CN114901423A

CN114901423A - Phase executor assembly line

Info

Publication number: CN114901423A
Application number: CN202080091305.1A
Authority: CN
Inventors: 不公告发明人
Original assignee: Guangdong Lyric Robot Intelligent Automation Co Ltd
Current assignee: Guangdong Lyric Robot Automation Co Ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2022-08-12
Anticipated expiration: 2040-03-31
Also published as: DE112020005966T5; CN114901423B; WO2021196021A1

Abstract

The application relates to a phase actuator assembly line, and belongs to the technical field of automatic assembly. The application provides a phase executor assembly line, which comprises a bayonet assembling device, a bayonet component forming device and a bayonet component forming device, wherein the bayonet assembling device is used for assembling a bayonet and a ball to form a bayonet component; the anchor pin assembly equipment is used for assembling the bayonet pin assembly and the anchor to form an anchor pin assembly; the polar tube assembly assembling equipment is used for assembling the anchor pin assembly, the polar cover and the polar tube to form a polar tube assembly; and the phase actuator assembly equipment is used for assembling the pole tube assembly and the coil assembly to form the phase actuator. The phase executor assembly line is used for assembling a phase executor, can improve the assembling automation degree of the phase executor, improves the production efficiency and ensures the consistency of the product quality.

Description

Phase executor assembly line

Technical Field

The application relates to the field of automatic assembly, in particular to a phase actuator assembly line.

Background

The variable valve timing system (VVT) can adjust the phase of the engine camshaft through the equipped control and execution system, so that the opening and closing time of the valve is changed along with the change of the engine rotating speed, the charging efficiency is improved, and the engine power is increased. The phase actuator is one of important parts of the variable valve timing system, however, the phase actuator is mainly assembled manually at present, and the manual assembly not only wastes time and labor, but also has low production efficiency; on the other hand, manual assembly is inconvenient for product quality control, resulting in uneven product quality.

Disclosure of Invention

Therefore, the phase actuator assembly line is provided, the assembly automation degree of the phase actuator is improved, the production efficiency is improved, and the product quality consistency is ensured.

The embodiment of the application provides an assembly line of a phase actuator, which comprises bayonet assembling equipment, a bayonet component and a ball, wherein the bayonet assembling equipment is used for assembling a bayonet and the ball to form the bayonet component; the anchor pin assembly equipment is used for assembling the bayonet pin assembly and the anchor to form an anchor pin assembly; the polar tube assembly assembling equipment is used for assembling the anchor pin assembly, the polar cover and the polar tube to form a polar tube assembly; and the phase actuator assembly equipment is used for assembling the pole tube assembly and the coil assembly to form the phase actuator.

The phase executor assembly line in the embodiment of the application is used for assembling the phase executor, can improve the assembling automation degree of the phase executor, improves the production efficiency and ensures the consistency of the product quality.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic plan view of an assembly line of a phase actuator according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a bayonet assembling apparatus in an assembly line of a phase actuator according to an embodiment of the present disclosure;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

FIG. 4 is a schematic structural diagram of a ball feeding mechanism of a bayonet assembling apparatus in an assembly line of a phase actuator according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of an anchor pin assembling apparatus in a phase actuator assembling line according to an embodiment of the present disclosure;

FIG. 6 is a partial enlarged view of FIG. 5 at B;

FIG. 7 is an enlarged view of a portion of FIG. 5 at C;

FIG. 8 is a schematic structural diagram of a bayonet anchor group assembling device and a pole tube group assembling device in a phase actuator assembling line according to an embodiment of the present disclosure;

FIG. 9 is an enlarged view of a portion of FIG. 8 at D;

FIG. 10 is a schematic diagram of a pole tube press-fitting apparatus of a second assembly apparatus for a pole tube assembly apparatus in an assembly line of a phase actuator according to an embodiment of the present application;

FIG. 11 is an enlarged view of a portion of FIG. 10 at E;

FIG. 12 is an enlarged view of a portion of FIG. 10 at F;

FIG. 13 is a schematic diagram of a reflow tool on a reflow transfer line in an assembly line of a phase actuator according to an embodiment of the present disclosure (loaded with a pole tube assembly and a coil assembly);

fig. 14 is a schematic structural diagram of a phase actuator assembling apparatus in a phase actuator assembling line according to an embodiment of the present disclosure;

FIG. 15 is an enlarged view of a portion of FIG. 18 at H;

FIG. 16 is a schematic structural diagram of an O-ring assembly apparatus in an assembly line of a phase actuator according to an embodiment of the present disclosure;

FIG. 17 is a schematic diagram of an O-ring assembly device of an assembly line for a phase actuator according to an embodiment of the present disclosure;

FIG. 18 is a schematic diagram of a sliding channel block of an O-ring assembly device of an assembly line of a phase actuator according to an embodiment of the present disclosure;

fig. 19 is a schematic view of the internal structure of an O-ring assembly device of an assembly line of a phase actuator according to an embodiment of the present disclosure, the internal structure being related to a spreading claw and a gathering ring;

fig. 20 is a schematic structural diagram of a functional detection apparatus in an assembly line of phase actuators according to an embodiment of the present application;

FIG. 21 is a schematic structural diagram of a probe clamp of a functionality detection apparatus in an assembly line of a phase actuator according to an embodiment of the present disclosure;

FIG. 22 is a schematic structural diagram of a laser coding device in an assembly line of phase actuators according to an embodiment of the present disclosure;

fig. 23 is an exploded view of a phase actuator assembled in a phase actuator assembly line provided in an embodiment of the present application;

FIG. 24 is a schematic view of an assembly process flow of an assembly line of a phase actuator according to an embodiment of the present disclosure;

fig. 25 is a schematic view illustrating an assembly process of a phase actuator assembled by an assembly line of the phase actuator according to an embodiment of the present disclosure.

Icon: 100-phase actuator assembly line; 200-bayonet anchor assembly equipment; 210-bayonet assembly equipment; 211-bayonet locating platform; 2111-Bayonet Assembly transfer robot; 2112-positioning jig for bayonet lock; 2113-detent locating section; 212-bayonet feed mechanism; 2121-clamping pin vibration discharging mechanism; 2122-bayonet lock discharge pipe; 2123-gear stop mechanism; 213-ball feed mechanism; 2131-a ball storage chamber; 2132-ball discharging and lifting mechanism; 2133-discharge port; 2134-ball transferring manipulator; 2135-ball adsorption part; 2136-ball feed port; 214-ball hold down mechanism; 2141-a ball depression drive mechanism; 215-detent in position detection mechanism; 220-anchor pin assembly equipment; 221-anchor positioning platform; 2211-anchor locating groove; 2212-concentric cylinder; 222-anchor pin feeding mechanism; 2221-anchor feeding manipulator; 2222-Bayonet assembly feed robot; 223-pin hold down mechanism; 2231-pin down drive mechanism; 2232-pins holding fingers; 224-anchor pin in-place detection mechanism; 225-a first linear guide; 300-pole tube assembly apparatus; 310-a turntable; 311-pole tube assembly feeding level; 320-positioning a jig; 321-a substrate; 322-anchor positioning portion; 323-pole cover positioning part; 324-pole tube positioning portion; 330-anchor transfer robot; 340-a pre-assembly mechanism; 341-first manipulator; 342-a second robot; a 350-pole tube press fitting device; 351-pole tube grabbing mechanism; 3511-lifting and rotating mechanism; 3512-a mounting bracket; 3513-L plate; 3514-first grasping finger; 3515-second grasping finger; 3516-holding claws; 3517-bottom holding claws; 3518-a rotational drive mechanism; 3519-a lift drive mechanism; a 352-pole tube preassembly assembly positioning platform; 3521-pole tube riveting workbench; 3522-pole tube component riveting positioning part; 353-pole tube pressing mechanism; 3531-pole tube assembly holds the finger; 354-pole tube riveting and dedusting mechanism; 355-pole tube assembly in-position detection mechanism; 360-turntable dust removal device; 370-positioning the jig in-place sensing mechanism; 380-a third manipulator; 390-a first person workstation; 400-a phase actuator assembly apparatus; 410-polar tube coil positioning fixture; 411-polar tube component positioning jig; 4111-a pole tube assembly positioning section; 4112-punching; 412-coil assembly lifting mechanism; 4121-coil assembly locating piece; 420-a loading and unloading manipulator; 421-coil assembly feeding and discharging manipulator; 422-pole tube component feeding mechanical arm; 430-coil riveting mechanism; 431-coil pole tube lower ram; 432-pole tube assembly transfer robot; 440-a turntable; 450-a first pole tube coil positioning fixture; 460-second diode coil positioning jig; 500-a return flow line; 510-reflow jig; 511-pole tube assembly positioning structure; 512-coil assembly positioning structure; 520-pole tube assembly loading level; 530-a second person workstation; 540-third person workstation; 550-a reflow jig cleaning device; 600-O-ring assembly equipment; a 610-O-ring feeding assembly; discharging level of an 611-O ring; 620-O-ring assembly; 621-O-shaped ring assembly table; 622-distraction claw; 6221-a second peripheral surface; 6222-a fourth peripheral surface; 6223-O-ring placement portion; 6224-claw plate; 623-a spreading claw lifting mechanism; 6231-a first peripheral surface; 624-collapsing the ring; 6241-a third peripheral surface; 625-an unlocking lifting mechanism; 626-sliding groove block; 6261-side runner; 627-O-shaped ring in-situ detection sensor; a 630-O-shaped ring transfer manipulator; 700-functional detection means; 710-a phase actuator positioning stage; 711-phase actuator jacking mechanism; 7111-phase actuator set bit; 712-a positioning ring; 720-phase actuator detection mechanism; 721-a thrust lever; 7211-a first end; 7212-a second end; 722-a thrust sensor; 723-probe; 730-probe clamp; 731-angle adjusting plate; 7311-arc shaped grooves; 732-a probe mount; 740-a fourth manipulator; 800-laser coding device; 810-laser lithography bits; 820-code scanning bits; 830-a phase actuator loading manipulator; 840-a transfer robot; 850-phase actuator blanking manipulator; 900-phase actuator; 910-pole conduit assembly; 911-bayonet lock; 912-ball; 913-an anchor; 914-pole cap; 915-pole tube; 916-O-shaped ring; 917-a bayonet component; 918-an anchor pin assembly; 920-a coil assembly; 940-interface.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.

Referring to fig. 23, in the description of the present application, a phase actuator 900 is a well-known technology, and the phase actuator assembly line 100 is used for assembling the phase actuator 900. Phase actuator 900 is an important component of a variable valve timing system and includes a pole conduit assembly 910 and a coil assembly 920, the pole conduit assembly 910 in turn includes an anchor pin assembly 918 capable of moving axially along the pole conduit assembly, and the anchor pin assembly 918 includes a bayonet 911, a ball 912, and an anchor 913. Under the action of coil assembly 920, anchor pin assembly 918 in pole conduit assembly 910 can be ejected outward to act on the oil control valve.

Referring to fig. 1, a phase effector assembly line 100 according to an embodiment of the present disclosure includes a bayonet anchor assembly apparatus 200, a pole tube assembly apparatus 300, and a phase effector assembly apparatus 400, the bayonet anchor assembly apparatus 200 is used to form an anchor pin assembly 918, and the bayonet anchor assembly apparatus 200 includes a bayonet assembly apparatus 210 and an anchor pin assembly apparatus 220.

Referring to fig. 23, 24 and 25, the bayonet assembling apparatus 210 is adapted to assemble the bayonet 911 and the ball 912 to form a bayonet assembly 917; anchor pin assembly apparatus 220 interfaces with bayonet assembly apparatus 210 for assembling bayonet assembly 917 and anchor 913 to form anchor pin assembly 918. Pole tube assembly apparatus 300 is used to assemble anchor pin assembly 918, pole cap 914 and pole tube 915 to form pole tube assembly 910; phase actuator assembly apparatus 400 is used to assemble pole tube assembly 910 and coil assembly 920 to form phase actuator 900.

The phase executor assembly line 100 in the embodiment of the application is used for assembling the phase executor 900, can improve the assembling automation degree of the phase executor 900, improves the production efficiency, and ensures the product quality consistency.

The following structures and interconnection relationships of the respective devices of the phase actuator assembly line 100 according to the embodiment of the present application are described.

The bayonet assembling apparatus 210 is used to assemble the bayonet 911 and the ball 912 to form a bayonet assembly 917.

It will be readily appreciated that in the phase actuator 900, the ball 912 is the component that acts on the oil control valve when the anchor pin assembly 918 is lifted.

The following illustrates one configuration of the bayonet assembling apparatus 210.

Referring to FIG. 2, the detent assembly apparatus 210 includes a detent positioning platform 211, a detent loading mechanism 212, a ball loading mechanism 213, and a ball hold down mechanism 214. The bayonet feeding mechanism 212 is used for feeding the bayonet 911 (see fig. 24) to the bayonet positioning platform 211, the ball feeding mechanism 213 is used for feeding the ball 912 (see fig. 24) to the upper end of the bayonet 911, and the ball pressing mechanism 214 is used for riveting the upper end of the bayonet 911 and the ball 912.

Referring to fig. 2 and 3, in detail, the chuck pin positioning platform 211 includes a chuck pin assembly transfer robot 2111 and a chuck pin positioning jig 2112, and the execution end of the chuck pin assembly transfer robot 2111 is provided with the chuck pin positioning jig 2112. A bayonet positioning portion 2113 is provided on the bayonet positioning jig 2112, and the bayonet assembly transfer robot 2111 can drive the bayonet positioning jig 2112 to move in the first stroke direction, so that the bayonet positioning jig 2112 moves between a bayonet feeding position, a ball feeding position, and a ball pressing position.

In some embodiments of the present application, the detent positioning fixture 2112 has a detent loading position, a ball loading position, and a ball depression position. During working, firstly, the bayonet positioning jig 2112 is moved to a bayonet feeding position, and the bayonet feeding mechanism 212 feeds the bayonet 911 to the bayonet positioning platform 211; then, the detent positioning jig 2112 is moved to the ball loading position, and the ball loading mechanism 213 loads the ball 912 to the upper end of the detent 911; finally, the bayonet positioning jig 2112 is moved to the ball depressing position, and the ball depressing mechanism 214 depresses the ball 912, riveting the ball 912 and the upper end of the bayonet 911 together, forming a bayonet assembly 917.

It is easy to understand that the bayonet positioning jig 2112 is movably arranged, and the bayonet feeding mechanism 212, the ball feeding mechanism 213 and the ball pressing mechanism 214 are unfolded along the moving stroke of the bayonet positioning jig 2112, so that the space can be reasonably utilized, and the bayonet 911 and the ball 912 can be accurately assembled, thereby ensuring the riveting precision.

In other embodiments, the bayonet 911 and the ball 912 can be loaded in the same location.

Referring to fig. 2, the bayonet feeding mechanism 212 includes a bayonet vibration discharging mechanism 2121 and a bayonet discharging pipe 2122, one end of the bayonet discharging pipe 2122 is connected to the bayonet discharging port of the bayonet vibration discharging mechanism 2121, and the other end is butted to the bayonet positioning portion 2113, and the bayonet discharging pipe 2122 can guide the bayonet 911 to the bayonet positioning portion 2113.

Optionally, bayonet feed mechanism 212 further comprises a stop mechanism 2123, the stop mechanism 2123 being a pneumatic cylinder that can be extended to block the discharge end of bayonet discharge tube 2122, allowing only one bayonet 911 to fall into bayonet locating portion 2113 at a time.

Referring to fig. 4, the ball feed mechanism 213 includes a ball storage chamber 2131 and a ball transfer robot 2134. The lower end of ball storage chamber 2131 is provided with ball ejection of compact lifting mechanism 2132, and the upper end is provided with the ball discharge mouth 2133 that supplies the ejection of compact of ball 912. The ball discharge lifting mechanism 2132 can lift the balls 912 in the ball storage chamber 2131 to eject one of the balls 912 from the ball discharge port 2133. A ball suction unit 2135 is provided at an end of the ball transfer robot 2134, and can suck the ball 912 at the ball ejection port 2133. The ball transfer robot 2134 transfers the ball 912 from the ball discharge port 2133 to the upper end of the detent 911 located in the detent positioning portion 2113.

Ball feed mechanism 213 is equipped with ball feed inlet 2136, and ball feed inlet 2136 is flaring form, easily feeding.

Referring to fig. 2, the ball depressing mechanism 214 includes a ball depressing drive mechanism 2141 and a ball depressing head (the ball depressing head in fig. 2 is covered by a dust cover), and the ball depressing drive mechanism 2141 can drive the ball depressing head to depress to act on the detent 911 and the ball 912 located on the detent positioning portion 2113, and rivet the ball 912 into the upper end of the detent 911.

Preferably, the ball plunger 2142 is recessed to correspond to the contour of the ball 912 such that the detent 911 surrounds the ball 912 and prevents the ball 912 from coming off the upper end of the detent 911.

Optionally, the ball pressing mechanism 214 is further provided with a bayonet lock riveting NG detection device for detecting the pressing amount of the ball pressing head, and further determining whether the bayonet lock riveting is qualified.

Referring to fig. 3, the bayonet assembling apparatus 210 further includes a bayonet in-place detecting mechanism 215, and the bayonet in-place detecting mechanism 215 is disposed on the bayonet positioning jig 2112 and is configured to detect whether the bayonet 911 is in the bayonet positioning portion 2113.

As an example form, the detent in-position detection mechanism 215 is an in-position sensor.

The working principle of the bayonet assembling device 210 is described below.

The bayonet positioning jig 2112 is positioned at a bayonet feeding position, and the bayonet feeding mechanism 212 guides and feeds one bayonet 911 to the bayonet positioning part 2113; the bayonet component transfer manipulator 2111 drives the bayonet positioning jig 2112 to move forwards to a ball loading position, and the ball transfer manipulator 2134 adsorbs a ball 912 and loads the ball 912 to the upper end of the bayonet 911;

the bayonet assembly transfer robot 2111 drives the bayonet positioning jig 2112 to move forward to the ball depression position, and the ball depression mechanism 214 depresses and rivets the ball 912 and the bayonet 911, forming a bayonet assembly 917.

Anchor pin assembly apparatus 220 interfaces with bayonet assembly apparatus 210 for assembling bayonet assembly 917 and anchor 913 to form anchor pin assembly 918.

The following illustrates one form of construction of the anchor pin assembly apparatus 220.

Referring to fig. 5, the anchor pin assembling apparatus 220 includes an anchor positioning platform 221, an anchor pin loading mechanism 222, a pin depressing mechanism 223, and a first linear guide 225.

Wherein, the anchor platform 221 is a working platform for riveting the bayonet lock component 917 and the anchor 913, the anchor platform 221 is installed at the output end of the first linear guide track 225, and the first linear guide track 225 is used for driving the anchor platform 221 to move along the second stroke direction so as to have an anchor pin loading position and a pin pressing position. When the anchor positioning platform 221 is at the anchor pin loading position, the anchor pin loading mechanism 222 is configured to load the anchor 913 onto the anchor positioning platform 221, and then load the bayonet lock assembly 917 onto the center hole of the anchor 913; the pin hold down mechanism 223 is used to crimp the bayonet 911 of the bayonet component 917 with the anchor 913 when the anchor seating platform 221 is in the pin hold down position.

Referring to fig. 6, the anchor positioning platform 221 is provided with an anchor positioning groove 2211, and the center of the anchor positioning groove 2211 is provided with a concentric post 2212. It will be readily appreciated that when anchor 913 is positioned in anchor positioning groove 2211, concentric post 2212 is positioned in the central bore of anchor 913 and is capable of receiving bayonet assembly 917 inserted into the central bore of anchor 913.

Referring to fig. 5, the anchor pin loading mechanism 222 includes an anchor loading robot 2221 and a bayonet assembly loading robot 2222. The anchor feeding manipulator 2221 feeds the anchor 913 to the anchor positioning groove 2211; bayonet assembly feeding robot 2222 interfaces with bayonet assembly device 210, takes bayonet assembly 917 out of bayonet positioning fixture 2112, and feeds into the central bore of anchor 913.

As an example, the actuation end of the anchor loading robot 2221 and the actuation end of the bayonet assembly loading robot 2222 are both common pneumatic fingers.

Referring to fig. 5 and 7, the pin-depressing mechanism 223 includes a pin-depressing drive mechanism 2231, a pin-depressing head (the pin-depressing head in fig. 7 is covered by a dust cover), and a pin-grasping finger 2232.

The anchor platform 221 is moved forward under the pin press mechanism 223 by the first linear guide 225, the pin clamp finger 2232 clamps the pin 911, and the pin press drive mechanism 2231 drives the pin press head to press down the anchor 913 and the pin 911, thereby forming the anchor pin assembly 918.

Preferably, the pin hold-down head is hollow inside and the hold-down surface is annular to press down on the top side of the bayonet pin 911 evenly and stably.

To ensure that the top surface of the ball 912 is not damaged during the staking process.

Optionally, the pin depressing mechanism 223 is further provided with an anchor pin riveting NG detecting device for detecting the depressing amount of the pin depressing head, and further determining whether the anchor pin riveting is qualified.

Referring to fig. 6, further, the anchor pin assembling apparatus 220 further includes an anchor pin position detecting mechanism 224. The anchor pin in-place detecting mechanism 224 is provided with an anchor positioning platform 221 for detecting whether the component to be riveted is in place in the anchor positioning groove 2211.

As an example form, the anchor pin in-position detection mechanism 224 is an in-position sensor.

The operating principle of the anchor pin assembling apparatus 220 is described below.

The anchor feeding manipulator 2221 feeds the anchor 913 to the anchor positioning groove 2211;

the bayonet assembly feeding robot 2222 takes the bayonet assembly 917 out of the bayonet positioning jig 2112 and feeds it to the central hole of the anchor 913;

the first linear guide 225 drives the anchor positioning platform 221 to move below the pin hold down mechanism 223;

pin gripping fingers 2232 grip bayonet pins 911;

the pin hold-down head is pressed down to rivet anchor 913 and bayonet 911 to form anchor pin assembly 918.

The pole tube assembly apparatus 300 is used to assemble an anchor pin assembly 918, a pole cap 914 and a pole tube 915 to form a pole tube assembly 910.

The following illustrates one embodiment of the pole conduit assembly apparatus 300.

Referring to FIG. 8, pole conduit assembly apparatus 300 comprises turntable 310, anchor transfer robot 330, pre-assembly mechanism 340 and pole conduit press fitting apparatus 350.

Referring to fig. 8, a plurality of positioning jigs 320 are disposed on the turntable 310 along the circumferential direction thereof, and each positioning jig 320 is mounted on the turntable 310 for positioning the anchor 913, the pole cover 914 and the pole tube 915.

In some embodiments of the present application, there are 8 positioning jigs 320.

Referring to fig. 9, taking one of the positioning jigs 320 as an example, the positioning jig 320 includes a substrate 321, an anchor positioning portion 322, a pole cover positioning portion 323, and a pole tube positioning portion 324. Base plate 321 is detachably mounted on turntable 310, and anchor positioning portion 322 and pole tube positioning portion 324 are respectively disposed at both sides of pole cover positioning portion 323.

The position of position No. 1 is a loading position, and the anchor 913, the pole cap 914 and the pole tube 915 are loaded onto the positioning fixture 320 at the position of position No. 1.

As an example, position 1 is a first person station 390 where an operator manually feeds anchors 913, pole covers 914, and pole conduits 915 onto corresponding positioning portions.

As another example, the number 1 position uses a robot to load the anchor 913, the pole cap 914, and the pole tube 915 onto the corresponding positioning portions of the positioning fixture 320.

Referring to fig. 8, optionally, the pole tube assembly apparatus 300 includes a positioning fixture in-position sensing mechanism 370 disposed above the loading level for detecting whether the anchor 913, the pole cap 914, and the pole tube 915 are in place.

The anchor transfer robot 330 is used to transfer the anchors 913 from the positioning jig 320 to the anchor pin assembling apparatus 220.

As will be readily appreciated, after the anchors 913 are loaded from the first person station 390, the turntable 310 with the positioning fixture 320 rotates to the loading position of the anchor transfer robot 330, and the anchor transfer robot 330 grabs the anchors 913 and transfers the anchors 913 to the anchor positioning platforms 221 of the anchor pin assembly apparatus 220 as one of the raw materials for forming the anchor pin assembly 918.

In some embodiments of the present application, the anchor transfer robot 330 is an anchor feeding robot 2221, the anchor transfer robot 330 is based on the pole tube assembly apparatus 300, and the anchor feeding robot 2221 is based on the anchor pin assembly apparatus 220.

The pre-assembly mechanism 340 is disposed downstream of the anchor transfer robot 330, and is used for loading the anchor pin assembly 918 formed by the anchor pin assembly apparatus 220 to the positioning fixture 320, and pre-assembling the anchor pin assembly 918, the pole cover 914 and the pole tube 915 to form the pole tube pre-assembly.

Referring to fig. 8, in some embodiments of the present application, the pre-assembly mechanism 340 includes a first robot 341 and a second robot 342. The first robot 341, the second robot 342, and the pole tube press-fitting device 350 are arranged in sequence along the rotation direction of the turntable 310, so that the entire pole tube assembly assembling apparatus 300 is compact.

The first robot 341 is configured to take out the anchor pin assembly 918 from the anchor pin assembling apparatus 220, turn the anchor pin assembly over, and assemble the anchor pin assembly to the pole cap 914 located on the pole cap positioning portion 323 to form a pole cap assembly.

It will be readily appreciated that the anchor pin assembly 918 formed by the anchor pin assembly apparatus 220 is in an upright position, and the upper end of the bayonet pin assembly 917 is inserted into the polar cap 914, requiring the anchor pin assembly 918 to be inverted and then assembled to the polar cap 914.

After the second robot 342 is arranged on the first robot 341, the second robot 342 is used to assemble the pole conduit 915 on the pole conduit positioning portion 324 onto the pole cover assembly on the pole cover positioning portion 323, forming a pole conduit pre-assembly.

The pole tube press-fitting device 350 is disposed behind the second robot 342, and is used for removing and riveting the pole tube pre-assembly located on the pole cover positioning part 323, and outputting the pole tube assembly 910.

In some embodiments of the present application, the execution end of the first manipulator 341 and the execution end of the second manipulator 342 are both common pneumatic fingers, wherein the execution end of the first manipulator 341 is capable of gripping the anchor pin assembly 918 and flipping.

The following illustrates a specific configuration of one form of pole tube press fitting apparatus 350.

Referring to FIG. 10, pole tube press fitting apparatus 350 includes pole tube gripping mechanism 351, pole tube pre-assembly positioning platform 352, and pole tube press-down mechanism 353.

The pole conduit pre-assembly positioning platform 352 is used to position the pole conduit pre-assembly.

Referring to fig. 10 and 12, in some embodiments of the present application, pole tube pre-assembly positioning stage 352 comprises a pole tube riveting stage 3521 and a pole tube assembly riveting positioning portion 3522, wherein pole tube assembly riveting positioning portion 3522 is mounted on pole tube riveting stage 3521 for positioning the inverted pole tube pre-assembly.

Pole conduit hold-down mechanism 353 is used to rivet the pole conduit pre-assembly components on pole conduit pre-assembly positioning platform 352 to form pole conduit assembly 910.

Referring to fig. 12, in some embodiments of the present application, the pole tube hold-down mechanism 353 comprises a pole tube assembly holding finger 3531, wherein the pole tube holding finger 3531 circumferentially holds the pole tube 915 of the pole tube pre-assembly, and presses down the pole tube 915, so that the pole tube 915 and the pole cover 914 of the pole tube pre-assembly are riveted together to form the pole tube assembly 910.

Optionally, the pole tube pressing mechanism 353 further comprises a pole tube riveting NG detection device for detecting the pressing amount of the holding finger 3531 of the pole tube assembly, and further determining whether the pole tube riveting is qualified.

The pole tube gripping mechanism 351 is used to grip the pole tube pre-assembly component from the positioning fixture 320 and to place the pole tube pre-assembly component onto the pole tube pre-assembly component positioning platform 352, and to remove the pole tube component 910 from the pole tube pre-assembly component positioning platform 352 and to place it back into the positioning fixture 320.

Referring to fig. 10 and 11, in some embodiments of the present application, the pole conduit gripping mechanism 351 includes a lifting and rotating mechanism 3511, a mounting bracket 3512, and two gripping fingers. The mounting frame 3512 is connected to an output end of the lifting and rotating mechanism 3511, the lifting and rotating mechanism 3511 is used for driving the mounting frame 3512 to lift and rotate, and two grabbing fingers are respectively arranged at two ends of the mounting frame 3512 and used for grabbing the pole tube pre-assembly component or the pole tube component 910.

As an example of the elevation rotation mechanism 3511, the elevation rotation mechanism 3511 includes an L plate 3513, a rotation driving mechanism 3518, and an elevation driving mechanism 3519. The rack is provided with a vertical plate (not shown in the figure), the lifting driving mechanism 3519 is installed on the vertical plate, the output end of the lifting driving mechanism 3519 is provided with an L-shaped plate 3513, the lower side of the flat plate part of the L-shaped plate 3513 is provided with a rotating driving mechanism 3518, the upper side of the flat plate part is rotatably provided with an installation frame 3512, and the output end of the rotating driving mechanism 3518 is connected with the installation frame 3512.

Referring to fig. 10, the two grabbing fingers are a first grabbing finger 3514 and a second grabbing finger 3515, respectively. The two grabbing fingers have the same structure.

Referring to fig. 11, taking the first grabbing finger 3514 as an example, the first grabbing finger 3514 includes a holding claw 3516 and a bottom holding claw 3517. It will be readily appreciated that when transporting the pole tube pre-assembly, the bottom holding claw 3517 can receive the pole tube pre-assembly, and the holding claw 3516 circumferentially holds the pole tube 915 to transport the pole tube pre-assembly.

Optionally, the pole tube press fitting apparatus 350 further comprises a pole tube rivet press dedusting mechanism 354.

Referring to fig. 12, the pole tube riveting dust removing mechanism 354 is disposed on the pole tube riveting workbench 3521 for cleaning the pole tube assembly riveting positioning portion 3522.

As an example, the pole tube rivet press dust removal mechanism 354 is a conventional suction and blow type dust removal mechanism.

Referring to FIG. 10, pole tube press fitting apparatus 350 further comprises pole tube assembly in-position detection mechanism 355 for detecting whether pole tube assembly 910 is in-position pole tube assembly rivet positioning portion 3522. As an example form, the pole tube assembly in-position detection mechanism 355 is an in-position sensor.

The operation principle of the pole tube press-fitting device 350 is described below.

The first grabbing finger 3514 is butted with the positioning jig 320;

a first grasping finger 3514 grasps the pole tube pre-assembly;

the lifting driving mechanism 3519 drives the L-shaped plate 3513 to ascend, and the L-shaped plate 3513 drives the first grabbing finger 3514 to ascend so as to grab the pole tube pre-assembly component;

the rotation driving mechanism 3518 further drives the mounting frame 3512 to rotate, so that the first grabbing finger 3514 rotates to the pole tube assembly riveting positioning portion 3522;

the lifting driving mechanism 3519 drives the L plate 3513 to descend, the first grabbing finger 3514 places the pole tube pre-assembly component on the pole tube component riveting positioning part 3522, and then the pole tube pre-assembly component is lifted and reset;

the rotary driving mechanism 3518 drives the mounting frame 3512 to rotate continuously, so that the first grabbing finger 3514 avoids the stroke of the pole tube pressing mechanism 353;

the pole tube assembly holding finger 3531 circumferentially holds the pole tube pre-assembly and presses down, and the pole tube 915 and the pole cover 914 of the pole tube pre-assembly are riveted into a whole to form the pole tube assembly 910;

the rotation driving mechanism 3518 drives the first grabbing finger 3514 to continue to rotate to the positioning fixture 320 to grab the next pole tube pre-assembly component, and at this time, the second grabbing finger 3515 reaches the pole tube component riveting positioning portion 3522 to grab the riveted pole tube component 910;

the rotation driving mechanism 3518 drives the first grabbing finger 3514 to continue to rotate to the pole tube assembly riveting positioning portion 3522, at this time, the second grabbing finger 3515 reaches the positioning fixture 320, and the pole tube assembly 910 which is riveted is put back onto the positioning fixture 320.

It is easy to understand, this kind of arrangement form can carry out the pole tube pressure equipment high-efficiently, improves the riveting efficiency.

Referring to fig. 8, optionally, the pole tube assembly apparatus 300 further includes a turntable dust removing device 360 for cleaning the positioning fixture 320 on the turntable 310.

As an example, the turntable dust removal device 360 is a common suction-and-blow type dust removal mechanism. In other embodiments, the turntable dust removing device 360 can also clean the positioning fixture 320 by means of brush cleaning.

The working principle of the pole tube assembly assembling apparatus 300 is explained below.

Manually feeding the anchor 913 to the anchor positioning portion 322 of the positioning fixture 320, the pole cap 914 to the pole cap positioning portion 323, and the pole tube 915 to the pole tube positioning portion 324;

the turntable 310 drives the positioning jig 320 to the anchor transferring manipulator 330, the anchor transferring manipulator 330 picks up the anchor 913, and the anchor 913 is transferred to the anchor pin assembling device 220;

the turntable 310 drives the positioning fixture 320 to rotate to the first robot 341, the first robot 341 picks up the anchor pin assembly 918 from the anchor pin assembling device 220, and inserts the anchor pin assembly 918 into the polar cap 914 to form a polar cap assembly;

the turntable 310 drives the positioning jig 320 to rotate to the second manipulator 342, the second manipulator 342 grabs the pole tube 915, and the pole tube 915 is covered on the pole cover assembly to form a pole tube pre-assembly;

the turntable 310 drives the positioning fixture 320 to rotate to the pole tube press-fitting device 350, the pole tube press-fitting device 350 takes away the pole tube pre-assembly component for riveting, and sends the pole tube component 910 which is qualified in riveting back to the pole cover positioning part 323 of the positioning fixture 320;

the turntable 310 drives the positioning fixture 320 to rotate to the pole tube assembly discharging position 311, and the pole tube assembly 910 is taken out by a third manipulator 380 to be described below and transferred to the next link;

the turntable 310 drives the positioning fixture 320 to rotate to the cleaning position, and the turntable dust removing device 360 cleans the positioning fixture 320.

Referring to fig. 1, the phase actuator assembly line 100 optionally further includes a third robot 380 and a reflow delivery line 500.

Referring to fig. 13, a plurality of reflow jigs 510 are disposed on the reflow conveying line 500 along the conveying direction, and each reflow jig 510 has a pole tube assembly positioning structure 511 and a coil assembly positioning structure 512. Pole conduit assembly positioning structure 511 is used to position pole conduit assembly 910 and coil assembly positioning structure 512 is used to position coil assembly 920. The phase executor assembling apparatus 400 is used for grabbing the pole tube assembly 910 and the coil assembly 920 from the reflow jig 510 for assembly, and putting the pole tube assembly 900 back on the reflow jig 510 after forming the phase executor 900.

As an exemplary form of the reflow tool 510, the pole tube assembly positioning structure 511 is a pole tube assembly positioning slot, and the coil assembly positioning structure 512 is a coil assembly positioning slot.

Referring to fig. 1, the reflow soldering line 500 is provided with a second human station 530 and a third human station 540. The coil assembly 920 comprises a coil assembly body and a sealing ring, and an operator finishes manual assembly of the coil assembly 920 at the second person station 530 and then feeds the coil assembly onto the reflow jig 510; third person station 540 is used to retrieve an acceptable phase actuator 900.

Referring to fig. 1, a third robot 380 is used to transfer the pole tube modules 910 from the pole tube module assembly apparatus 300 to the reflow tool 510 of the reflow line 500.

Referring to fig. 8, in particular, the third robot 380 places pole tube assembly drop locations 311 of the pole tube assembly apparatus 300. The pneumatic fingers of the execution end of the third robot 380 can be flipped over to position the pole tube assembly 910 on the reflow tool 510.

In the description of the present application, the "right side" of pole conduit assembly 910 is "pole conduit 915 down, pole cover 914 up"; the "inversion" of pole conduit assembly 910 is "pole conduit 915 on top and pole cap 914 on bottom".

As will be readily appreciated, during the formation and staking of the pole tube pre-assembly, the pole tube assembly 910 is inverted to facilitate assembly of the pole tube assembly 910. The pole tube assembly 910 is mounted on the coil assembly 920, and the third robot 380 overturns the pole tube assembly 910 when loading the pole tube assembly 910 to the reflow jig 510, so that the pole tube assembly 910 is mounted on the reflow jig 510, thereby facilitating the assembly of the pole tube assembly 910 and the coil assembly 920.

Phase actuator assembly apparatus 400 is used to assemble pole tube assembly 910 and coil assembly 920 to form phase actuator 900.

Referring to fig. 14 and 15, the following illustrates a specific configuration of one form of phase actuator assembly apparatus 400.

Referring to fig. 14, the phase actuator assembling apparatus 400 includes a polar tube coil positioning fixture 410, a loading and unloading robot 420, a coil riveting mechanism 430 and a turntable 440.

In some embodiments of the present application, the polar tube coil positioning clamp 410 is fixed on the turntable 440, and the polar tube coil positioning clamp 410 can rotate along with the turntable 440 to have the loading and unloading position and the riveting position.

As an example, the turntable 440 is driven to rotate by a "gear + rack" type.

When the polar tube coil positioning fixture 410 is at the loading and unloading position, the polar tube coil positioning fixture 410 corresponds to the loading and unloading manipulator 420; when the pole tube coil positioning fixture 410 is in the riveting position, the pole tube coil positioning fixture 410 corresponds to the coil riveting mechanism 430.

The pole tube coil positioning fixture 410 includes a pole tube assembly positioning fixture 411 and a coil assembly lifting mechanism 412.

Referring to fig. 15, specifically, the polar tube assembly positioning jig 411 includes a polar tube assembly positioning portion 4111 and a counter punch 4112; the output end of the coil assembly lifting mechanism 412 is provided with a coil assembly positioning block 4121, and the coil assembly positioning block 4121 is located below the opposite punching hole 4112.

The loading and unloading manipulator 420 is used for loading the pole tube assembly 910 to the pole tube assembly positioning portion 4111, loading the coil assembly 920 to the coil assembly positioning block 4121, and unloading the riveted phase actuator 900 from the coil assembly positioning block 4121.

Referring to fig. 14, as an exemplary form, the loading and unloading robot 420 includes a coil assembly loading and unloading robot 421 and a pole tube assembly loading robot 422. Coil assembly loading robot 421 is used to transfer coil assembly 920 or phase actuator 900, and pole tube assembly loading robot 422 is used to transfer pole tube assembly 910.

Referring to fig. 15, the coil riveting mechanism 430 includes a coil pole tube lower pressure head 431 and a pole tube assembly transfer robot 432.

Pole tube assembly transfer robot 432 is configured to grasp pole tube assembly 910 from pole tube assembly positioning section 4111 and place it into counter punch 4112, and coil pole tube lower ram 431 is configured to pass through counter punch 4112 and rivet pole tube assembly 910 and coil assembly 920 to form phase actuator 900.

Further, two pole conduit coil positioning fixtures 410 are arranged, namely a first pole conduit coil positioning fixture 450 and a second pole conduit coil positioning fixture 460, and the first pole conduit coil positioning fixture 450 and the second pole conduit coil positioning fixture 460 are respectively installed at two ends of the rotary table 440. That is, two pole tube assembly positioning jigs 411 and two coil assembly lifting mechanisms 412 are disposed, and the coil assembly lifting mechanisms 412 are in one-to-one correspondence with the pole tube assembly positioning jigs 411. When one of the pole tube assembly positioning jigs 411 and the coil assembly lifting mechanism 412 are located at the loading and unloading position, the other of the pole tube assembly positioning jigs 411 and the coil assembly lifting mechanism 412 are located at the riveting position. As can be easily understood, this arrangement enables pole tube assembly 910 and coil assembly 920 to be press-fitted efficiently, thereby improving the efficiency of riveting.

The working principle of the phase actuator assembly apparatus 400 is described below.

The first diode coil positioning clamp 450 is positioned at the feeding and discharging position, and the second diode coil positioning clamp 460 is positioned at the riveting position;

the coil assembly loading and unloading manipulator 421 loads the coil assembly 920 to the coil assembly positioning block 4121 of the first polar tube coil positioning fixture 450;

pole tube assembly feeding robot 422 takes pole tube assembly 910 out of reflow tool 510 and feeds it to pole tube assembly positioning portion 4111 of first pole tube coil positioning fixture 450;

the turntable 440 rotates to drive the first pole tube coil positioning fixture 450 to rotate to the riveting position, and meanwhile, the second pole tube coil positioning fixture 460 rotates to the upper blanking position;

the coil component lifting mechanism 412 of the first pole tube coil positioning fixture 450 drives the coil component positioning block 4121 to lift up, so that the coil component 920 on the coil component positioning block 4121 is close to the lower side of the opposite punching hole 4112;

pole tube assembly transfer robot 432 takes out pole tube assembly 910 located on pole tube assembly positioning portion 4111 and transfers it to the top of counter punch 4112, and places pole tube assembly 910 on coil assembly 920 through counter punch 4112;

the coil pole tube lower pressure head 431 is pressed downwards to rivet and press the pole tube component 910 and the coil component 920 to form a phase actuator 900;

pole tube assembly loading robot 422 returns phase executor 900 to reflow tool 510.

With phase actuator assembly apparatus 400, pole tube assembly 910 and coil assembly 920 are riveted and form phase actuator 900.

Referring to fig. 1, the phase actuator assembly line 100 further includes an O-ring assembly apparatus 600 upstream of the phase actuator assembly apparatus 400 along the conveying direction of the return flow conveyor line 500. An O-ring assembly apparatus 600 is disposed between the third robot 380 and the phase effector assembly apparatus 400 along the feed direction of the reflow wire line 500, the O-ring assembly apparatus 600 being used to tighten an O-ring 916 over the pole conduits 915 and the pole covers 914 of the pole conduit assembly 910 to improve the sealing thereof.

The following illustrates one form of construction of an O-ring assembly apparatus 600.

Referring to fig. 16, the O-ring assembly apparatus 600 includes an O-ring loading assembly 610, an O-ring assembly 620, and an O-ring transfer robot 630. The O-shaped ring feeding assembly 610 is provided with an O-shaped ring discharging position 611, and can accurately discharge one O-shaped ring 916 to the O-shaped ring discharging position 611; o-ring assembly 620 is used to tighten O-ring 916 over pole tube assembly 910, forming a sealed pole tube assembly 910.

In some embodiments of the present application, the O-ring feeding assembly 610 discharges in a "vibrating pan + linear feeder" configuration.

Referring to fig. 17 and 18, the O-ring assembly 620 includes a lifting O-ring assembly table 621, and an upper end surface of the O-ring assembly table is an O-ring assembly table surface. The O-ring assembly 620 also includes a distracting jaw 622, a distracting jaw lifting mechanism 623, a gathering ring 624, an unlocking lifting mechanism 625, and a sliding channel block 626. The expanding claw lifting mechanism 623, the unlocking lifting mechanism 625 and the sliding groove block 626 are all mounted on the O-ring assembly table, and the end of the expanding claw 622 is exposed out of the O-ring assembly table surface 621 to form an O-ring placing portion 6223.

The O-ring transfer robot 630 is configured to suck up the O-ring 916 from the O-ring discharge position 611 and place the O-ring at the O-ring loading position.

The expanding claw 622 is laterally slidably mounted to a sliding channel block 626, and the expanding claw 622 has an expanded state and a collapsed state.

Referring to fig. 19, the expanding claw 622 has a plurality of claw plates 6224.

Referring to fig. 18, the sliding groove block 626 is provided with a plurality of sliding grooves 6261. The side sliding grooves 6261 correspond to the claw plates 6224 one by one, and the claw plates 6224 are slidably arranged in the side sliding grooves 6261.

Referring to fig. 19, the furling ring 624 is sleeved outside the opening claw 622, the top end of the opening claw lifting mechanism 623 is provided with a jacking block, and the jacking block is provided with a first circumferential surface 6231; correspondingly, a second peripheral surface 6221 is provided at a lower portion of the inner side of the expansion claw 622. When the expanding claw lifting mechanism 623 pushes the expanding claw 622 upward, the first circumferential surface 6231 abuts against the second circumferential surface 6221 to push the expanding claw 622 to slide laterally, thereby expanding the O-ring 916. The inner wall of the furling ring 624 is provided with a third circumference 6241; correspondingly, a fourth circumferential surface 6222 is provided on the outside of the expansion claw 622. When the unlocking lifting mechanism 625 pushes the retracting ring 624 upward, the third circumferential surface 6241 abuts against the fourth circumferential surface 6222 to retract the expanding pawls 622 into the sliding groove blocks 626, thereby removing the O-rings 916.

Referring to fig. 16, O-ring assembly 620 optionally further includes an O-ring in-place detection sensor 627 for detecting whether O-ring 916 is properly stretched over pole conduit assembly 910.

The working principle of the O-ring assembly apparatus 600 is described below.

The O-ring loading assembly 610 loads the O-ring 916 to an O-ring discharge location 611;

the O-shaped ring assembling table is lifted to a preset height;

the O-shaped ring transfer manipulator 630 transfers the O-shaped ring 916 from the O-shaped ring discharging position 611 to the top end of the spreading claw 622;

the expanding claw lifting mechanism 623 pushes the expanding claw 622 upwards to enable the expanding claw 622 to be in an expanding state;

the pole tube assembly 910 is taken out from the reflow jig 510 by an external manipulator, turned over and then inverted to extend into the middle area of the spreading claw 622;

the unlocking lifting mechanism 625 pushes the collapsing ring 624 upward, leaving the expanding jaws 622 in a collapsed state;

o-ring 916 is automatically installed on pole tube assembly 910 to form a sealed pole tube assembly 910;

an external robot returns the sealed pole tube assembly 910 to the reflow tool 510.

Further, the phase actuator assembly line 100 further includes some devices related to functional testing and imprinting of product information, so as to ensure the product quality and traceability of the finally blanked phase actuator 900.

Referring to fig. 1, in some embodiments of the present application, the phase actuator assembly line 100 further includes a functionality detecting device 700, and the functionality detecting device 700 is disposed downstream of the phase actuator assembly apparatus 400 along the conveying direction of the reflow conveying line 500 for detecting whether the performance of the phase actuator 900 is up to standard.

Referring to fig. 1, in some embodiments of the present application, four functional inspection devices 700 are disposed, and the four functional inspection devices 700 have the same structure and are sequentially disposed downstream of the phase actuator assembly apparatus 400 along the reflow line 500, so as to improve the functional inspection efficiency of the phase actuator 900.

Taking one of the functionality detecting apparatuses 700 as an example, a configuration of the functionality detecting apparatus 700 is illustrated.

Referring to fig. 20, in some embodiments of the present application, a functionality inspection device 700 includes a phase actuator positioning stage 710, a phase actuator inspection mechanism 720, a probe holder 730, and a fourth robot 740.

The phase executor positioning table 710 is used for positioning the phase executor 900 and comprises a phase executor jacking mechanism 711 and a positioning ring 712, wherein the phase executor placing position 7111 is arranged at the top end of the phase executor jacking mechanism 711, and the phase executor jacking mechanism 711 can drive the phase executor placing position 7111 to lift. The fourth robot 740 is used to take out the phase executor 900 from the reflow tool 510 and place the phase executor in the phase executor placing position 7111. The positioning ring 712 is disposed above the phase actuator placing position 7111, and the phase actuator 900 is snapped into the positioning ring 712 after the phase actuator placing position 7111 is raised.

Phase actuator detection mechanism 720 is used to test the thrust value of phase actuator 900.

The phase actuator detection mechanism 720 includes a thrust lever 721, a thrust sensor 722, and a probe 723. The thrust lever 721 is mounted to the frame of the phase actuator positioning stage 710 by a swivel pin and includes a first end 7211 and a second end 7212. First end 7211 is positioned above retaining ring 712 for receiving the thrust of phase actuator 900. The thrust sensor 722 is mounted on the frame of the phase actuator positioning stage 710, and the second end 7212 is positioned above the thrust sensor 722 for transmitting the thrust of the phase actuator 900 under leverage and acting on the thrust sensor 722. The probe 723 is used to insert the interface 940 of the phase actuator 900.

In the present description, the other end of the probe 723 is connected to a battery, the probe 723 merely serves as a conductive member, and the coil assembly 920 is energized to generate a magnetic field to push the anchor pin assembly 918 outward when the battery is powered.

The probe clamp 730 is capable of adjusting the angle of the probe 723 in the phase actuator sensing mechanism 720 and inserting the probe 723 into the interface 940 of the phase actuator 900.

Referring to fig. 21, the probe holder 730 includes an angle adjustment plate 731 and a probe mounting member 732, the probe mounting member 732 is angularly adjustable and mounted on the angle adjustment plate 731, and the probe mounting member 732 is mounted with a probe 723 and a battery mounting position.

As an example, the angle adjustment plate 731 is provided with a plurality of arc-shaped grooves 7311, and the probe mounting part 732 is mounted to one side of the angle adjustment plate 731, passes through the arc-shaped grooves 7311 by a screw, and is engaged with a nut to mount the probe mounting part 732 to the angle adjustment plate 731. When the installation angle of the probe 723 needs to be adjusted, the probe mount 732 is fixed after sliding along the arc groove 7311 to adjust the probe 723 to a proper angle.

Further, a slide cylinder is provided on the probe mounting member 732 to insert the probe 723 into the interface 940 of the phase actuator 900.

The functional detection device 700 operates as follows.

The fourth robot 740 moves the phase executor 900 from the reflow tool 510 to the phase executor place 7111;

the phase actuator jacking mechanism 711 is lifted, and the phase actuator 900 is clamped into the positioning ring 712;

the probe clamp 730 adjusts the angle of the probe 723, and the probe 723 is inserted into the interface 940 of the phase actuator 900;

recording the thrust value of the phase actuator 900 through the thrust sensor 722, and determining whether the thrust value of the phase actuator 900 meets the requirements through an external control device;

the probe 723 exits the interface 940;

the jacking mechanism 711 of the phase actuator descends and resets;

the fourth robot 740 removes the phase executor 900 from the phase executor place station 7111 and places it back on the reflow tool 510.

Referring to fig. 1, in some embodiments of the present application, the phase actuator assembly line 100 further includes a laser coding device 800, and the laser coding device 800 is disposed downstream of the functionality detecting device 700 along the conveying direction of the reflow conveying line 500, and is used for coding the functionally qualified phase actuator 900 to mark the information related to the product.

For the phase executor 900 discharged from the functionality detection device 700, no matter whether the functional test is qualified or not, the phase executor 900 is put back onto the reflow jig 510, and the laser coding device 800 only takes out the phase executor 900 with qualified function from the reflow jig 510 to imprint the two-dimensional code thereon.

The following illustrates one configuration of a laser coding device 800.

Referring to fig. 22, the laser coding apparatus 800 includes a laser code scanning position 810, a code scanning position 820, a phase actuator feeding robot 830, a transferring robot 840, and a phase actuator discharging robot 850. The laser code carving bit 810 and the code scanning bit 820 are respectively located at two initial sides of the transfer manipulator 840. And a code engraving machine is arranged below the laser code etching bit 810, and a code scanning machine is arranged below the code scanning bit 820.

The working principle of the laser coding device 800 is as follows.

The phase executor feeding manipulator 830 takes out the functionally qualified phase executor 900 from the reflow jig 510 and transfers the phase executor to the laser code engraving station 810;

in the laser code carving position 810, the phase executor feeding manipulator 830 clamps the phase executor 900, and the code carving machine carves the two-dimensional code on the bottom of the phase executor 900;

the transfer manipulator 840 moves the phase executor 900 to a position close to the code scanning position 820;

the phase executor feeding manipulator 850 is connected with the phase executor 900;

the phase executor feeding manipulator 850 transfers the phase executor 900 to the code scanning bit 820;

the phase executor feeding manipulator 850 clamps the phase executor 900, and the code scanning machine scans codes for detection, and if the two-dimensional codes can be read out, the code carving is qualified;

the phase actuator feed robot 850 returns the phase actuator 900 to the coil assembly positioning structure 512 of the reflow tool 510.

Along the conveying direction of the backflow conveying line 500, a third person station 540 is arranged at the downstream of the laser coding device 800, an operator takes down the phase executor 900 at the third person station 540, and then the qualified phase executor 900 is discharged to a qualified box, and the unqualified phase executor 900 is discharged to a waste box.

Optionally, the phase actuator assembly line 100 further includes a gas tightness detecting device (not shown) disposed along the reflow line 500 between the phase actuator assembly apparatus 400 and the functional detection device 700 for detecting whether the gas tightness of the phase actuator 900 is acceptable.

Optionally, a reflow jig cleaning device 550 is further disposed on the reflow conveying line 500, and the reflow jig cleaning device 550 is disposed downstream of the third human station 540 and is used for cleaning the empty reflow jig 510.

Referring to fig. 24 and 25, the assembly process of the phase actuator assembly line 100 according to the embodiment of the present application is as follows:

the bayonet assembling apparatus 210 assembles the bayonet 911 and the ball 912 to form a bayonet assembly 917;

at the first person station 390, an operator manually loads the anchor 913, the pole cap 914 and the pole tube 915 onto the positioning fixture 320;

the anchor transferring manipulator 330 takes the anchor 913 from the positioning jig 320 and transfers it to the anchor pin assembling apparatus 220;

anchor pin assembly apparatus 220 assembles bayonet assembly 917 and anchor 913 to form anchor pin assembly 918;

the first robot 341 removes the anchor pin assembly 918 from the anchor pin assembly apparatus 220, inverts, and inserts the anchor pin assembly 918 into the polar cap 914 to form a polar cap assembly;

the second manipulator 342 sleeves the pole tube 915 on the pole cover assembly to form a pole tube pre-assembly;

the pole tube press fitting device 350 takes the pole tube pre-assembly away for riveting to form the pole tube assembly 910, and returns the pole tube assembly 910 to the positioning fixture 320;

the third manipulator 380 takes the pole tube module 910 out of the positioning fixture 320, turns over and transfers the pole tube module 910 to the pole tube module loading position 520 on the reflow conveying line 500, and places the pole tube module 910 on the pole tube module positioning structure 511;

under the conveying of the reflow conveying line 500, the reflow jig 510 reaches the O-ring assembling device 600;

an external robot (not shown) removes the pole tube assembly 910 from the reflow tool 510 and feeds it to the O-ring assembly apparatus 600, the O-ring assembly 620 stretches the O-ring 916 over the pole tube assembly 910 to form a sealed pole tube assembly 910, and the external robot returns the sealed pole tube assembly 910 to the reflow tool 510;

under the conveying of the reflow conveying line 500, the reflow jig 510 reaches the second human station 530;

at the second human station 530, the operator manually loads the coil assembly 920 onto the coil assembly positioning structure 512 of the reflow jig 510;

under the transportation of the reflow transportation line 500, the reflow jig 510 reaches the phase executor assembling apparatus 400;

the feeding and discharging manipulator 420 transfers the coil assembly 920 and the pole tube assembly 910 from the reflow jig 510 to the turntable positioning jig;

phase actuator assembly apparatus 400 assembles pole tube assembly 910 and coil assembly 920 to form phase actuator 900;

the loading and unloading manipulator 420 returns the phase executor 900 to the reflow tool 510;

under the transportation of the reflow transportation line 500, the reflow jig 510 reaches the functionality detection apparatus 700;

the fourth robot 740 grasps the phase executor 900 from the reflow jig 510 to the phase executor positioning stage 710;

the functionality detection apparatus 700 tests whether the thrust value of the phase executor 900 is qualified;

the fourth robot 740 returns the phase executor 900 to the reflow tool 510;

under the conveying of the reflow conveying line 500, the reflow jig 510 reaches the laser coding device 800;

the phase executor feeding manipulator 830 captures the phase executor 900 with qualified function from the reflow jig 510 to the laser coding device 800, and after code carving and code scanning detection, the phase executor discharging manipulator 850 sends the phase executor 900 back to the reflow jig 510;

under the conveying of the reflow conveying line 500, the reflow jig 510 reaches the third human station 540;

at the third station 540, the operator discharges the qualified phase executor 900 to a qualified bin and discharges the unqualified phase executor 900 to a waste bin.

Compared with the traditional manual and scattered assembling mode, the phase executor assembling line 100 takes the bayonet lock 911, the ball 912, the anchor 913, the pole cover 914, the pole tube 915, the O-shaped ring 916 and the coil assembly 920 as raw materials, three human stations are reserved, the automatic assembling of the phase executor 900 is realized, and the assembling efficiency is improved.

Further, in the phase actuator assembly line 100, a riveting NG detection device is provided in each of the riveting processes for forming the bayonet unit 917, the anchor pin unit 918, and the pole tube unit 910, so that defective molded parts are screened out, and only defective molded parts are output. The O-ring assembly apparatus 600 is provided with an O-ring in-place detection sensor 627 to screen out the faulty pole conduit assemblies 910 and only output the pole conduit assemblies 910 that are sealed and qualified. In addition, after the phase executor assembling device 400 outputs the phase executor 900 qualified in riveting, the functional detection device 700 and the laser coding device 800 are sequentially arranged, the functional detection device 700 can select the phase executor 900 qualified in function, and the laser coding device 800 can further code the phase executor 900 qualified in function, and output the phase executor 900 qualified in code marking after scanning detection. Through screening layer by layer, the quality consistency of the phase executor 900 is guaranteed, the processing flow is optimized, and the mass production efficiency is improved.

It should be noted that the features of the embodiments in the present application may be combined with each other without conflict.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

A phase actuator assembly line, comprising:

the bayonet assembling equipment is used for assembling the bayonet and the ball to form a bayonet component;

the anchor pin assembly equipment is used for assembling the bayonet pin assembly and the anchor to form an anchor pin assembly;

the polar tube assembly assembling equipment is used for assembling the anchor pin assembly, the polar cover and the polar tube to form a polar tube assembly;

and the phase actuator assembling equipment is used for assembling the pole tube assembly and the coil assembly to form the phase actuator.
The phase actuator assembly line of claim 1, wherein the bayonet assembly apparatus comprises:

a bayonet positioning platform;

the bayonet lock feeding mechanism is used for feeding the bayonet lock to the bayonet lock positioning platform;

the ball feeding mechanism is used for feeding balls to the upper end of the clamping pin;

and the ball pressing mechanism is used for riveting the upper end of the bayonet lock and the ball.
The phase actuator assembly line of claim 1, wherein the anchor pin assembly apparatus comprises:

an anchor positioning platform;

the anchor pin feeding mechanism is used for feeding the anchor to the anchor positioning platform and then feeding the bayonet lock component to a central hole of the anchor;

and the pin pressing mechanism is used for riveting the bayonet lock of the bayonet lock component and the anchor.
The phase actuator assembly line of claim 1, wherein the pole tube assembly apparatus comprises:

the rotary table is provided with a plurality of positioning jigs along the circumferential direction, and each positioning jig is provided with an anchor positioning part, a pole cover positioning part and a pole tube positioning part;

the anchor transferring manipulator is used for transferring the anchor from the positioning jig to the anchor pin assembling equipment;

the pre-assembly mechanism is arranged at the downstream of the anchor transfer manipulator and is used for loading the anchor pin assembly formed by the anchor pin assembly equipment to the positioning jig and pre-assembling the pole tube, the pole cover and the anchor pin assembly to form a pole tube pre-assembly;

and the pole tube press-fitting device is positioned at the downstream of the pre-assembly mechanism and used for taking the pole tube pre-assembly away from the positioning jig for riveting to form a pole tube assembly and sending the pole tube assembly back to the positioning jig.
The phase actuator assembly line of claim 4, wherein the pole tube press fitting apparatus comprises:

the pole tube pre-assembly component positioning platform is used for positioning the pole tube pre-assembly component;

the pole tube pressing mechanism is used for riveting the pole tube pre-assembly on the pole tube pre-assembly positioning platform to form a pole tube assembly;

and the pole tube grabbing mechanism is used for grabbing the pole tube pre-assembly from the positioning jig, placing the pole tube pre-assembly to the pole tube pre-assembly positioning platform, and taking the pole tube assembly away from the pole tube pre-assembly positioning platform and placing the pole tube assembly back to the positioning jig.
The phase actuator assembly line of claim 5, wherein the pole tube gripping mechanism comprises a lifting and rotating mechanism, a mounting frame and two gripping fingers, the mounting frame is connected to the output end of the lifting and rotating mechanism, the lifting and rotating mechanism is used for driving the mounting frame to lift and rotate, one gripping finger is respectively installed at two ends of the mounting frame, and the gripping fingers are used for gripping the pole tube pre-assembly component or the pole tube component.
The phase actuator assembly line according to claim 4, wherein the pre-assembly mechanism comprises a first manipulator and a second manipulator, the first manipulator is used for taking the anchor pin assembly out of the anchor pin assembly equipment, turning over the pole cover and assembling the pole cover on the pole cover positioning part to form the pole cover assembly; the second manipulator is positioned at the downstream of the first manipulator and used for grabbing the pole tube from the pole tube positioning part and assembling the pole tube on the pole cover assembly on the pole cover positioning part to form a pole tube pre-assembly.
The phase actuator assembly line of claim 1, wherein the phase actuator assembly apparatus comprises:

the polar tube component positioning jig comprises a polar tube component positioning part and an opposite punching hole;

the output end of the coil component lifting mechanism is provided with a coil component positioning block which is positioned below the pair of punched holes;

the feeding and discharging manipulator is used for feeding the pole tube assembly to the pole tube assembly positioning part, feeding the coil assembly to the coil assembly positioning block and then discharging the riveted phase actuator from the coil assembly positioning block;

the coil pole tube lower pressure head is used for penetrating through the opposite punching hole to rivet the pole tube assembly and the coil assembly to form a phase actuator.
The phase executor assembly line of claim 8, further comprising a turntable, wherein the pole tube assembly positioning jig and the coil assembly lifting mechanism are fixed on the turntable, and the pole tube assembly positioning jig and the coil assembly lifting mechanism can rotate along with the turntable to have a loading and unloading position corresponding to the loading and unloading manipulator and a riveting position corresponding to the coil riveting mechanism.
The phase actuator assembly line of claim 9, wherein two pole tube assembly positioning jigs and two coil assembly lifting mechanisms are arranged, the coil assembly lifting mechanisms correspond to the pole tube assembly positioning jigs one to one, and when one pole tube assembly positioning jig and one coil assembly lifting mechanism are in the loading and unloading position, the other pole tube assembly positioning jig and the other coil assembly lifting mechanism are in the riveting position.
The phase actuator assembly line of claim 1, further comprising:

the reflow conveying line is provided with a plurality of reflow jigs along the conveying direction, each reflow jig is provided with an electrode tube component positioning structure and a coil component positioning structure, and the phase executor assembling equipment is used for grabbing the electrode tube components and the coil components from the reflow jigs to assemble, and placing the electrode tube components and the coil components back on the reflow jigs after forming a phase executor;

and the third manipulator is used for transferring the pole tube assembly from the pole tube assembly assembling equipment to the reflow jig on the reflow conveying line.
The phase effector assembly line of claim 11, further comprising an O-ring assembly device disposed between the third robot and the phase effector assembly device along the feed direction of the return flow feed line for sleeving an O-ring over a pole tube assembly.
The phase actuator assembly line of claim 12, wherein the O-ring assembly device includes an O-ring loading assembly having an O-ring loading position for loading one O-ring at a time to the O-ring loading position, an O-ring assembly and an O-ring transfer robot; the O-shaped ring transferring manipulator is used for conveying an O-shaped ring to the O-shaped ring assembling assembly from the O-shaped ring feeding assembly, and the O-shaped ring assembling assembly is used for propping open the O-shaped ring and stretching the O-shaped ring on the pole tube assembly.
The phase actuator assembly line of claim 13, wherein the O-ring assembly device comprises:

the end part of the spreading claw is used for placing an O-shaped ring, and a space for inserting the pole tube assembly is arranged in the middle of the spreading claw;

the spreading claw lifting mechanism can drive the spreading claw to spread so as to spread the O-shaped ring;

the furling ring is sleeved on the outer side of the expanding claw;

and the unlocking and lifting mechanism is used for driving the furling ring to move upwards so as to furl the spreading claws in the spreading state and unload the O-shaped ring on the polar tube assembly.
The phase actuator assembly line of claim 11, further comprising a functionality detecting device, arranged downstream of the phase actuator assembly apparatus in the conveying direction of the reflow conveying line, including a phase actuator positioning table, a phase actuator detecting mechanism for testing a thrust value of a phase actuator, and a probe clamp capable of adjusting a probe angle in the phase actuator detecting mechanism and inserting the probe into an interface of the phase actuator.
The phase actuator assembly line of claim 1, further comprising a laser coding device disposed downstream of the phase actuator assembly apparatus, comprising:

laser code etching bits for imprinting a two-dimensional code on the surface of the phase actuator;

and the code scanning position is used for scanning the phase executor output by the laser code carving position to detect the code.