CN108942144A - Electromagnetic valve assembly assembling method - Google Patents

Electromagnetic valve assembly assembling method Download PDF

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Publication number
CN108942144A
CN108942144A CN201810913341.6A CN201810913341A CN108942144A CN 108942144 A CN108942144 A CN 108942144A CN 201810913341 A CN201810913341 A CN 201810913341A CN 108942144 A CN108942144 A CN 108942144A
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China
Prior art keywords
terminal
skeleton
conveying mechanism
coil
valve assembly
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CN201810913341.6A
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Chinese (zh)
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CN108942144B (en
Inventor
钱勇国
屈小云
芮文兵
张强
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Wuhu Lejia Appliance Co ltd
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Wuhu Lejia Appliance Co ltd
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Priority to CN201810913341.6A priority Critical patent/CN108942144B/en
Publication of CN108942144A publication Critical patent/CN108942144A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

The invention discloses an electromagnetic valve assembly assembling method, which comprises the following steps: 1) feeding: the terminal is arranged on the terminal conveying mechanism, and the coil framework is arranged on the framework conveying mechanism; 2) shaping and conveying the terminals, and conveying the coil framework; 3) the coil framework is pushed to a framework grabbing position through a framework moving mechanism; 4) the coil framework is clamped and transferred to the positioning pin by the manipulator assembly; 5) the terminal moving mechanism moves the terminal to a terminal mounting position; 6) the terminal pushing mechanism pushes and installs the terminal on the coil framework; 7) the manipulator assembly clamps and gets the assembly that the installation was accomplished, accomplishes and unloads, collects the material. The electromagnetic valve assembly assembling method is time-saving and labor-saving in the assembling process, can greatly improve assembly efficiency and assembling accuracy, and has a good application prospect.

Description

A kind of electromagnetic valve component assembly method
Technical field
The invention belongs to solenoid valve mounting technology fields, more specifically to a kind of electromagnetic valve component assembly method.
Background technique
In the field production process, coil rack just can be carried out after must combining with filling-in bit terminal to be produced in next step Operation, this link is the important link that entire product is organized into finished product by components.In the prior art, using frock clamp and by Manual operation is completed, manually filling-in bit terminal is distinguished it is left and right, placed customization tooling inside after coil rack is put again It sets on tooling table top, carries out terminal assembly after pressing electrically activating button.In above process, manual operation easily causes component to fill Big with position inaccurate, single repeated labor intensity, the loading and unloading time is long so that entire assembling process production efficiency is low, needs It improves.
Summary of the invention
Present invention aim to address problems of the existing technology, and it is a kind of time saving and energy saving to provide, and assembly accuracy is high, effect The high electromagnetic valve component assembly method of rate.
To achieve the goals above, the technical scheme adopted by the invention is as follows: provided this electromagnetic valve component assembly side Method, which is characterized in that the positioning pin of set winding skeleton is equipped on bottom plate, the top of the positioning pin, which is equipped with, is used for pick-and-place line Ring framework and the mechanical arm assembly of discharging；The side of the positioning pin is equipped with the skeleton conveying mechanism of conveying coil rack and by institute State the skeleton Material moving device that coil rack orderly pushes to skeleton crawl position；The front end of the positioning pin is equipped with conveying terminal Terminal feed mechanism and promote installation to the terminal propulsive mechanism on the coil rack terminal on terminal installation position, The terminal feed mechanism two sides are equipped with the terminal Material moving device being transferred to terminal on the terminal installation position；Assembly method packet Include following steps: 1) feeding: terminal is placed in terminal feed mechanism, and coil rack is placed on skeleton conveying mechanism；2) terminal Shaping conveying, coil rack conveying；3) coil rack pushes to skeleton crawl position through skeleton Material moving device；4) mechanical arm assembly Coil rack clamping is transferred to positioning pin；5) terminal is transferred to terminal installation position by terminal Material moving device；6) terminal pusher Terminal push is mounted on coil rack by structure；7) mechanical arm assembly clamps the component being installed, and completes discharging, collects object Material.
To keep above-mentioned technical proposal more detailed and specific, the present invention also provides optimization technique sides further below Case, to obtain satisfied practical function:
The skeleton conveying mechanism includes that skeleton directly shakes item and the skeleton that directly shakes below item equipped with the skeleton directly shakes device, institute It states coil rack and is in a row placed in the skeleton and directly shake in item.
The skeleton Material moving device includes that skeleton moves material cylinder and is connected to the skeleton shifting that the skeleton moves material cylinder stretching rod end Expect block.
The mechanical arm assembly is connected with the vertical cylinder for driving it to move along the vertical direction and it is driven to move in the horizontal direction Dynamic horizontal cylinder.
The terminal feed mechanism includes two rows of left terminal conveying mechanisms disposed in parallel and right terminal conveying mechanism, described Terminal propulsive mechanism is set between the left terminal conveying mechanism and right terminal conveying mechanism；The left terminal conveying mechanism and the right side Terminal feed mechanism includes that terminal directly shakes item and the terminal that directly shakes below item equipped with the terminal directly shakes device, and the terminal is in a row The terminal is placed in directly to shake in item.
The terminal directly shakes, and item is interior to be equipped with the position sensor for incuding terminal placement position, when sensing malposition, The position sensor will issue signal to controller, the abnormal warning of controller control starting.
The terminal propulsive mechanism includes propulsion cylinder and the propulsion guide rod for being connected to the flexible rod end of the propulsion cylinder.
The terminal Material moving device includes that terminal moves material cylinder and is connected to the terminal shifting that the terminal moves the flexible rod end of material cylinder Expect block.
The propulsion guide groove includes the left propulsion guide groove and right propulsion guide groove for placing left terminal and right terminal respectively, described to push away It include left propulsion guide rod and right propulsion guide rod into guide rod, the propulsion cylinder drives the left propulsion guide rod and right propulsion guide rod by institute Left terminal and right terminal is stated to be plugged on the positioning pin along the left propulsion guide groove and the propulsion of right propulsion guide groove respectively On coil rack.
The inductor of induction material is equipped on the skeleton conveying mechanism and terminal feed mechanism, inductor senses defeated When coil rack or terminal in mechanism being sent to lack material, signal is issued to controller, controller control starting lacks material warning note.
This electromagnetic valve component assembly method of the present invention compared with prior art, has the advantage that this electricity of the present invention Electromagnetic valve component assembly method, assembling process is time saving and energy saving, can greatly promote the accuracy of component assembly efficiency and assembly, have compared with Good application prospect.
Detailed description of the invention
The label in content and figure expressed by the attached drawing to this specification is briefly described below:
Fig. 1 is electromagnetic valve component assembly equipment structural schematic diagram of the present invention；
Fig. 2 is electromagnetic valve component assembly equipment structural schematic diagram of the present invention；
Fig. 3 is the partial enlargement structural representation of A in Fig. 2；
Fig. 4 is coil rack of the present invention and terminal splicing structure schematic diagram；
Fig. 5 is assembly technology schematic diagram of the present invention；
In the figure, it is marked as 1, operation mainboard, 101, shifting material guide groove, 102, propulsion guide groove；
2, terminal feed mechanism, 21, terminal directly shake item, 22, terminal directly shakes device；
3, skeleton conveying mechanism, 31, skeleton directly shake item, 32, skeleton directly shakes device；
4, skeleton Material moving device, 41, skeleton shifting material cylinder, 42, skeleton shifting material block；
5, horizontal cylinder, 6, vertical cylinder；
7, mechanical arm assembly, 71, feeding manipulator, 72, unloading manipulator；
8, terminal Material moving device, 81, terminal shifting material cylinder, 82, terminal shifting material block；
9, terminal propulsive mechanism, 91, propulsion cylinder, 92, propulsion guide rod；
10, horizontal mounting plate, 11, horizontal mounting plate, 12, positioning pin, 13, substrate, 14, bottom plate, 15, contour column, 16, end Son, 17, coil rack.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of Explanation.
This electromagnetic valve component assembly method of the present invention, as shown in Figure 1, 2, 3, which includes bottom plate 14, in bottom plate 14 It is equipped with the positioning pin 12 of set winding skeleton 17, the top of positioning pin 12 is equipped with the machine for pick-and-place coil rack 17 and discharging Tool hand component 7；The side of positioning pin 12 is equipped with the skeleton conveying mechanism 3 of conveying coil rack 17 and orderly pushes away coil rack 17 It send to the skeleton Material moving device 4 of skeleton crawl position；The front end of positioning pin 12 be equipped with conveying terminal 16 terminal feed mechanism 2 and Promote installation to the terminal propulsive mechanism 9 on coil rack 17,2 two sides of terminal feed mechanism the terminal 16 on terminal installation position Equipped with the terminal Material moving device 8 being transferred to terminal 16 on terminal installation position.Coil rack 17 is defeated by its by skeleton conveying mechanism 3 It send to skeleton Material moving device 4, then skeleton crawl position is transferred to grab to mechanical arm assembly 7 by skeleton Material moving device 4, Mechanical arm assembly 7 is picked up coil rack on placement positioning pin 12 by skeleton crawl position, with terminal to be installed；Terminal 16 is by holding Sub- conveying mechanism 2 is transported to terminal Material moving device 8, then terminal is transferred to face coil rack by terminal Material moving device 8 Terminal installation position on, the terminal being placed on terminal installation position advances it into grafting by terminal propulsive mechanism 9 and is mounted on positioning pin On coil rack 17 on 12, the grafting for completing terminal and coil rack is installed, and the electromagnetic valve component after assembly is by manipulator group Part, which is removed, completes discharge process.It uses high degree of automation with this electromagnetic valve component assembly equipment of the present invention, and process connects Coherence is good, can greatly save assembly time, improves assembly efficiency, and Assembly veracity is high, component qualification rate is high.
As shown in figure 4, the assembling process of electromagnetic valve component is as follows:
1) feeding: terminal is placed in terminal feed mechanism 2, and coil rack is placed on skeleton conveying mechanism 3；
2) 16 shaping of terminal conveys, and coil rack 17 conveys；
3) coil rack pushes to skeleton crawl position through skeleton Material moving device 4；
4) clamping of coil rack 17 is transferred to positioning pin 12 by mechanical arm assembly 7；
5) terminal is transferred to terminal installation position by terminal Material moving device 8；
6) terminal push is mounted on coil rack by terminal delivery device 9；
7) mechanical arm assembly 7 clamps the component being installed, and completes discharging, collects material.
It is equipped with inductor on skeleton conveying mechanism and terminal feed mechanism, when sensing the coil bone on conveying mechanism When frame or terminal lack material, i.e., sending signal to controller, controller control starting lack material warning note, remind operator should be into Row feed operation.Terminal directly shakes in device 22 in terminal and can directly shake in terminal through vibrating shaping and be equipped with induction terminal in item 21 and put The position sensor of position, when sensing malposition, which will issue signal to controller, controller control The abnormal warning of starting, reminds operator to check in time, avoids generating bad installation part, to promote installation qualification rate, guarantees smooth Installation process.
Left and right terminal is inverted in above terminal feed mechanism by specific assembling process, operator according to left and right batch Material storage dish in, left and right terminal terminal directly shake device 22 shock effect under respectively fall in corresponding terminal and directly shake in item 21；Behaviour Coil rack 17 is placed into skeleton in order and directly shakes in item 31 that (the terminal plug surface of coil rack is towards terminal when placement by author Installation site direction)；Skeleton directly shakes under 32 effect of vibration of device, and coil rack 17 is delivered to skeleton and moves material block 42；In a row it is placed in The terminal that terminal directly shakes in item 21 directly shake through terminal device 22 shake shaping and be delivered to terminal move material block 82 in, with wait move material conveying To terminal installation position；Skeleton moves the starting of material cylinder 41 and the coil rack that skeleton moves in material block 42 is transferred to skeleton crawl position；Feeding The clamping of coil rack 17 is transferred to positioning pin 12 under the action of horizontal cylinder and vertical cylinder by manipulator 71；Terminal moves material cylinder 81 and opens It is dynamic to drive terminal shifting material block 82 that terminal is transferred to terminal installation position；Starting propulsion cylinder 91, which drives, promotes guide rod 92 to act on terminal On, drive terminal grafting to be mounted on coil rack；Control starting unloading manipulator removes mounting assembly, is transferred to blowpit In, and automatically fall into and collect in assembly housing.
Whole system is automatically controlled by PLC and 3 SCM systems, high degree of automation, needs to operate in situation without exception Overstaffed participation, it is time saving and energy saving, and high production efficiency.
In the present invention, as shown in fig. 1, skeleton conveying mechanism 3 includes that skeleton directly shakes item 31 and the item 31 that directly shakes equipped with skeleton The skeleton of lower section directly shakes device 32, and coil rack 17 is in a row placed in skeleton and directly shakes in item 31.Skeleton Material moving device 4 is moved including skeleton Material cylinder 41 and the skeleton for being connected to the skeleton shifting stretching rod end of material cylinder 41 move material block 42.Skeleton moves material block 42 and is equipped with directly to shake with skeleton The opposite skeleton grooves in the front end of item 31, the item 31 that directly shaken by skeleton of coil rack 17 are delivered in skeleton grooves.Skeleton crawl position is set The front end that material block 42 pushes direction is moved in face skeleton, the center of skeleton crawl position and the center of positioning pin 12 are located at same water On straight line position.Before assembly, the orderly skeleton that is emitted on of coil rack 17 is directly shaken in item 31, starting skeleton directly shakes device 32, the coil rack that skeleton directly shakes in item 31 item 31 that directly shakes under the action of lower section skeleton directly shakes device 32 along skeleton moves conveying, After the coil rack 17 of front end be displaced to skeleton move material block 42 on skeleton grooves in after, skeleton directly shake device 32 stop vibration, at this time Skeleton moves material cylinder 41 and starts, and skeleton is moved material block 42 and the coil rack in skeleton grooves pushes to forward skeleton crawl position It sets, so as to the crawl of mechanical arm assembly 7.In the present invention, skeleton crawl position is that the block of two pieces of parallel arrangements is constituted, and is set on block There is limiting stand, the height of limiting stand is lower than the height of coil rack upper surface, in order to which manipulator falls crawl coil rack 17.
In the present invention, mechanical arm assembly 7 includes feeding manipulator 71 and the discharging being fixedly connected on manipulator connecting plate Manipulator 72.Feeding manipulator 71 and unloading manipulator 72 include finger cylinder and two hands below finger cylinder Refer to, finger cylinder drives two fingers of control opposite or is moved away from, and with folding control finger, realizes the crawl to coil rack And it puts down.Spacing distance and skeleton crawl position and positioning in the present invention, between feeding manipulator 71 and unloading manipulator 72 Spacing distance between pin 12 is equal.The setting of feeding manipulator 71 and unloading manipulator 72 can be achieved continuous in mechanism Property, to improve working efficiency.
In the present invention, mechanical arm assembly 7 is connected with the vertical cylinder 6 for driving it to move along the vertical direction and drives it along level The mobile horizontal cylinder 5 in direction.Vertical cylinder 6 is fixedly connected in horizontal mounting plate 11 by attachment base, the flexible rod end of vertical cylinder 6 Connect manipulator connecting plate.Horizontal mounting plate 11 is equipped with the upright guide rail being vertically arranged, and manipulator connects back equipped with perpendicular Straight sliding block, upright slide block are equipped with the vertical chute cooperated with upright guide rail.Horizontal cylinder 5 is connected to by mounting base to be horizontally mounted On plate 10, and the flexible rod end of horizontal cylinder 5 connects horizontal mounting plate 10, and 10 back side of horizontal mounting plate is equipped with horizontal slider, horizontal 10 are equipped with horizontal slide rail on mounting plate, and horizontal slider is equipped with horizontal concrete chute, and horizontal mounting plate 10 passes through horizontal concrete chute and water Smooth rail cooperation realizes on relative level mounting plate that 10 move horizontally in the effect of horizontal cylinder 5.Horizontal mounting plate 10 passes through vertical Column is connected on bottom plate 14.
In the present invention, feeding manipulator 71 and unloading manipulator 72 can be realized together under the action of horizontal cylinder 5 and vertical cylinder 5 The left and right horizontal movement of step and upper and lower vertical lifting.In operation process, vertical cylinder 6 drives the lower general who has surrendered of unloading manipulator 72 to assemble At component by being removed on positioning pin 12, since the spacing distance between feeding manipulator 71 and unloading manipulator 72 is grabbed with skeleton The spacing distance that fetch bit is set between positioning pin 12 is equal, and feeding manipulator 71 can be placed on the line on skeleton crawl position simultaneously Ring framework takes out, and unloading manipulator 72 and feeding manipulator 71 are moved horizontally by horizontal cylinder 5 outward simultaneously again, feeding manipulator 71 are moved to the upper end of face positioning pin 12, and vertical cylinder 6 falls, feeding manipulator 71 by 17 placement positioning pin of coil rack, Unloading manipulator 72 removes discharging；Feeding manipulator 71 and unloading manipulator 72 return in situ under the action of horizontal cylinder 5 at this time It sets, meanwhile, terminal propulsive mechanism drives the terminal being placed on terminal installation position to promote installation to the coil being placed on positioning pin 12 On skeleton 17, after completing assembly, vertical cylinder 6 drives the decline synchronous with unloading manipulator 72 of feeding manipulator 71 to repeat above-mentioned mistake again Journey.Entire assembling process continuity is good, greatly improves packaging efficiency.
In the present invention, as shown in Figure 1, 2, terminal feed mechanism 2 include two rows of left terminal conveying mechanisms disposed in parallel and Right terminal conveying mechanism, terminal propulsive mechanism 9 are set between left terminal conveying mechanism and right terminal conveying mechanism.Left terminal conveying Mechanism it is synchronous with right terminal conveying mechanism carry out, avoid assembly malfunction and it is high-efficient.
As shown in fig. 1, left terminal conveying mechanism and right terminal conveying mechanism include terminal directly shake item 21 and be equipped with end The terminal of sub straight 21 lower section of vibration item directly shakes device 22, and terminal 16 is in a row placed in terminal and directly shakes 21 in item.It directly shakes item 21 in terminal Top is equipped with the material storage dish (not illustrating in figure) for storing left terminal and right terminal respectively, and the terminal in material storage dish directly shakes device through terminal The orderly terminal being set to below that falls into directly shakes in item 21 after 22 vibration shapings.Terminal Material moving device 8 includes that terminal moves material cylinder 81 and be connected to terminal move material cylinder 81 stretch rod end terminal move material block 82.Terminal moves material block 82 and is equipped with the item 21 that directly shakes with terminal The opposite terminal groove for being in same linear position, the item 21 that directly shaken by terminal of terminal 16 are delivered in terminal groove.It is straight to be emitted on terminal Terminal in vibration item 21 device 22 that directly shakes through terminal is vibrated and is orderly fed forward to terminal groove, is had in sensor sensing to terminal groove When terminal, i.e. to controller, the controller control terminal device 22 that directly shakes stops operation sending signal.Terminal propulsive mechanism 9 includes pushing away Into cylinder 91 and be connected to propulsion cylinder stretch rod end propulsion guide rod 92.The starting of propulsion cylinder 91, which drives, promotes guide rod 92 that will be moved by terminal Material block 82 is moved to the terminal on terminal installation position and promotes towards the coil rack on positioning pin, has been located grafting and has been mounted on In terminal slots on coil rack.
In the present invention, operation mainboard 1 is preferably equipped on bottom plate 14, operation mainboard 1 is equipped with limitation terminal and moves material block The shifting material guide groove 101 of 82 moving directions and the propulsion guide groove 102 opposite with terminal installation position.The terminal of two sides arrangement moves material cylinder 81 It drives terminal to move and expects that block 82 moves outward inwardly and simultaneously simultaneously along material guide groove 101 is moved, expect that block 82 pushes away to promote terminal and move Send mobile stability；Guide rod 92 is promoted to drop terminal 16 under the action of propulsion cylinder 91 online along promoting the propulsion of guide groove 102 to install On ring framework 17, the accuracy that terminal promotes installation can be promoted under the guiding role for promoting guide groove 102.Operation mainboard 1 is set The stability and accuracy that can promote the equipment are set, convenient for the smooth progress of entire operation process.
In the present invention, promoting guide groove 102 includes the left propulsion guide groove and right pushing guidance for placing left terminal and right terminal respectively Slot, promoting guide rod 92 includes left propulsion guide rod and right propulsion guide rod, and propulsion cylinder 91 drives left propulsion guide rod and right propulsion guide rod will Left terminal and right terminal are plugged to the coil rack on positioning pin 12 along left propulsion guide groove and the propulsion of right propulsion guide groove respectively On 17, the grafting installation of terminal 16 and coil rack 17 is completed.
This electromagnetic valve component assembly method of the present invention, assembling process is time saving and energy saving, can greatly promote component assembly efficiency And the accuracy of assembly, with good application prospect.
The present invention is exemplarily described above in conjunction with attached drawing, but the present invention is not limited to aforesaid way, only The improvement for the various unsubstantialities to be carried out using the inventive concept and technical scheme of the present invention directly applies to other occasions , it falls within the scope of protection of the present invention.

Claims (10)

1.一种电磁阀组件装配方法，其特征在于，在底板上设有定位线圈骨架的定位销，所述定位销的上方设有用于抓放线圈骨架及卸料的机械手组件；所述定位销的一侧设有输送线圈骨架的骨架输送机构及将所述线圈骨架有序推送至骨架抓取位置的骨架移料机构；所述定位销的前端设有输送端子的端子输送机构及将端子安装位上的所述端子推进安装至所述线圈骨架上的端子推进机构，所述端子输送机构两侧设有将端子移送至所述端子安装位上的端子移料机构；装配方法包括如下步骤：1)上料：将端子置于端子输送机构上，线圈骨架置于骨架输送机构上；2)端子整形输送，线圈骨架输送；3)线圈骨架经骨架移料机构推送至骨架抓取位置；4)机械手组件将线圈骨架夹取移送至定位销；5)端子移料机构将端子移送至端子安装位；6)端子推送机构将端子推送安装在线圈骨架上；7)机械手组件夹取安装完成的组件，完成卸料，收取物料。1. A method for assembling an electromagnetic valve assembly, characterized in that, the base plate is provided with a positioning pin for positioning the coil skeleton, and the top of the positioning pin is provided with a manipulator assembly for grabbing and placing the coil skeleton and unloading; the positioning pin One side of the positioning pin is provided with a skeleton conveying mechanism for conveying the coil skeleton and a skeleton material transfer mechanism for pushing the coil skeleton to the skeleton grabbing position in an orderly manner; the front end of the positioning pin is provided with a terminal conveying mechanism for conveying the terminal and installing the terminal The terminal on the position is pushed and installed to the terminal pushing mechanism on the coil frame, and the terminal conveying mechanism is provided with a terminal material transfer mechanism on both sides of the terminal to the terminal installation position; the assembly method includes the following steps: 1) Feeding: put the terminal on the terminal conveying mechanism, and the coil bobbin on the bobbin conveying mechanism; 2) The terminal is shaped and conveyed, and the coil bobbin is conveyed; 3) The coil bobbin is pushed to the bobbin grabbing position by the bobbin moving mechanism; 4 ) The manipulator component clamps and transfers the coil frame to the positioning pin; 5) The terminal material transfer mechanism moves the terminal to the terminal installation position; 6) The terminal pushing mechanism pushes and installs the terminal on the coil frame; 7) The manipulator component clamps and installs the completed Components, complete unloading, and collect materials. 2.按照权利要求1所述的电磁阀组件装配方法，其特征在于：所述骨架输送机构包括骨架直振条及设有所述骨架直振条下方的骨架直振器，所述线圈骨架成排摆放在所述骨架直振条内。2. The method for assembling the solenoid valve assembly according to claim 1, wherein the skeleton conveying mechanism includes a skeleton direct vibration bar and a skeleton direct vibrator provided under the skeleton direct vibration bar, and the coil skeleton is formed into a Arranged in a row in the straight vibration bar of the skeleton. 3.按照权利要求2所述的电磁阀组件装配方法，其特征在于：所述骨架移料机构包括骨架移料缸及连接在所述骨架移料缸伸出杆端的骨架移料块。3. The method for assembling the solenoid valve assembly according to claim 2, wherein the skeleton material transfer mechanism comprises a skeleton material transfer cylinder and a skeleton material transfer block connected to the protruding rod end of the skeleton material transfer cylinder. 4.按照权利要求3所述的电磁阀组件装配方法，其特征在于：所述机械手组件连接有带动其沿竖直方向移动的竖直缸及带动其沿水平方向移动的水平缸。4. The method for assembling the solenoid valve assembly according to claim 3, wherein the manipulator assembly is connected with a vertical cylinder driving it to move in the vertical direction and a horizontal cylinder driving it to move in the horizontal direction. 5.按照权利要求1至4任一项所述的电磁阀组件装配方法，其特征在于：所述端子输送机构包括两排平行设置的左端子输送机构和右端子输送机构，所述端子推进机构设于所述左端子输送机构和右端子输送机构之间；所述左端子输送机构和右端子输送机构均包括端子直振条及设有所述端子直振条下方的端子直振器，所述端子成排摆放在所述端子直振条内。5. The method for assembling a solenoid valve assembly according to any one of claims 1 to 4, wherein the terminal conveying mechanism includes two rows of left terminal conveying mechanism and right terminal conveying mechanism arranged in parallel, and the terminal pushing mechanism It is located between the left terminal conveying mechanism and the right terminal conveying mechanism; both the left terminal conveying mechanism and the right terminal conveying mechanism include a terminal direct vibrating bar and a terminal direct vibrating device under the terminal direct vibrating bar. The terminals are placed in a row in the terminal direct vibration bar. 6.按照权利要求5所述的电磁阀组件装配方法，其特征在于：所述端子直振条内设有感应端子摆放位置的位置传感器，当感应到位置异常时，该位置传感器将发出信号至控制器，控制器控制启动异常警示。6. The assembly method of the solenoid valve assembly according to claim 5, characterized in that: the direct vibration bar of the terminal is provided with a position sensor that senses the position of the terminal, and when the position is detected to be abnormal, the position sensor will send out a signal to the controller, and the controller controls and starts the abnormal warning. 7.按照权利要求6所述的电磁阀组件装配方法，其特征在于：所述端子推进机构包括推进缸及连接在所述推进缸伸缩杆端的推进导杆。7. The method for assembling the solenoid valve assembly according to claim 6, wherein the terminal pushing mechanism comprises a pushing cylinder and a pushing guide rod connected to the telescopic rod end of the pushing cylinder. 8.按照权利要求7所述的电磁阀组件装配方法，其特征在于：所述端子移料机构包括端子移料缸及连接在所述端子移料缸伸缩杆端的端子移料块。8 . The method for assembling a solenoid valve assembly according to claim 7 , wherein the terminal material moving mechanism comprises a terminal material moving cylinder and a terminal material moving block connected to the telescopic rod end of the terminal material moving cylinder. 9.按照权利要求8所述的电磁阀组件装配方法，其特征在于：所述推进导槽包括分别放置左端子和右端子的左推进导槽和右推进导槽，所述推进导杆包括左推进导杆和右推进导杆，所述推进缸带动所述左推进导杆和右推进导杆将所述左端子和右端子分别沿所述左推进导槽和右推进导槽推进插接至设于所述定位销上的线圈骨架上。9. The method for assembling a solenoid valve assembly according to claim 8, wherein the pusher guide groove includes a left pusher guide groove and a right pusher guide groove for respectively placing the left terminal and the right terminal, and the pusher guide rod includes a left Push the guide rod and the right push guide rod, the push cylinder drives the left push guide rod and the right push guide rod to push and insert the left terminal and the right terminal along the left push guide groove and the right push guide groove respectively to the It is arranged on the coil frame on the positioning pin. 10.按照权利要求1所述的电磁阀组件装配方法，其特征在于：所述骨架输送机构及端子输送机构上均设有感应物料的感应器，感应器感应到输送机构上的线圈骨架或是端子缺料时，发出信号至控制器，控制器控制启动缺料报警提示。10. The assembly method of solenoid valve assembly according to claim 1, characterized in that: the skeleton conveying mechanism and the terminal conveying mechanism are equipped with inductors for sensing materials, and the inductors sense the coil skeleton on the conveying mechanism or When the terminal is short of material, a signal is sent to the controller, and the controller controls to start the alarm prompt of material shortage.
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Denomination of invention: A method for assembling an electromagnetic valve assembly

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