and the second clamping block 654 to clamp the arc-shaped tail of the pawl 03 located in the receiving slot 6421, wherein the transfer device 651 is fixed on the frame 1, and the transfer device 651 drives the pawl clamping driving device 652, the first clamping block 653 and the second clamping block 654 to perform single-axis linear motion, two-axis planar motion or three-axis spatial motion, so as to transfer the pawl 03 clamped by the first clamping block 653 and the second clamping block 654 together to an external jig, thereby inserting the pawl 03 into the mounting hole of the pendulum seat 02. In this embodiment, the transfer device 651 is preferably a single-axis cylinder linear module, and in other embodiments, the transfer device 651 may be an XY-axis moving platform or a multi-axis robot.

In the present embodiment, referring to fig. 3 and 4, the pallet clamp driving device 652 includes a fixed base 6521, a driving cylinder 6522, and a rotating block 6523. Wherein the driving cylinder 6522 is fixed on the fixed base 6521, and the rotating block 6523 is installed on the fixed base 6521 and is driven by the driving cylinder 6522 to rotate. The first clamping block 653 is relatively fixed to the fixed base 6521, and the second clamping block 654 is relatively fixed to the rotating block 6523. In operation, the piston rod of the driving cylinder 6522 extends to drive the rotating block 6523 to rotate, so as to drive the second clamping block 654 to rotate around the rotating center 65231 of the rotating block 6523, so as to drive the second clamping block 654 to approach the first clamping block 653, so that the second clamping block 654 and the first clamping block 653 clamp the arc-shaped tail of the pawl 03 together. Of course, in other embodiments, the driving cylinder 6522 may be replaced by a driving source such as a lead screw module or a linear motor.

Referring to fig. 17 to 19, the pendulum angle detection mechanism 7 includes a transfer driving device 71, a motor 72, a jaw cylinder mount 73, a jaw cylinder 74, a bearing block 75, two clamping blocks 76, a camera 77, a light source 78, a camera fixing assembly 82, a light source fixing assembly 83, a good product collection box 84, and a defective product collection box 85.

Wherein the transfer driving device 71, the camera fixing component 82, the light source fixing component 83, the good product collecting box 84 and the defective product collecting box 85 are all fixed on the frame 1. The transfer driving device 71 is used for driving the motor 72, the jaw cylinder mount 73, the jaw cylinder 74, the bearing block 75 and the two clamping blocks 76 to integrally move in a single-axis, two-axis or three-axis manner, so as to transfer the pendulum assembly on the bearing block 75 to the good product collecting box 84 or the defective product collecting box 85.

The motor 72 is mounted on the transfer driving device 71, and the gripper cylinder mounting base 73 is in transmission connection with an output shaft of the motor 72, that is, when the output shaft of the motor 72 rotates, the gripper cylinder mounting base 73 can be driven to rotate. Wherein the clamping jaw air cylinder 74 is fixed on the clamping jaw air cylinder mounting base 73, the two clamping blocks 76 are fixed on the clamping jaws of the clamping jaw air cylinder 74, the two clamping blocks 76 are provided with clamping grooves 761, and the clamping grooves 76 are used for clamping the outer frame of the pendulum bob base 01 in the pendulum bob assembly. Wherein the bearing block 75 is fixed on the cylinder body of the clamping jaw air cylinder 74, of course, the bearing block 75 can also be fixed on the clamping jaw air cylinder mounting seat 73, a bearing part 751 which protrudes upwards is arranged on the bearing block 75, the bearing part 751 is arranged between the two clamping blocks 76, and the bearing part 751 can bear and support the pendulum seat 01 in the pendulum assembly so as to position the pendulum assembly.

The light source fixing component 83 is used for fixing the light source 78, and the light source 78 is used for polishing the pendulum component on the bearing part 751. The camera fixing component 82 is used for fixing the camera 77, and the camera 77 is used for collecting image information of the pendulum component on the bearing part 751 so as to judge whether the angle amplitude of the pendulum body 02 rotatable on the pendulum seat 01 is qualified.

Specifically, referring to fig. 1-4 and 17-19, in operation, the external blanking device firstly places the assembled pendulum assembly on the bearing block 75, at this time, the bearing portion 751 on the bearing block 75 bears the pendulum seat 01 in the pendulum assembly, so as to position the pendulum assembly, then the clamping jaw air cylinder 74 drives the two clamping blocks 76 to clamp the pendulum seat 01 in the pendulum assembly on the bearing block 75, at this time, the pendulum seat 01 in the pendulum assembly is clamped into the clamping slot 761 on the clamping block 76, next, the motor 72 drives the clamping jaw air cylinder mounting block 73, the clamping jaw air cylinder 74 and the bearing block 75 to integrally rotate, so that the pendulum seat 01 rotates a certain angle relative to the frame 1 at this time, the light source 78 supplements light for the pendulum assembly, and the camera 77 photographs the pendulum assembly on the bearing block 75 to collect image information, therefore, whether the posture of the pendulum body 02 relative to the pendulum seat 01 is qualified or not is judged, finally the transfer driving device 71 drives the pendulum component on the bearing part 75 to be transferred to the good product collecting box 84 or the defective product collecting box 85, the two clamping blocks 76 are driven by the large-amplitude rotation of the motor 72 and the clamping jaw air cylinders 74 to loosen the pendulum component, and the pendulum component on the bearing block can be dropped to the good product collecting box 84 or the defective product collecting box 85.

Specifically, since the good product collecting box 84 and the defective product collecting box 85 are arranged in the same line, in the present embodiment, the transfer driving device 71 is a single-axis linear module, and in other embodiments, the transfer driving device 71 may be a biaxial XY-motion platform or a three-axis robot depending on the placement positions of the good product collecting box 84 and the defective product collecting box 85.

More specifically, in the present embodiment, the transfer driving device 71 includes a traverse cylinder 711, a guide rail 712, a rail block 713, and a motor mount 714. The cylinder body of the traversing cylinder 711 is fixed on the frame 1, the guide rail 712 is also fixed on the frame 1, the guide rail block 713 is slidably mounted on the guide rail 712, the motor mounting seat 714 is fixed on the guide rail block 713, the motor mounting seat 714 is fixedly connected with the piston rod of the traversing cylinder 711, and the motor 72 is fixed on the motor mounting seat 714. During operation, the traversing cylinder 711 drives the motor mounting seat 714 to move linearly along the guide rail 712, so that the pendulum assembly on the driving bearing part 75 can be transferred to the good product collecting box 84 or the defective product collecting box 85.

In addition, in order to make the space more compact and reasonable, a belt transmission assembly is arranged between the output shaft of the motor 72 and the clamping jaw air cylinder mounting seat 73. The belt transmission assembly comprises a driving wheel 79, a driven wheel 80 and a transmission belt 81, wherein the driving wheel 79 is coaxially sleeved on an output shaft of a motor 72, the driven wheel 80 is mounted on a motor mounting seat 714 to rotate freely, a clamping jaw air cylinder mounting seat 73 is fixed on the driven wheel 80, the transmission belt 81 is connected with the driving wheel 79 and the driven wheel 80, and when the output shaft of the motor 72 rotates, the driven wheel 80 can be driven to rotate through the transmission belt 81, so that the clamping jaw air cylinder mounting seat 73 is driven to rotate.

Further, the camera fixing assembly 82 includes a vertical shaft fixing base 821, a vertical shaft 822, and a camera mounting base 823. The vertical shaft fixing seat 821 is fixed on the frame 1, the vertical shaft fixing seat 821 tightly holds the vertical shaft 822 in a holding manner, similarly, the camera mounting seat 823 tightly holds the outer wall of the vertical shaft 822 in a holding manner, and the camera 77 is fixed on the camera mounting seat 823. With the above structural design of the camera fixing assembly 82, on the one hand, the camera mounting seat 823 can be adjusted in height on the vertical shaft 822, thereby facilitating adjustment of the height of the camera 77 relative to the housing 1. In addition, be provided with waist type hole 8231 on the camera mount 823, when installing camera 77, pass waist type hole 8231 and screw up in the bottom of camera through the screw, can fix camera 77 on camera mount 823, through the setting of this waist type hole 8231, the relative distance between adjustable camera 77 and the pendulum weight subassembly has the convenient advantage of regulation.

Further, the light source 78 includes a first light source 781 and a second light source 782. Wherein first light source 781 is used for supplementing light to the front of pendulum assembly, and second light source 782 is used for supplementing light to the back of pendulum assembly. The light source fixing component 83 includes a vertical rod fixing seat 831, a vertical rod 832, a first clamping seat 833, a second clamping seat 834 and a cross bar 835. Wherein the vertical rod fixing seat 831 is fixed on the frame 1, the vertical rod 832 is embraced by the vertical rod fixing seat 831 in a clasping manner, the first clamping seat 833 and the second clamping seat 834 are also clasped at the top of the vertical rod 832 in a clasping manner, and the second clamping seat 834 clasps the cross bar 835. Wherein the first light source 781 is fixed on the first clamping seat 833 and the second light source 782 is fixed on the crossbar 835. By adopting the light source fixing component 83 with the structural design, the height positions of the first clamping seat 833 and the second clamping seat 834 on the vertical rod 832 can be adjusted, so that the height positions of the first light source 781 and the second light source 782 relative to the rack 1 can be adjusted conveniently.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (10)

1. An automatic pendulum bob assembling machine comprises a machine frame (1) and is characterized in that, the automatic pendulum body feeding and assembling device comprises a rack (1), a first fixture (21), a second fixture (22), a third fixture (23), a feeding manipulator (3), a pendulum body automatic feeding and assembling mechanism (4), a pendulum body automatic feeding and assembling mechanism (5), a pawl automatic feeding and assembling mechanism (6) and a pendulum body angle detecting mechanism (7), wherein the first fixture (21) is arranged on the rack (1) and used for bearing the pendulum seat, the second fixture (22) is used for bearing the pendulum seat and the pendulum body, the third fixture (23) is used for bearing the complete pendulum body assembly, the feeding manipulator (3), the pendulum body automatic feeding and assembling mechanism (5) is used for automatically feeding the pendulum seat and automatically placing the pendulum body into the second fixture (22), the pawl automatic feeding and assembling mechanism (6) is used for automatically feeding the pawl and automatically placing the pawl into the third fixture (23), and the pendulum body angle detecting mechanism (7) is used for automatically detecting whether the pendulum body is qualified or not;

the feeding manipulator (3) comprises a feeding driving device (31), a feeding clamping hand mounting seat (32) in transmission connection with the feeding driving device (31) and three feeding clamping hands (33) fixed on the feeding driving device (31);

a feeding clamping hand (33) of one tool places a pendulum bob seat positioned in the first tool (21) into the second tool (22); a feeding clamping hand (33) of the second tool places the pendulum seat and the pendulum body which are positioned in the second tool (22) into a third tool (23); and a feeding clamping hand (33) places the pendulum assembly positioned in the third jig (23) into the pendulum body angle detection mechanism (7).

2. The automatic pendulum bob assembling machine according to claim 1, wherein the automatic pendulum bob holder feeding and assembling mechanism (4) comprises a pendulum bob holder vibrating tray (41) installed on the frame (1) for automatically feeding pendulum bob holders, a pendulum bob holder feeding channel (42) communicated with a discharge port of the pendulum bob holder vibrating tray (41), a vibrator (43) installed below the pendulum bob holder feeding channel (42) and fixed on the frame (1), a pendulum bob holder dislocation device (44) arranged at a discharge port of the pendulum bob holder feeding channel (42), and a pendulum bob holder grabbing and transferring device (45) installed on the frame (1);

the pendulum hammer seat dislocation device (44) comprises a dislocation driving device (441) fixed on one side of the discharge port of the pendulum hammer seat feeding channel (42) and a pendulum hammer seat dislocation block (442) in transmission connection with the dislocation driving device (441); the pendulum hammer seat staggered block (442) is provided with a notch (4421) for receiving a pendulum hammer seat at the tail end of a discharge hole of the pendulum hammer seat feeding channel (42);

the pendulum seat grabbing and transferring device (45) grabs and transfers the pendulum seat in the notch (4421) into the first fixture (21).

3. The automatic pendulum assembling machine according to claim 2, wherein the pendulum seat grabbing and transferring device (45) comprises a transferring component (451) and a rotating jaw cylinder (452) which are arranged on the frame (1), and the transferring component (451) drives the rotating jaw cylinder (452) to do two-axis planar motion or three-axis spatial motion.

4. An automatic pendulum bob assembling machine according to claim 1, wherein, the pendulum body automatic feeding and assembling mechanism (5) comprises a pendulum body vibration disc (51) which is arranged on the rack (1) and used for automatically feeding pendulum bodies, a pendulum body feeding channel (52) communicated with a discharge hole of the pendulum body vibration disc (51), a straight vibrator (53) which is arranged below the pendulum body feeding channel (52) and fixed on the rack (1), a pendulum body dislocation device (54) arranged at the discharge hole of the pendulum body feeding channel (52), a pendulum body grabbing and transferring device (55) arranged on the rack (1), and a pendulum body detection device (56) which is arranged at one side of the discharge hole of the pendulum body feeding channel (52) and used for automatically detecting whether the height of the pendulum body at the tail end of the discharge hole of the pendulum body feeding channel (52) is qualified or not;

the pendulum mass dislocation device (54) comprises a dislocation driving source (541) fixed on one side of the discharge port of the pendulum mass feeding channel (52) and a pendulum mass dislocation block (542) in transmission connection with the dislocation driving source (541); the pendulum mass staggering block (542) is provided with an accommodating groove (5421) for receiving a pendulum mass at the tail end of a discharge hole of the pendulum mass feeding channel (52);

the pendulum body grabbing and transferring device (55) grabs and transfers the pendulum bodies in the accommodating groove (5421) to the second jig (22).

5. An automatic pendulum assembling machine according to claim 4, characterized in that said pendulum mass detecting device (56) comprises a lifting driving source (561), a detecting column (562) and a displacement detecting block (563) fixed on the frame (1) and located at one side of the discharge port of the pendulum mass feeding channel (52);

the lifting driving source (561) drives the detection column (562) to do lifting movement in the vertical direction, the detection column (562) slides in the displacement detection block (563) in a telescopic mode, and the displacement detection block (563) automatically acquires the distance information of the extension of the detection column (562).

6. The automatic pendulum assembling machine according to claim 4, wherein the pendulum grabbing and transferring device (55) comprises a moving assembly (551) and a rotary grabbing cylinder (552) mounted on the frame (1), and the moving assembly (551) drives the rotary grabbing cylinder (552) to perform two-axis planar motion or three-axis spatial motion.

7. The automatic pendulum bob assembling machine according to claim 1, wherein the automatic pawl feeding and assembling mechanism (6) comprises a pawl vibration plate (61) installed on the frame (1) for automatically feeding pawls, a pawl feeding channel (62) communicated with a discharge port of the pawl vibration plate (61), a direct current vibrator (63) installed below the pawl feeding channel (62) and fixed on the frame (1), a pawl dislocation device (64) arranged at the discharge port of the pawl feeding channel (62), and a pawl grabbing and transferring device (65) installed on the frame (1);

the pawl dislocation device (64) comprises a lifting driving device (641) and a pawl dislocation block (642) which are fixed on one side of the discharge port of the pawl feeding channel (62), and the lifting driving device (641) drives the pawl dislocation block (642) to move up and down in the vertical direction; the pawl error block (642) is provided with a receiving groove (6421) which is used for receiving a pawl at the tail end of a discharge hole of the pawl feeding channel (62) and is opened upwards;

the pawl grabbing and transferring device (65) grabs and transfers the pawls in the receiving grooves (6421) to the third jig (23).

8. An automatic pendulum assembling machine according to claim 7, characterized in that said pawl displacement means (64) further comprises a power source (643) and a cover plate (644);

the power source (643) and the pawl error block (642) are relatively fixed, and the lifting driving device (641) drives the power source (643) to do lifting movement in the vertical direction;

the cover plate (644) covers an opening of the receiving groove (6421) which is opened upwards, so that the posture of the pawl positioned in the receiving groove (6421) is consistent with the posture of the pawl positioned in the pawl feed channel (62);

the power source (643) drives the cover plate (644) to move in a lateral direction to open the opening of the receiving groove (6421) that opens upward.

9. The automatic pendulum assembling machine according to claim 7, wherein said pawl-gripping transfer device (65) comprises a transfer device (651) mounted on the frame (1), a pawl-gripping drive device (652), a first clamp block (653) and a second clamp block (654);

the transfer device (651) drives the pawl clamping driving device (652), the first clamping block (653) and the second clamping block (654) to do single-axis linear motion, two-axis plane motion or three-axis spatial motion;

the pawl clamping driving device (652) drives the first clamping block (653) and the second clamping block (654) to clamp the arc-shaped tail of the pawl positioned in the receiving groove (6421).

10. The automatic pendulum assembly machine according to claim 1, wherein the pendulum body angle detection mechanism (7) comprises a transfer driving device (71) mounted on the frame (1), a motor (72) mounted on the transfer driving device (71), a clamping jaw cylinder mounting seat (73) in transmission connection with an output shaft of the motor (72), a clamping jaw cylinder (74) fixed on the clamping jaw cylinder mounting seat (73), a bearing block (75) relatively fixed with a cylinder body of the clamping jaw cylinder (74), two clamping blocks (76) fixed on a clamping jaw of the clamping jaw cylinder (74), a camera (77) and a light source (78) mounted on the frame (1);

the bearing block (75) is provided with a bearing part (751) which protrudes upwards and supports the pendulum seat, and the bearing part (751) is arranged between the two clamping blocks (76); the light source (78) lights a pendulum assembly located on a carrier (751); the motor (72) drives the clamping jaw air cylinder mounting seat (73), the clamping jaw air cylinder (74) and the bearing block (75) to rotate; the camera (77) collects image information of a pendulum assembly on a carrier (751); the transfer driving device (71) drives the pendulum bob assembly on the bearing part (751) to transfer to a qualified product area or a defective product area.

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