WO2021196021A1 - 相位执行器装配线 - Google Patents

相位执行器装配线 Download PDF

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Publication number
WO2021196021A1
WO2021196021A1 PCT/CN2020/082577 CN2020082577W WO2021196021A1 WO 2021196021 A1 WO2021196021 A1 WO 2021196021A1 CN 2020082577 W CN2020082577 W CN 2020082577W WO 2021196021 A1 WO2021196021 A1 WO 2021196021A1
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WO
WIPO (PCT)
Prior art keywords
assembly
pole tube
positioning
phase actuator
pole
Prior art date
Application number
PCT/CN2020/082577
Other languages
English (en)
French (fr)
Inventor
姚赞彬
许佳荣
蔡海生
杜义贤
周俊雄
周俊杰
Original Assignee
广东利元亨智能装备股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东利元亨智能装备股份有限公司 filed Critical 广东利元亨智能装备股份有限公司
Priority to PCT/CN2020/082577 priority Critical patent/WO2021196021A1/zh
Priority to DE112020005966.9T priority patent/DE112020005966T5/de
Priority to CN202080091305.1A priority patent/CN114901423B/zh
Publication of WO2021196021A1 publication Critical patent/WO2021196021A1/zh

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Classifications

    • 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
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
    • F01L1/34—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift
    • F01L1/344—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift changing the angular relationship between crankshaft and camshaft, e.g. using helicoidal gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
    • F01L1/46—Component parts, details, or accessories, not provided for in preceding subgroups
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L2303/00—Manufacturing of components used in valve arrangements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L2303/00—Manufacturing of components used in valve arrangements
    • F01L2303/01—Tools for producing, mounting or adjusting, e.g. some part of the distribution
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L2303/00—Manufacturing of components used in valve arrangements
    • F01L2303/02—Initial camshaft settings

Definitions

  • This application relates to the field of automated assembly, and specifically to a phase actuator assembly line.
  • variable value timing (VVT) system can adjust the phase of the engine camshaft through the equipped control and execution system, so that the valve opening and closing time varies with the engine speed to improve Inflation efficiency increases engine power.
  • the phase actuator is one of the important components of the variable valve timing system.
  • the phase actuator is currently mainly assembled manually. Manual assembly is not only time-consuming and labor-intensive, but also has low production efficiency. On the other hand, manual assembly is inconvenient for product quality control. Lead to uneven product quality.
  • the present application proposes a phase actuator assembly line, which improves the assembly automation degree of the phase actuator, improves the production efficiency, and ensures the consistency of product quality.
  • the embodiment of the present application proposes a phase actuator assembly line, which includes a bayonet assembly device for assembling a bayonet and a ball to form a bayonet assembly; an anchor pin assembly device for assembling the bayonet assembly and an anchor Assembly to form the anchor pin assembly; pole tube assembly equipment for assembling the anchor pin assembly, the pole cap and the pole tube to form the pole tube assembly; and the phase actuator assembly equipment for the pole tube assembly and the coil assembly Assemble to form a phase actuator.
  • phase actuator assembly line in the embodiment of the present application is used for the assembly of the phase actuator, which can increase the degree of automation of the phase actuator assembly, improve production efficiency, and ensure product quality consistency.
  • FIG. 1 is a schematic diagram of the plane layout of a phase actuator assembly line provided by an embodiment of the application
  • FIG. 2 is a schematic diagram of the structure of the bayonet assembly equipment in the phase actuator assembly line provided by an embodiment of the application;
  • Figure 3 is a partial enlarged view of A in Figure 2;
  • FIG. 4 is a schematic structural diagram of a ball feeding mechanism of a bayonet pin assembly device in a phase actuator assembly line provided by an embodiment of the application;
  • FIG. 5 is a schematic structural diagram of an anchor pin assembly device in a phase actuator assembly line provided by an embodiment of the application;
  • Fig. 6 is a partial enlarged view at B in Fig. 5;
  • Fig. 7 is a partial enlarged view of C in Fig. 5;
  • FIG. 8 is a schematic structural diagram of the bayonet anchor group assembly equipment and the pole tube assembly assembly equipment in the phase actuator assembly line provided by an embodiment of the application;
  • Fig. 9 is a partial enlarged view at D in Fig. 8.
  • FIG. 10 is a schematic structural diagram of a pole tube pressing device of a pole tube assembly assembly device of a second assembly device in a phase actuator assembly line according to an embodiment of the application;
  • Figure 11 is a partial enlarged view of E in Figure 10;
  • Figure 12 is a partial enlarged view of F in Figure 10;
  • FIG. 13 is a schematic diagram of the structure of the reflow fixture on the reflow transfer line in the phase actuator assembly line provided by the embodiment of the application (loaded with a pole tube assembly and a coil assembly);
  • phase actuator assembly device 14 is a schematic structural diagram of a phase actuator assembly device in a phase actuator assembly line provided by an embodiment of the application;
  • Figure 15 is a partial enlarged view of H in Figure 18;
  • 16 is a schematic structural diagram of an O-ring assembly device in a phase actuator assembly line provided by an embodiment of the application;
  • FIG. 17 is a schematic structural diagram of an O-ring assembly assembly of an O-ring assembly device in a phase actuator assembly line provided by an embodiment of the application;
  • FIG. 18 is a schematic structural diagram of a sliding groove block of an O-ring assembly component of an O-ring assembly device in a phase actuator assembly line provided by an embodiment of the application;
  • 19 is a schematic diagram of the internal structure related to the opening claw and the retracting ring of the O-ring assembly component of the O-ring assembly device in the phase actuator assembly line provided by the embodiment of the application;
  • FIG. 20 is a schematic structural diagram of a functional detection device in a phase actuator assembly line provided by an embodiment of the application;
  • FIG. 21 is a schematic structural diagram of a probe fixture of a functional detection device in a phase actuator assembly line provided by an embodiment of the application;
  • FIG. 22 is a schematic structural diagram of a laser coding device in a phase actuator assembly line provided by an embodiment of the application;
  • FIG. 23 is an exploded view of the phase actuator assembled by the phase actuator assembly line provided by the embodiment of the application.
  • 24 is a schematic diagram of the assembly process flow of the phase actuator assembly line provided by an embodiment of the application.
  • FIG. 25 is a schematic diagram of the assembly process of the phase actuator assembled by the phase actuator assembly line provided by the embodiment of the application.
  • Icon 100-phase actuator assembly line; 200- bayonet anchor assembly equipment; 210- bayonet assembly equipment; 211- bayonet positioning platform; 2111- bayonet assembly transfer manipulator; 2112- bayonet positioning fixture; 2113-card Pin positioning part; 212-bayonet feeding mechanism; 2121-bayonet vibration discharging mechanism; 2122-bayonet discharging tube; 2123-stop mechanism; 213-ball feeding mechanism; 2131-ball storage cavity; 2132 Ball discharge lifting mechanism; 2133-discharge port; 2134-ball transfer manipulator; 2135-ball adsorption part; 2136-ball feed port; 214-ball pressing mechanism; 2141-ball pressing driving mechanism; 215-pin In-place detection mechanism; 220-anchor pin assembly equipment; 221-anchor positioning platform; 2211-anchor positioning groove; 2212-concentric column; 222-anchor pin feeding mechanism; 2221-anchor feeding manipulator; 2222-bayonet assembly Material manipulator; 223-pin pressing mechanism; 2231-pin pressing driving
  • the phase actuator 900 is a mature technology in the field, and the phase actuator assembly line 100 is used to assemble the phase actuator 900.
  • the phase actuator 900 is an important component of the variable valve timing system. It includes a pole tube assembly 910 and a coil assembly 920.
  • the pole tube assembly 910 includes an anchor pin assembly 918 that can move along its axial direction.
  • the anchor pin assembly 918 includes a card Pin 911, ball 912 and anchor 913. Under the action of the coil assembly 920, the anchor pin assembly 918 in the pole tube assembly 910 can be pushed out to act on the oil control valve.
  • the phase actuator assembly line 100 of the embodiment of the present application includes a bayonet anchor assembly equipment 200, a pole tube assembly assembly equipment 300, and a phase actuator assembly equipment 400.
  • the bayonet anchor assembly equipment 200 is used to form an anchor pin assembly 918, the bayonet anchor assembly equipment 200 further includes a bayonet assembly equipment 210 and an anchor pin assembly equipment 220.
  • the bayonet assembly device 210 is used to assemble the bayonet 911 and the ball 912 to form the bayonet assembly 917; the anchor pin assembly device 220 is docked with the bayonet assembly device 210 for connecting The bayonet assembly 917 and the anchor 913 are assembled to form an anchor pin assembly 918.
  • the pole tube assembly equipment 300 is used to assemble the anchor pin assembly 918, the pole cover 914 and the pole tube 915 to form the pole tube assembly 910; the phase actuator assembly equipment 400 is used to assemble the pole tube assembly 910 and the coil assembly 920,
  • the phase actuator 900 is formed.
  • the phase actuator assembly line 100 in the embodiment of the present application is used for the assembly of the phase actuator 900, which can improve the assembly automation degree of the phase actuator 900, improve production efficiency, and ensure product quality consistency.
  • the bayonet assembly device 210 is used to assemble the bayonet 911 and the ball 912 to form a bayonet assembly 917.
  • the ball 912 is a component that acts on the oil control valve.
  • the following is an example of a structural form of the bayonet assembly device 210.
  • the bayonet pin assembly equipment 210 includes a bayonet positioning platform 211, a bayonet feeding mechanism 212, a ball feeding mechanism 213 and a ball pressing mechanism 214.
  • the bayonet feeding mechanism 212 is used to feed the bayonet 911 (please refer to FIG. 24) to the bayonet positioning platform 211
  • the ball feeding mechanism 213 is used to feed the ball 912 (please refer to FIG. 24) to the bayonet 911
  • the ball pressing mechanism 214 is used for riveting the upper end of the bayonet 911 and the ball 912.
  • the bayonet positioning platform 211 includes a bayonet assembly transfer manipulator 2111 and a bayonet positioning fixture 2112, and the bayonet positioning fixture 2112 is installed on the execution end of the bayonet assembly transfer manipulator 2111.
  • the bayonet positioning jig 2112 is provided with a bayonet positioning portion 2113, and the bayonet assembly transfer manipulator 2111 can drive the bayonet positioning fixture 2112 to move in the first stroke direction, so that the bayonet positioning fixture 2112 is at the bayonet feeding position , Move between the ball feeding position and the ball pressing position.
  • the bayonet positioning jig 2112 has a bayonet feeding position, a ball feeding position, and a ball pressing position.
  • the bayonet positioning jig 2112 moves to the bayonet feeding position
  • the bayonet feeding mechanism 212 feeds the bayonet 911 to the bayonet positioning platform 211; then, the bayonet positioning fixture 2112 moves to the ball
  • the ball feeding mechanism 213 feeds the ball 912 to the upper end of the bayonet 911; finally, the bayonet positioning jig 2112 moves to the ball depression position, and the ball depression mechanism 214 pushes down the ball 912 to connect the ball 912 to the bayonet.
  • the upper ends of the pins 911 are riveted together to form a bayonet assembly 917.
  • the bayonet positioning fixture 2112 is arranged in a movable form, and the bayonet feeding mechanism 212, the ball feeding mechanism 213 and the ball pressing mechanism 214 are deployed along the movement stroke of the bayonet positioning fixture 2112. , Which not only facilitates the rational use of space, but also ensures the accurate assembly of the bayonet 911 and the ball 912, thereby ensuring the accuracy of riveting.
  • the bayonet 911 and the ball 912 can be loaded at the same position.
  • the bayonet feeding mechanism 212 includes a bayonet vibrating discharging mechanism 2121 and a bayonet discharging tube 2122.
  • One end of the bayonet discharging tube 2122 is connected to the bayonet discharging port of the bayonet vibrating discharging mechanism 2121 , The other end is butted with the bayonet positioning portion 2113, and the bayonet discharge tube 2122 can guide the bayonet 911 to the bayonet positioning portion 2113.
  • the bayonet feeding mechanism 212 further includes a stop mechanism 2123, which is an air cylinder, which can be extended to block the discharge end of the bayonet discharge tube 2122, and only one bayonet 911 is allowed to fall at a time. ⁇ pin positioning portion 2113.
  • a stop mechanism 2123 which is an air cylinder, which can be extended to block the discharge end of the bayonet discharge tube 2122, and only one bayonet 911 is allowed to fall at a time. ⁇ pin positioning portion 2113.
  • the ball feeding mechanism 213 includes a ball storage cavity 2131 and a ball transfer manipulator 2134.
  • the lower end of the ball storage cavity 2131 is provided with a ball discharge lifting mechanism 2132, and the upper end is provided with a ball discharge port 2133 for discharging the balls 912.
  • the ball discharge lifting mechanism 2132 can lift the balls 912 in the ball storage cavity 2131 so that one of the balls 912 emerges from the ball discharge port 2133.
  • a ball adsorption part 2135 is provided at the end of the ball transfer robot 2134, which can adsorb the ball 912 at the ball discharge port 2133.
  • the ball transfer robot 2134 transfers the ball 912 from the ball discharge port 2133 to the upper end of the bayonet 911 at the bayonet positioning portion 2113.
  • the ball feeding mechanism 213 is provided with a ball feeding port 2136, and the ball feeding port 2136 is in a flared shape for easy feeding.
  • the ball pressing mechanism 214 includes a ball pressing driving mechanism 2141 and a ball pressing head (the ball pressing head in FIG. 2 is covered by a dust cover).
  • the ball pressing driving mechanism 2141 can drive the ball pressing down The head is pressed down to act on the bayonet 911 and the ball 912 located on the bayonet positioning portion 2113, and the ball 912 is riveted into the upper end of the bayonet 911.
  • the ball lower indenter 2142 is recessed inwardly to correspond to the contour of the ball 912, so that the bayonet 911 covers the ball 912 and prevents the ball 912 from falling out of the upper end of the bayonet 911.
  • the ball pressing mechanism 214 is further provided with a bayonet riveting NG detection device, which is used to detect the amount of depression of the ball pressing head, and then determine whether the bayonet riveting is qualified.
  • a bayonet riveting NG detection device which is used to detect the amount of depression of the ball pressing head, and then determine whether the bayonet riveting is qualified.
  • the bayonet assembling equipment 210 further includes a bayonet in-position detection mechanism 215.
  • the bayonet-in-position detection mechanism 215 is provided on the bayonet positioning jig 2112 for detecting whether the bayonet 911 is in place.
  • the bayonet positioning portion 2113 is provided on the bayonet positioning jig 2112 for detecting whether the bayonet 911 is in place.
  • the bayonet in-position detection mechanism 215 is an in-position sensor.
  • the working principle of the bayonet assembly device 210 is described below.
  • the bayonet positioning jig 2112 is located at the bayonet feeding position, the bayonet feeding mechanism 212 guides a bayonet 911 to feed the bayonet positioning part 2113; the bayonet assembly is transferred to the manipulator 2111 to drive the bayonet positioning fixture 2112 to move forward To the ball feeding position, the ball transfer manipulator 2134 absorbs a ball 912 and feeds it to the upper end of the bayonet 911;
  • the bayonet assembly transfer manipulator 2111 drives the bayonet positioning jig 2112 to move forward to the ball depression position, the ball depression mechanism 214 presses down and rivets the ball 912 and the bayonet 911 to form the bayonet assembly 917.
  • the anchor pin assembly device 220 is docked with the bayonet assembly device 210 to assemble the bayonet assembly 917 and the anchor 913 to form the anchor pin assembly 918.
  • the following is an example of the structure of the anchor pin assembly device 220.
  • the anchor pin assembly equipment 220 includes an anchor positioning platform 221, an anchor pin feeding mechanism 222, a pin pressing mechanism 223, and a first linear guide 225.
  • the anchor positioning platform 221 is a workbench where the bayonet assembly 917 and the anchor 913 are riveted, the anchor positioning platform 221 is installed at the output end of the first linear guide 225, and the first linear guide 225 is used to drive the anchor positioning platform 221 along the The second stroke direction moves to have an anchor pin feeding position and a pin pressing position.
  • the anchor pin feeding mechanism 222 is used to feed the anchor 913 to the anchor positioning platform 221, and then feed the bayonet assembly 917 to the center hole of the anchor 913;
  • the pin depression mechanism 223 is used to rivet the bayonet 911 and the anchor 913 of the bayonet assembly 917.
  • an anchor positioning groove 2211 is provided on the anchor positioning platform 221, and a concentric post 2212 is provided at the center of the anchor positioning groove 2211. It is easy to understand that when the anchor 913 is placed in the anchor positioning groove 2211, the concentric column 2212 is located in the central hole of the anchor 913 and can receive the bayonet assembly 917 inserted into the central hole of the anchor 913.
  • the anchor pin feeding mechanism 222 includes an anchor feeding manipulator 2221, a bayonet assembly feeding manipulator 2222.
  • the anchor feeding manipulator 2221 loads the anchor 913 to the anchor positioning groove 2211; the bayonet assembly feeding manipulator 2222 is docked with the bayonet assembly equipment 210, and the bayonet assembly 917 is taken out from the bayonet positioning jig 2112, and the material is loaded To the center hole of anchor 913.
  • the execution end of the anchor feeding manipulator 2221 and the execution end of the bayonet assembly feeding manipulator 2222 are common pneumatic fingers.
  • the pin pressing mechanism 223 includes a pin pressing driving mechanism 2231, a pin pressing head (the pin pressing head in FIG. 7 is covered by a dust cover), and a pin clamping finger 2232.
  • the anchor positioning platform 221 is moved forward to below the pin pressing mechanism 223, the pin clamping fingers 2232 clamp the card pin 911, and the pin pressing driving mechanism 2231 drives the pin pressing head Press down, riveting the anchor 913 and the bayonet pin 911 to form an anchor pin assembly 918.
  • the pin pressing head is hollow inside, and the pressing surface is annular, so as to press down on the top side of the bayonet pin 911 evenly and stably.
  • the pin pressing mechanism 223 is further provided with an anchor pin riveting pressure NG detection device, which is used to detect the pressing amount of the pin pressing head, and then determine whether the anchor pin riveting pressure is qualified.
  • an anchor pin riveting pressure NG detection device which is used to detect the pressing amount of the pin pressing head, and then determine whether the anchor pin riveting pressure is qualified.
  • the anchor pin assembling device 220 further includes an anchor pin in-position detection mechanism 224.
  • the anchor pin in-position detection mechanism 224 is provided with an anchor positioning platform 221 for detecting whether the component to be riveted is in place with the anchor positioning groove 2211.
  • the anchor pin in-position detection mechanism 224 is an in-position sensor.
  • the working principle of the anchor pin assembly device 220 is described below.
  • the anchor feeding manipulator 2221 loads the anchor 913 to the anchor positioning groove 2211;
  • the bayonet assembly feeding manipulator 2222 removes the bayonet assembly 917 from the bayonet positioning jig 2112, and loads the material to the center hole of the anchor 913;
  • the first linear guide rail 225 drives the anchor positioning platform 221 to move below the pin pressing mechanism 223;
  • Pin clamping fingers 2232 clamp the bayonet pin 911
  • the pin pressing head is pressed down, and the anchor 913 and the bayonet 911 are riveted to form the anchor pin assembly 918.
  • the pole tube assembly device 300 is used to assemble the anchor pin assembly 918, the pole cover 914, and the pole tube 915 to form the pole tube assembly 910.
  • the following is an example of the structure of the pole tube assembly assembly equipment 300.
  • the pole tube assembly equipment 300 includes a turntable 310, an anchor transfer manipulator 330, a pre-assembly mechanism 340 and a pole tube pressing device 350.
  • a plurality of positioning fixtures 320 are provided on the turntable 310 along its circumference, and each positioning fixture 320 is installed on the turntable 310 for positioning anchors 913, pole caps 914 and pole tubes 915.
  • the positioning jig 320 includes a substrate 321, an anchor positioning portion 322, a pole cap positioning portion 323 and a pole tube positioning portion 324.
  • the base plate 321 is detachably mounted on the turntable 310, and the anchor positioning portion 322 and the pole tube positioning portion 324 are respectively arranged on both sides of the pole cover positioning portion 323.
  • the position of No. 1 position is the loading position, and the anchor 913, the pole cover 914 and the pole tube 915 are loaded onto the positioning jig 320 at the position of No. 1 position.
  • position 1 is the first manual position 390.
  • the operator manually loads the anchor 913, the pole cap 914, and the pole tube 915 onto the corresponding positioning parts.
  • the anchor 913, the pole cap 914, and the pole tube 915 are respectively loaded onto the corresponding positioning parts on the positioning jig 320 using a robot at the No. 1 position.
  • the pole tube assembly assembly equipment 300 includes a positioning jig in-position sensing mechanism 370 arranged above the loading level for detecting whether the anchor 913, the pole cap 914 and the pole tube 915 are placed in place.
  • the anchor transfer manipulator 330 is used to transfer the anchor 913 from the positioning jig 320 to the anchor pin assembly device 220.
  • the turntable 310 carries the positioning jig 320 and rotates to the loading position of the anchor transfer manipulator 330.
  • the anchor transfer manipulator 330 grabs the anchor 913 and transfers the anchor 913 to the anchor.
  • the anchor positioning platform 221 of the pin assembly device 220 is used as one of the raw materials for forming the anchor pin assembly 918.
  • the anchor transfer manipulator 330 is the anchor feeding manipulator 2221, the anchor transfer manipulator 330 is based on the pole tube assembly assembly device 300, and the anchor feeding manipulator 2221 is based on the anchor pin assembly device 220. .
  • the pre-assembly mechanism 340 is arranged downstream of the anchor transfer manipulator 330 for loading the anchor pin assembly 918 formed by the anchor pin assembly device 220 to the positioning jig 320, and then the anchor pin assembly 918, the pole cap 914 and the pole tube 915 Perform pre-assembly to form a pole tube pre-assembled assembly.
  • the pre-assembly mechanism 340 includes a first manipulator 341 and a second manipulator 342.
  • the first manipulator 341, the second manipulator 342, and the pole tube pressing device 350 are sequentially arranged along the rotation direction of the turntable 310, so that the entire pole tube assembly assembly device 300 has a compact structure.
  • the first manipulator 341 is used to take out the anchor pin assembly 918 from the anchor pin assembling device 220, turn it over and assemble it on the pole cover 914 located on the pole cover positioning portion 323 to form a pole cover assembly.
  • anchor pin assembly 918 formed by the anchor pin assembly device 220 is in the upright state, and the upper end of the bayonet assembly 917 is inserted into the pole cover 914.
  • the anchor pin assembly 918 needs to be turned upside down and then assembled on the pole cover 914.
  • the second manipulator 342 is arranged behind the first manipulator 341, and the second manipulator 342 is used to assemble the pole tube 915 located on the pole tube positioning portion 324 to the pole cap assembly located on the pole cap positioning portion 323 to form a pole tube pre-assembly With components.
  • the pole tube pressing device 350 is arranged behind the second manipulator 342 and is used to remove the pole tube pre-assembly assembly located on the pole cover positioning portion 323 for riveting, and output the pole tube assembly 910.
  • the execution end of the first manipulator 341 and the execution end of the second manipulator 342 are common pneumatic fingers, wherein the execution end of the first manipulator 341 can clamp the anchor pin assembly 918 and turn it over.
  • pole tube pressing device 350 The specific structure of a type of pole tube pressing device 350 is illustrated below.
  • the pole tube pressing device 350 includes a pole tube grabbing mechanism 351, a pole tube pre-assembly assembly positioning platform 352, and a pole tube pressing mechanism 353.
  • the pole tube pre-assembly component positioning platform 352 is used for positioning pole tube pre-assembly components.
  • the pole tube pre-assembly assembly positioning platform 352 includes pole tube riveting workbench 3521 and pole tube assembly riveting positioning portion 3522, pole tube assembly riveting positioning The part 3522 is installed on the pole tube riveting workbench 3521 and is used for positioning the inverted pole tube pre-assembly assembly.
  • the pole tube pressing mechanism 353 is used for riveting the pole tube pre-assembly assembly on the pole tube pre-assembly assembly positioning platform 352 to form the pole tube assembly 910.
  • the pole tube pressing mechanism 353 includes a pole tube assembly holding finger 3531, and the pole tube assembly holding finger 3531 circumferentially hugs the pole tube 915 of the pole tube pre-assembly assembly. , And press down to act on the pole tube 915, and the pole tube 915 and the pole cover 914 of the pole tube pre-assembly assembly are riveted into one body to form the pole tube assembly 910.
  • the pole tube pressing mechanism 353 further includes a pole tube riveting pressure NG detection device for detecting the amount of depression of the finger 3531 held by the pole tube assembly, and then determining whether the pole tube riveting pressure is qualified.
  • a pole tube riveting pressure NG detection device for detecting the amount of depression of the finger 3531 held by the pole tube assembly, and then determining whether the pole tube riveting pressure is qualified.
  • the pole tube grabbing mechanism 351 is used to grab the pole tube pre-assembly assembly from the positioning jig 320, and place the pole tube pre-assembly assembly on the pole tube pre-assembly assembly positioning platform 352, and is used to pre-assemble the pole tube
  • the assembly positioning platform 352 takes the pole tube assembly 910 and puts it back into the positioning jig 320.
  • the pole tube grasping mechanism 351 includes a lifting and rotating mechanism 3511, a mounting frame 3512, and two grasping fingers.
  • the mounting frame 3512 is connected to the output end of the lifting and rotating mechanism 3511.
  • the lifting and rotating mechanism 3511 is used to drive the mounting frame 3512 to lift and rotate. Both ends of the mounting frame 3512 are respectively equipped with a grasping finger, which is used to grasp the pole tube.
  • the lifting and rotating mechanism 3511 includes an L plate 3513, a rotation driving mechanism 3518, and a lifting and driving mechanism 3519.
  • the frame is provided with a vertical plate (not shown in the figure), the lift drive mechanism 3519 is installed on the vertical plate, the output end of the lift drive mechanism 3519 is installed with an L plate 3513, and the lower side of the flat part of the L plate 3513 is installed with a rotary drive
  • a mounting frame 3512 is rotatably mounted on the upper side of the plate portion, and the output end of the rotation driving mechanism 3518 is connected with the mounting frame 3512.
  • the two grasping fingers are the first grasping finger 3514 and the second grasping finger 3515 respectively.
  • the structure of the two grasping fingers is the same.
  • the first grabbing finger 3514 includes a holding claw 3516 and a bottom holding claw 3517. It is easy to understand that when transferring the pole tube pre-assembly assembly, the bottom holding pawl 3517 can receive the pole tube pre-assembly assembly, and the holding pawl 3516 circumferentially embraces the pole tube 915 to jointly transfer the pole tube pre-assembly assembly.
  • the pole tube pressing device 350 further includes a pole tube riveting and dust removal mechanism 354.
  • the pole tube riveting dust removal mechanism 354 is arranged on the pole tube riveting workbench 3521, and is used to clean the pole tube assembly riveting positioning portion 3522.
  • the pole tube riveting dust removal mechanism 354 is a common suction and blowing dust removal mechanism.
  • the pole tube pressing device 350 further includes a pole tube assembly in-position detection mechanism 355 for detecting whether the pole tube assembly 910 is in place and the pole tube assembly riveting the positioning portion 3522.
  • the pole tube assembly in-position detection mechanism 355 is an in-position sensor.
  • the working principle of the pole tube pressing device 350 is as follows.
  • the first grabbing finger 3514 is docked with the positioning jig 320;
  • the first grabbing finger 3514 grabs the pole tube pre-assembly assembly
  • the lifting drive mechanism 3519 drives the L plate 3513 to rise, and the L plate 3513 drives the first grabbing finger 3514 to rise to grab the pole tube pre-assembly assembly;
  • the rotation driving mechanism 3518 further drives the mounting frame 3512 to rotate, so that the first grasping finger 3514 rotates to the pole tube assembly riveting positioning portion 3522;
  • the lifting driving mechanism 3519 drives the L plate 3513 down, and the first grasping finger 3514 places the pole tube pre-assembly assembly on the pole tube assembly riveting positioning portion 3522, and then lifts and resets;
  • the rotation driving mechanism 3518 drives the mounting frame 3512 to continue to rotate, so that the first grasping finger 3514 avoids the stroke of the pole tube pressing mechanism 353;
  • the pole tube assembly holding finger 3531 circumscribes the pole tube pre-assembly assembly and presses it down, riveting the pole tube 915 and the pole cover 914 of the pole tube pre-assembly assembly into a whole to form the pole tube assembly 910;
  • the rotation driving mechanism 3518 drives the first grasping finger 3514 to continue to rotate to the positioning jig 320 to grasp the next pole tube pre-assembly assembly. At this time, the second grasping finger 3515 reaches the pole tube assembly riveting positioning portion 3522 , To grab the riveted pole tube assembly 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 jig 320, and the riveted pole tube assembly 910 is placed back to Position the fixture 320 on it.
  • the pole tube assembly assembly equipment 300 further includes a turntable dust removal device 360 for cleaning the positioning jig 320 on the turntable 310.
  • the turntable dust removal device 360 is a common suction and blowing dust removal mechanism. In other embodiments, the turntable dust removal device 360 can also clean the positioning jig 320 by means of brush cleaning.
  • the working principle of the pole tube assembly assembly device 300 is described below.
  • the turntable 310 drives the positioning jig 320 to the anchor transfer manipulator 330, the anchor transfer manipulator 330 grabs the anchor 913, and sends the anchor 913 to the anchor pin assembly equipment 220;
  • the turntable 310 drives the positioning jig 320 to the first manipulator 341.
  • the first manipulator 341 grabs the anchor pin assembly 918 from the anchor pin assembly device 220, and inserts the anchor pin assembly 918 into the pole cover 914 to form the pole cover assembly;
  • the turntable 310 drives the positioning jig 320 to the second manipulator 342.
  • the second manipulator 342 grabs the pole tube 915 and covers the pole tube 915 on the pole cap assembly to form a pole tube pre-assembly assembly;
  • the turntable 310 drives the positioning fixture 320 to the pole tube pressing device 350.
  • the pole tube pressing device 350 removes the pole tube pre-assembled components and sends them back to the positioning fixture 910
  • the turntable 310 drives the positioning jig 320 to the pole tube assembly unloading position 311, and the pole tube assembly 910 is taken out by the following third manipulator 380 and transferred to the next step;
  • the turntable 310 drives the positioning fixture 320 to the cleaning position, and the turntable dust removal device 360 cleans the positioning fixture 320.
  • the phase actuator assembly line 100 further includes a third manipulator 380 and a return conveying line 500.
  • a plurality of recirculation fixtures 510 are provided on the recirculation conveying line 500 along its conveying direction, and each recirculation fixture 510 is provided with a pole tube assembly positioning structure 511 and a coil assembly positioning structure 512.
  • the pole tube assembly positioning structure 511 is used for positioning the pole tube assembly 910
  • the coil assembly positioning structure 512 is used for positioning the coil assembly 920.
  • the phase actuator assembly equipment 400 is used to grab the pole tube assembly 910 and the coil assembly 920 from the reflow fixture 510 for assembly, form the phase actuator 900 and place it back on the reflow fixture 510.
  • the pole tube assembly positioning structure 511 is a pole tube assembly positioning slot
  • the coil assembly positioning structure 512 is a coil assembly positioning slot
  • a second manual position 530 and a third manual position 540 are provided on the return conveyor line 500.
  • the coil assembly 920 includes a coil assembly body and a sealing ring. The operator completes the manual assembly of the coil assembly 920 in the second manual position 530, and then loads the material onto the reflow fixture 510; the third manual position 540 is used to take out qualified phase actuators 900.
  • the third manipulator 380 is used to transfer the pole tube assembly 910 from the pole tube assembly assembly equipment 300 to the reflow jig 510 on the reflow transfer line 500.
  • the third manipulator 380 is connected to the pole tube assembly lowering position 311 of the pole tube assembly assembly equipment 300.
  • the pneumatic fingers on the execution end of the third manipulator 380 can be turned over to place the pole tube assembly 910 on the reflow jig 510.
  • the "upright position” of the pole tube assembly 910 means “the pole tube 915 is on the bottom, and the pole cap 914 is on top”; the “upside down” of the pole tube assembly 910 means that the pole tube 915 is on top and the pole cap 914 is on the bottom. ".
  • the pole tube assembly 910 is in an inverted state, so as to facilitate the assembly of the pole tube assembly 910.
  • the pole tube assembly 910 is installed on the coil assembly 920 upright, and the third manipulator 380 turns over the pole tube assembly 910 when it is loaded onto the reflow fixture 510 so that it is placed directly on the reflow fixture 510, which is convenient for the pole tube.
  • the assembly 910 is assembled with the coil assembly 920.
  • the phase actuator assembly device 400 is used to assemble the pole tube assembly 910 and the coil assembly 920 to form the phase actuator 900.
  • FIG. 14 and FIG. 15 illustrates a specific structure of a phase actuator assembly device 400.
  • the phase actuator assembly equipment 400 includes a pole tube coil positioning fixture 410, a loading and unloading manipulator 420, a coil riveting mechanism 430 and a turntable 440.
  • the pole tube coil positioning fixture 410 is fixed on the turntable 440, and the pole tube coil positioning fixture 410 can follow the turntable 440 to rotate to have the loading and unloading positions and the riveting positions, and the loading and unloading positions and the riveting positions. .
  • the turntable 440 is driven to rotate in the form of "gear+rack".
  • the pole tube coil positioning clamp 410 When the pole tube coil positioning clamp 410 is in the loading and unloading position, the pole tube coil positioning clamp 410 corresponds to the loading and unloading manipulator 420; when the pole tube coil positioning clamp 410 is in the riveting position, the pole tube coil positioning clamp 410 and the coil riveting mechanism 430 corresponds.
  • the pole tube coil positioning fixture 410 includes a pole tube assembly positioning jig 411 and a coil assembly lifting mechanism 412.
  • the pole tube assembly positioning jig 411 includes a pole tube assembly positioning portion 4111 and an opposing hole 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 punch hole 4112.
  • the loading and unloading manipulator 420 is used to load the pole tube assembly 910 to the pole tube assembly positioning part 4111, the coil assembly 920 to the coil assembly positioning block 4121, and the phase actuator 900 formed by riveting is lowered from the coil assembly positioning block 4121 material.
  • the loading and unloading manipulator 420 includes a coil assembly loading and unloading manipulator 421 and a pole tube assembly loading manipulator 422.
  • the coil assembly loading and unloading robot 421 is used to transfer the coil assembly 920 or the phase actuator 900
  • the pole tube assembly loading robot 422 is used to transfer the pole tube assembly 910.
  • the coil riveting mechanism 430 includes a coil pole tube lower pressing head 431 and a pole tube assembly transfer manipulator 432.
  • the pole tube assembly transfer manipulator 432 is used to grab the pole tube assembly 910 from the pole tube assembly positioning part 4111 and put it into the opposite punching hole 4112.
  • the coil assembly 920 is riveted to form the phase actuator 900.
  • pole tube coil positioning clamps 410 there are two pole tube coil positioning clamps 410 arranged, namely the first pole tube coil positioning clamp 450 and the second diode coil positioning clamp 460, the first pole tube coil positioning clamp 450 and the second diode coil positioning clamp 460 are respectively mounted on Both ends of the turntable 440. That is to say, there are two pole tube assembly positioning fixtures 411 and two coil assembly lifting mechanisms 412, and the coil assembly lifting mechanism 412 corresponds to the pole tube assembly positioning fixture 411 one-to-one. When a set of pole tube assembly positioning jig 411 and coil assembly lifting mechanism 412 are at the loading and unloading position, another set of pole tube assembly positioning jig 411 and coil assembly lifting mechanism 412 are at the riveting position. It is easy to understand that this arrangement can efficiently press the pole tube assembly 910 and the coil assembly 920 and improve the riveting efficiency.
  • phase actuator assembly device 400 The working principle of the phase actuator assembly device 400 is as follows.
  • the first pole tube coil positioning fixture 450 is located at the loading and unloading position, and the second diode coil positioning fixture 460 is located 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 pole tube coil positioning fixture 450;
  • the pole tube assembly feeding robot 422 takes the pole tube assembly 910 out of the reflow fixture 510 and loads it to the pole tube assembly positioning portion 4111 of the first pole tube coil positioning jig 450;
  • the turntable 440 rotates, and drives the first pole tube coil positioning fixture 450 to rotate to the riveting position, and at the same time, the second diode coil positioning fixture 460 rotates to the loading and unloading position;
  • the coil assembly lifting mechanism 412 of the first pole tube coil positioning fixture 450 drives the coil assembly positioning block 4121 to lift, so that the coil assembly 920 on the coil assembly positioning block 4121 is close to the lower side of the opposite punching hole 4112;
  • the pole tube assembly transfer manipulator 432 takes out the pole tube assembly 910 located on the pole tube assembly positioning portion 4111 and transfers it to the top of the opposing hole 4112, and places the pole tube assembly 910 on the coil assembly 920 through the opposing hole 4112;
  • the coil pole tube lower pressing head 431 is pressed down, and the pole tube assembly 910 and the coil assembly 920 are riveted to form the phase actuator 900;
  • the pole tube assembly feeding robot 422 sends the phase actuator 900 back to the reflow fixture 510.
  • phase actuator assembly device 400 Through the phase actuator assembly device 400, the pole tube assembly 910 and the coil assembly 920 are riveted to form the phase actuator 900.
  • the phase actuator assembly line 100 also includes an O-ring assembly equipment 600.
  • the O-ring assembly device 600 is arranged between the third manipulator 380 and the phase actuator assembly device 400 along the conveying direction of the return conveying line 500.
  • the O-ring assembly device 600 is used to connect the pole tube 915 of the pole tube assembly 910 to the pole
  • An O-ring 916 is stretched on the cover 914 to improve its tightness.
  • the following is an example of the structure of the O-ring assembly equipment 600.
  • the O-ring assembly equipment 600 includes an O-ring feeding assembly 610, an O-ring assembly assembly 620 and an O-ring transfer manipulator 630.
  • the O-ring feeding component 610 is provided with an O-ring discharge position 611, which can accurately discharge an O-ring 916 to the O-ring discharge position 611; the O-ring assembly component 620 is used to The ring 916 is stretched on the pole tube assembly 910 to form a sealed pole tube assembly 910.
  • the O-ring feeding assembly 610 adopts a "vibrating disk + linear feeder" structure for discharging.
  • the O-ring assembly assembly 620 includes an O-ring assembly table that can be raised and lowered, and the upper end surface of the O-ring assembly table is an O-ring assembly table 621.
  • the O-ring assembly assembly 620 further includes a spreading claw 622, a spreading claw lifting mechanism 623, a gathering ring 624, an unlocking lifting mechanism 625, and a sliding groove block 626.
  • the spreading claw lifting mechanism 623, the unlocking lifting mechanism 625 and the sliding groove block 626 are all installed on the O-ring assembly table, and the end of the spreading claw 622 exposes the O-ring assembly table 621, forming an O-ring placement portion 6223.
  • the O-ring transfer manipulator 630 is used to suck up the O-ring 916 from the O-ring discharge position 611 and place it on the O-ring material position.
  • the expansion pawl 622 is slidably installed on the sliding groove block 626 laterally, and the expansion pawl 622 has an expanded state and a collapsed state.
  • the spreading claw 622 is provided with a plurality of claw plates 6224.
  • the sliding groove block 626 is provided with a plurality of side sliding grooves 6261.
  • the side sliding grooves 6261 correspond to the claw plates 6224 one-to-one, and the claw plates 6224 are slidably arranged in the side sliding grooves 6261.
  • the gathering ring 624 is sleeved on the outside of the spreading claw 622, the top of the spreading claw lifting mechanism 623 is provided with a jacking block, and the jacking block is provided with a first peripheral surface 6231; correspondingly, the spreading pawl 622 A second peripheral surface 6221 is provided at the bottom of the inner side.
  • the inner wall of the gathering ring 624 is provided with a third peripheral surface 6241; correspondingly, the outside of the spreading claw 622 is provided with a fourth peripheral surface 6222.
  • the unlocking and lifting mechanism 625 pushes the closing ring 624 upward, the third circumferential surface 6241 abuts against the fourth circumferential surface 6222, so as to retract the opening claw 622 into the sliding groove block 626, thereby removing the O-ring 916.
  • the O-ring assembly 620 further includes an O-ring in-position detection sensor 627 for detecting whether the O-ring 916 is properly stretched on the pole tube assembly 910.
  • the working principle of the O-ring assembly equipment 600 is as follows.
  • the O-ring feeding component 610 feeds the O-ring 916 to the O-ring discharge position 611;
  • the O-ring assembly table rises to the preset height
  • the O-ring transfer manipulator 630 transfers the O-ring 916 from the O-ring discharge position 611 to the top of the opening claw 622;
  • the spreading claw lifting mechanism 623 pushes the spreading claw 622 upwards, so that the spreading claw 622 is in a spreading state;
  • the external manipulator takes the pole tube assembly 910 out of the recirculation fixture 510, turns it upside down and extends into the area in the middle of the opening claw 622;
  • the unlocking and lifting mechanism 625 pushes the closing ring 624 upwards, so that the opening pawl 622 is in a closed state;
  • the O-ring 916 is automatically installed on the pole tube assembly 910 to form a sealed pole tube assembly 910;
  • the external robot hand returns the sealed pole tube assembly 910 to the reflow fixture 510.
  • phase actuator assembly line 100 also includes some devices related to functional testing and product information marking to ensure the product quality and traceability of the final phase actuator 900.
  • the phase actuator assembly line 100 further includes a functional detection device 700.
  • the functional detection device 700 is arranged in the phase actuator assembly equipment 400 It is used to detect whether the performance of the phase actuator 900 meets the standard.
  • the four functional detection devices 700 there are four functional detection devices 700 arranged.
  • the four functional detection devices 700 have the same structure and are arranged in the phase actuator assembly equipment 400 in sequence along the return conveyor line 500. In order to improve the functional detection efficiency of the phase actuator 900.
  • a structural form of the functional detection device 700 is exemplified.
  • the functional detection device 700 includes a phase actuator positioning table 710, a phase actuator detection mechanism 720, a probe fixture 730, and a fourth manipulator 740.
  • the phase actuator positioning table 710 is used to position the phase actuator 900, and includes a phase actuator lifting mechanism 711 and a positioning ring 712.
  • the top of the phase actuator lifting mechanism 711 is provided with a phase actuator placement position 7111, and the phase actuator is lifted.
  • the mechanism 711 can drive the phase actuator placement position 7111 to rise and fall.
  • the fourth manipulator 740 is used to take the phase actuator 900 out of the reflow jig 510 and place it in the phase actuator placement position 7111.
  • the positioning ring 712 is arranged above the phase actuator placement position 7111, and when the phase actuator placement position 7111 rises, the phase actuator 900 is clamped into the positioning ring 712.
  • the phase actuator detection mechanism 720 is used to test the thrust value of the 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 on the frame of the phase actuator positioning table 710 via a rotary pin, and includes a first end 7211 and a second end 7212.
  • the first end 7211 is located above the positioning ring 712 and is used to bear the thrust of the phase actuator 900.
  • the thrust sensor 722 is installed on the frame of the phase actuator positioning table 710, and the second end 7212 is located above the thrust sensor 722, and is used to transmit the thrust of the phase actuator 900 under the action of leverage and act on the thrust sensor 722.
  • the probe 723 is used to insert into the interface 940 of the phase actuator 900.
  • the other end of the probe 723 is connected to a battery, and the probe 723 only serves as a conductive component.
  • the coil assembly 920 is energized to generate a magnetic field to push the anchor pin assembly 918 outward.
  • the probe clamp 730 can adjust the angle of the probe 723 in the phase actuator detection mechanism 720 and insert the probe 723 into the interface 940 of the phase actuator 900.
  • the probe fixture 730 includes an angle adjusting plate 731 and a probe mounting member 732.
  • the probe mounting member 732 is angle-adjustably mounted on the angle adjusting plate 731, and the probe mounting member 732 is equipped with a probe 723 and a battery mounting position.
  • the angle adjusting plate 731 is provided with multiple arc-shaped grooves 7311, and the probe mounting piece 732 is installed on one side of the angle adjusting plate 731.
  • the probe mounting member 732 is mounted on the angle adjusting plate 731.
  • the probe mounting member 732 is slid along the arc-shaped groove 7311 and then fixed to adjust the probe 723 to a proper angle.
  • a sliding table cylinder is provided on the probe mounting member 732 to insert the probe 723 into the interface 940 of the phase actuator 900.
  • the working principle of the functional detection device 700 is as follows.
  • the fourth manipulator 740 moves the phase actuator 900 from the return fixture 510 to the phase actuator placement position 7111;
  • phase actuator jacking mechanism 711 rises, and the phase actuator 900 is clamped into the positioning ring 712;
  • the probe clamp 730 adjusts the angle of the probe 723, and inserts the probe 723 into the interface 940 of the phase actuator 900;
  • the probe 723 exits the interface 940;
  • phase actuator jacking mechanism 711 is lowered and reset
  • the fourth manipulator 740 removes the phase actuator 900 from the phase actuator placement position 7111, and puts it back on the return fixture 510.
  • the phase actuator assembly line 100 further includes a laser coding device 800.
  • the laser coding device 800 is arranged on the functional inspection device 700. Downstream, it is used to mark the functionally qualified phase actuator 900 to mark product-related information.
  • phase actuator 900 discharged from the functional inspection device 700, regardless of whether the functional test is qualified or not, it is placed back on the reflow jig 510, and the laser coding device 800 only takes out the functionally qualified phase from the reflow jig 510 for execution.
  • Maker 900 to engrave a two-dimensional code on it.
  • the following is an example of a structure of the laser coding device 800.
  • the laser coding device 800 includes a laser marking position 810, a scanning code position 820, a phase actuator feeding manipulator 830, a transfer manipulator 840, and a phase actuator unloading manipulator 850.
  • the laser marking position 810 and the scanning code position 820 are respectively located on the initial two sides of the transfer manipulator 840.
  • the laser marking position 810 is provided with a marking machine
  • the scanning position 820 is provided with a scanning machine.
  • the working principle of the laser coding device 800 is as follows.
  • the phase actuator feeding manipulator 830 takes out the functional phase actuator 900 from the reflow fixture 510 and transfers it to the laser marking position 810;
  • the phase actuator feeding manipulator 830 clamps the phase actuator 900, and the marking machine imprints a QR code on the bottom of the phase actuator 900;
  • the transfer manipulator 840 moves the phase actuator 900 to a position close to the code scanning position 820;
  • the phase actuator blanking manipulator 850 receives the phase actuator 900
  • the phase actuator blanking manipulator 850 moves the phase actuator 900 to the scan code position 820;
  • phase actuator blanking manipulator 850 clamps the phase actuator 900, and the code scanner scans the code for inspection. If the two-dimensional code can be read, the code is qualified;
  • the phase actuator blanking manipulator 850 returns the phase actuator 900 to the coil assembly positioning structure 512 of the reflow fixture 510.
  • a third manual position 540 is provided downstream of the laser coding device 800.
  • the operator removes the phase actuator 900 from the third manual position 540, and unloads the qualified phase actuator 900 To the qualified box, unload the unqualified phase actuator 900 to the waste box.
  • the phase actuator assembly line 100 further includes an air-tightness detection device (not shown in the figure), and the air-tightness detection device is arranged on the phase actuator assembly equipment 400 and the functional detection device 700 along the return conveying line 500. It is used to detect whether the air tightness of the phase actuator 900 is qualified.
  • a return jig cleaning device 550 is further provided on the return conveying line 500, and the return jig cleaning device 550 is arranged downstream of the third manual position 540 for cleaning the empty return jig 510.
  • the assembly process of the phase actuator assembly line 100 of the embodiment of the present application is as follows:
  • the bayonet assembly device 210 assembles the bayonet 911 and the ball 912 to form a bayonet assembly 917;
  • the operator manually loads the anchor 913, the pole cap 914 and the pole tube 915 to the positioning jig 320;
  • the anchor transfer manipulator 330 removes the anchor 913 from the positioning jig 320 and transfers it to the anchor pin assembly equipment 220;
  • the anchor pin assembly device 220 assembles the bayonet assembly 917 and the anchor 913 to form an anchor pin assembly 918;
  • the first manipulator 341 takes out the anchor pin assembly 918 from the anchor pin assembly device 220, and inserts the anchor pin assembly 918 into the pole cover 914 after turning over to form the pole cover assembly;
  • the second manipulator 342 sets the pole tube 915 on the pole cap assembly to form a pole tube pre-assembly assembly
  • the pole tube pressing device 350 removes the pole tube pre-assembled components 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 assembly 910 out of the positioning jig 320, and transfers it to the pole tube assembly upper material level 520 on the recirculation conveying line 500 after turning over, and places the pole tube assembly 910 on the pole tube assembly positioning structure 511;
  • the return fixture 510 arrives at the O-ring assembly equipment 600;
  • the external manipulator (not shown in the figure) takes the pole tube assembly 910 out of the reflow fixture 510 and sends it to the O-ring assembly equipment 600.
  • the O-ring assembly assembly 620 stretches the O-ring 916 on the pole tube assembly 910. , To form a sealed pole tube assembly 910, and the external manipulator sends the sealed pole tube assembly 910 back to the reflow fixture 510;
  • the recirculation jig 510 Under the conveyance of the recirculation conveying line 500, the recirculation jig 510 reaches the second manual position 530;
  • the operator manually loads the coil assembly 920 onto the coil assembly positioning structure 512 of the reflow fixture 510;
  • the recirculation jig 510 arrives at the phase actuator assembly equipment 400;
  • the loading and unloading robot 420 transfers the coil assembly 920 and the pole tube assembly 910 from the reflow fixture 510 to the turntable positioning fixture;
  • the phase actuator assembly device 400 assembles the pole tube assembly 910 and the coil assembly 920 to form the phase actuator 900;
  • the loading and unloading manipulator 420 returns the phase actuator 900 to the return fixture 510;
  • the recirculation jig 510 Under the conveyance of the recirculation conveying line 500, the recirculation jig 510 reaches the functional inspection device 700;
  • the fourth manipulator 740 grabs the phase actuator 900 from the return fixture 510 to the phase actuator positioning table 710;
  • the functional testing device 700 tests whether the thrust value of the phase actuator 900 is qualified
  • the fourth manipulator 740 returns the phase actuator 900 to the return fixture 510;
  • the recirculation jig 510 Under the conveyance of the recirculation conveying line 500, the recirculation jig 510 reaches the laser coding device 800;
  • the phase actuator loading manipulator 830 grabs the functionally qualified phase actuator 900 from the reflow fixture 510 to the laser coding device 800. After the marking and scanning code detection, the phase actuator unloading manipulator 850 removes the phase actuator 900 Send it back to the reflux fixture 510;
  • the recirculation jig 510 Under the conveyance of the recirculation conveying line 500, the recirculation jig 510 reaches the third manual position 540;
  • the operator unloads the qualified phase actuator 900 to the qualified box, and unloads the unqualified phase actuator 900 to the waste box.
  • phase actuator assembly line 100 of the present application uses the bayonet 911, the ball 912, the anchor 913, the pole cover 914, the pole tube 915, the O-ring 916 and the coil assembly 920 as raw materials.
  • Three manual positions realize automatic assembly of phase actuator 900, which improves assembly efficiency.
  • the phase actuator assembly line 100 when forming the riveting process of the bayonet assembly 917, the anchor pin assembly 918 and the pole tube assembly 910, riveting NG detection devices are all provided to screen out unqualified molded parts. Output the molded parts with qualified riveting pressure.
  • the O-ring assembly equipment 600 is provided with an O-ring in-position detection sensor 627 to screen out unqualified pole tube assemblies 910 and output only the sealed pole tube assemblies 910.
  • the functional detection device 700 and the laser coding device 800 are arranged in sequence.
  • the functional detection device 700 can select the functionally qualified phase actuator 900, laser
  • the coding device 800 can further perform coding on the phase actuator 900 with qualified functions, and after scanning and detecting, output the phase actuator 900 with qualified coding. Through layer-by-layer screening, not only the quality consistency of the phase actuator 900 is ensured, but also the processing flow is optimized, and the mass production efficiency is improved.

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Abstract

本申请涉及一种相位执行器装配线，属于自动化组装技术领域。本申请提出一种相位执行器装配线，包括卡销组装设备，用于将卡销和球进行组装，形成卡销组件；锚销组装设备，用于将所述卡销组件和锚进行组装，形成锚销组件；极管组件组装设备，用于将锚销组件、极盖和极管进行组装，形成极管组件；以及相位执行器组装设备，用于将极管组件和线圈组件进行组装，形成相位执行器。该相位执行器装配线用于相位执行器的组装，能够提高相位执行器的组装自动化程度，提高生产效率，保证产品质量一致性。

Description

相位执行器装配线 技术领域
本申请涉及自动化组装领域，具体而言，涉及一种相位执行器装配线。
背景技术
可变气门正时系统(VVT，variable value timing)，能够通过配备的控制及执行系统，对发动机凸轮轴的相位进行调节，从而使得气门开启、关闭的时间随发动机转速的变化而变化，以提高充气效率，增加发动机功率。相位执行器为可变气门正时系统的重要部件之一，然而，相位执行器目前主要通过人工组装，人工组装不仅费时费力，且生产效率低；另一方面，人工组装不便进行产品质量控制，导致产品质量参差不齐。
发明内容
为此，本申请提出一种相位执行器装配线，提高了相位执行器的组装自动化程度，提高了生产效率，保证了产品质量一致性。
本申请的实施例提出一种相位执行器装配线，包括卡销组装设备，用于将卡销和球进行组装，形成卡销组件；锚销组装设备，用于将所述卡销组件和锚进行组装，形成锚销组件；极管组件组装设备，用于将锚销组件、极盖和极管进行组装，形成极管组件；以及相位执行器组装设备，用于将极管组件和线圈组件进行组装，形成相位执行器。
本申请实施例中的相位执行器装配线用于相位执行器的组装，能够提高相位执行器的组装自动化程度，提高生产效率，保证产品质量一致性。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请实施例提供的相位执行器装配线的平面布置示意图；
图2为本申请实施例提供的相位执行器装配线中卡销组装设备的结构示意图；
图3为图2中A处的局部放大图；
图4为本申请实施例提供的相位执行器装配线中卡销组装设备的球上料机构的结构示意图；
图5为本申请实施例提供的相位执行器装配线中锚销组装设备的结构示意图；
图6为图5中B处的局部放大图；
图7为图5中C处的局部放大图；
图8为本申请实施例提供的相位执行器装配线中卡销锚组组装设备和极管组件组装设备的结构示意图；
图9为图8中D处的局部放大图；
图10为本申请实施例提供的相位执行器装配线中第二组装设备极管组件组装设备的极管压装装置的结构示意图；
图11为图10中E处的局部放大图；
图12为图10中F处的局部放大图；
图13为本申请实施例提供的相位执行器装配线中回流输送线上的回流治具的结构示意图(装载有极管组件和线圈组件)；
图14为本申请实施例提供的相位执行器装配线中相位执行器组装设备的结构示意图；
图15为图18中H处的局部放大图；
图16为本申请实施例提供的相位执行器装配线中O型圈组装设备的结构示意图；
图17为本申请实施例提供的相位执行器装配线中O型圈组装设备的O型圈组装组件的结构示意图；
图18为本申请实施例提供的相位执行器装配线中O型圈组装设备的O型圈组装组件的滑动槽块的结构示意图；
图19为本申请实施例提供的相位执行器装配线中O型圈组装设备的O型圈组装组件的撑开爪、收拢环相关的内部构造示意图；
图20为本申请实施例提供的相位执行器装配线中功能性检测装置的结构示意图；
图21为本申请实施例提供的相位执行器装配线中功能性检测装置的探头夹具的结构示意图；
图22为本申请实施例提供的相位执行器装配线中激光打码装置的结构示意图；
图23为本申请实施例提供的相位执行器装配线所组装的相位执行器的爆炸图；
图24为本申请实施例提供的相位执行器装配线的组装过程流程示意图；
图25为本申请实施例提供的相位执行器装配线所组装的相位执行器的组装过程示意图。
图标：100-相位执行器装配线；200-卡销锚组装设备；210-卡销组装设备；211-卡销定位平台；2111-卡销组件移送机械手；2112-卡销定位治具；2113-卡销定位部；212-卡销上料机构；2121-卡销振动出料机构；2122-卡销出料管；2123-挡停机构；213-球上料机构；2131-球储存腔；2132-球出料抬升机构；2133-出料口；2134-球移送机械手；2135-球吸附部；2136-球进料口；214-球下压机构；2141-球下压驱动机构；215-卡销到位检测机构；220-锚销组装设备；221-锚定位平台；2211-锚定位凹槽；2212-同心柱；222-锚销上料机构；2221-锚上料机械手；2222-卡销组件上料机械手；223-销下压机构；2231-销下压驱动机构；2232-销夹持手指；224-锚销到位检测机构；225-第一直线导轨；300-极管组件组装设备；310-转盘；311-极管组件下料位；320-定位治具；321-基板；322-锚定位部；323-极盖定位部；324-极管定位部；330-锚移送机械手；340-预装配机构；341-第一机械手；342-第二机械手；350-极管压装装置；351-极管抓取机构；3511-升降旋转机构；3512-安装架；3513-L板；3514-第一抓取手指；3515-第二抓取手指；3516-抱持爪；3517-底持爪；3518-转动驱动机构；3519-升降驱动机构；352-极管预装配组件定位平台；3521-极管铆压工作台；3522-极管组件铆压定位部；353-极管下压机构；3531-极管组件抱持手指；354-极管铆压除尘机构；355-极管组件到位检测机构；360-转盘除尘装置；370-定位治具到位传感机构；380-第三机械手；390-第一人工位；400-相位执行器组装设备；410-极管线圈定位夹具；411-极管组件定位治具；4111-极管组件定位部；4112-对冲孔；412-线圈组件抬升机构；4121-线圈组件定位块；420-上下料机械手；421-线圈组件上下料机械手；422-极管组件上料机械手；430-线圈铆压机构；431-线圈极管下压头；432-极管组件移送机械手；440-转台；450-第一极管线圈定位夹具；460-第二极管线圈定位夹具；500-回流输送线；510-回流治具；511-极管组件定位结构；512-线圈组件定位结构；520-极管组件上料位；530-第二人工位；540-第三人工位；550-回流治具清洁装置；600-O型圈组装设备；610-O型圈上料组件；611-O型圈出料位；620-O型圈组装组件；621-O型圈组装台面；622-撑开爪；6221-第二周面；6222-第四周面；6223-O型圈放置部；6224-爪板；623-撑开爪抬升机构；6231-第一周面；624-收拢环；6241-第三周面；625-开锁抬升机构；626-滑动槽块；6261-侧滑槽；627-O型圈在位检测传感器；630-O型圈移送机械手；700-功能性检测装置；710-相位执行器定位台；711-相位执行器顶升机构；7111-相位执行器放置位；712-定位环；720-相位执行器检测机构；721-推力杠杆；7211-第一端；7212-第二端；722-推力传感器；723-探头；730-探头夹具；731-角度调节板；7311-弧形凹槽；732-探头安装件；740-第四机械手；800-激光打码装置；810-激光刻码位；820-扫码位；830-相位执行器上料机械手；840-转移机械手；850-相位执行器下料机械手；900-相位执行器； 910-极管组件；911-卡销；912-球；913-锚；914-极盖；915-极管；916-O型圈；917-卡销组件；918-锚销组件；920-线圈组件；940-接口。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
请参照图23，在本申请的描述中，相位执行器900为本领域成熟技术，相位执行器装配线100用于组装相位执行器900。相位执行器900为可变气门正时系统的重要部件，包括极管组件910和线圈组件920，极管组件910中又包括能够沿其轴向移动的锚销组件918，锚销组件918包括卡销911、球912和锚913。在线圈组件920的作用下，极管组件910中的锚销组件918能够向外顶出，以作用于机油控制阀。
请参照图1，本申请实施例的相位执行器装配线100，包括卡销锚组装设备200、极管组件组装设备300和相位执行器组装设备400，卡销锚组装设备200用于形成锚销组件918，卡销锚组装设备200又包括卡销组装设备210和锚销组装设备220。
请参照图23、图24和图25，卡销组装设备210用于将卡销911和球912进行组装，形成卡销组件917；锚销组装设备220与卡销组装设备210对接，用于将卡销组件917和锚913进行组装，形成锚销组件918。极管组件组装设备300用于将锚销组件918、极盖914和极管915进行组装，形成极管组件910；相位执行器组装设备400用于将极管组件910和线圈组件920进行组装，形成相位执行器900。
本申请实施例中的相位执行器装配线100用于相位执行器900的组装，能够提高相位执行器900的组装自动化程度，提高生产效率，保证产品质量一致性。
下述本申请实施例的相位执行器装配线100的各装置的结构与相互连接关系。
卡销组装设备210用于将卡销911和球912进行组装，形成卡销组件917。
容易理解的，在相位执行器900中，当锚销组件918顶起后，球912是作用于机油控制阀的部件。
下面示例一种卡销组装设备210的构造形式。
请参照图2，卡销组装设备210包括卡销定位平台211、卡销上料机构212、球上料机构213和球下压机构214。卡销上料机构212用于将卡销911(请参照图24)上料至卡销定位平台211，球上料机构213用于将球912(请参照图24)上料至卡销911的上端，球下压机构214用于将卡销911的上端与球912进行铆压。
请参照图2和图3，具体而言，卡销定位平台211包括卡销组件移送机械手2111和卡销定位治具2112，卡销组件移送机械手2111的执行端安装有卡销定位治具2112。卡销定位治具2112上设有卡销定位部2113，卡销组件移送机械手2111能够驱动卡销定位治具2112沿第一行程方向移动，以使卡销定位治具2112在卡销上料位置、球上料位置和球下压位置之间移动。
在本申请的一些实施例中，卡销定位治具2112具有卡销上料位置、球上料位置和球下压位置。工作时，首先，卡销定位治具2112移动至卡销上料位置，卡销上料机构212将卡销911上料至卡销定位平台211；然后，卡销定位治具2112移动至球上料位置，球上料机构213将球912上料至卡销911的上端；最后，卡销定位治具2112移动至球下压位置，球下压机构214下压球912，将球912与卡销911的上端铆压在一起，形成卡销组件917。
容易理解的，将卡销定位治具2112布置成可移动的形式，将卡销上料机构212、球上 料机构213和球下压机构214沿着卡销定位治具2112的移动行程展开布置，既利于合理利用空间，又能保证卡销911和球912准确组装，从而保证铆压精度。
在其他实施例中，卡销911和球912可以于同一位置上料。
请参照图2，卡销上料机构212包括卡销振动出料机构2121和卡销出料管2122，卡销出料管2122的一端与卡销振动出料机构2121的卡销出料口相连，另一端与卡销定位部2113对接，卡销出料管2122能够引导卡销911至卡销定位部2113。
可选地，卡销上料机构212还包括挡停机构2123，挡停机构2123为气缸，能够伸出以阻住卡销出料管2122的出料端，每次仅允许一个卡销911落于卡销定位部2113。
请参照图4，球上料机构213包括球储存腔2131和球移送机械手2134。球储存腔2131的下端设有球出料抬升机构2132，上端设置有供球912出料的球出料口2133。球出料抬升机构2132能够抬升球储存腔2131中的球912，使其中一个球912从球出料口2133冒出。球移送机械手2134的端部设有球吸附部2135，能够吸附起球出料口2133处的球912。球移送机械手2134将球912从球出料口2133移送至位于卡销定位部2113的卡销911的上端。
球上料机构213设有球进料口2136，球进料口2136呈扩口状，易于进料。
请参照图2，球下压机构214包括球下压驱动机构2141和球下压头(图2中的球下压头被防尘罩遮住)，球下压驱动机构2141能够驱动球下压头下压，以作用于位于卡销定位部2113上的卡销911和球912，将球912铆入卡销911的上端。
优选地，球下压头2142内凹，与球912的轮廓嵌合对应，以使卡销911包住球912，防止球912从卡销911的上端脱出。
可选地，球下压机构214还设有卡销铆压NG检测装置，用于检测球下压头的下压量，进而判定卡销铆压是否合格。
请参照图3，进一步地，卡销组装设备210还包括卡销到位检测机构215，卡销到位检测机构215设置于卡销定位治具2112，用于检测卡销911是否到位卡销定位部2113。
作为一种示例形式，卡销到位检测机构215为到位传感器。
下述卡销组装设备210的工作原理。
卡销定位治具2112位于卡销上料位置，卡销上料机构212将一个卡销911引导上料至卡销定位部2113；卡销组件移送机械手2111驱动卡销定位治具2112向前移动至球上料位置，球移送机械手2134吸附一个球912，将其上料至卡销911的上端；
卡销组件移送机械手2111驱动卡销定位治具2112向前移动至球下压位置，球下压机构214下压并将球912和卡销911进行铆压，形成卡销组件917。
锚销组装设备220与卡销组装设备210对接，用于将卡销组件917和锚913进行组装，形成锚销组件918。
下面示例一种锚销组装设备220的构造形式。
请参照图5，锚销组装设备220包括锚定位平台221、锚销上料机构222、销下压机构223和第一直线导轨225。
其中，锚定位平台221为卡销组件917和锚913铆压的工作台，锚定位平台221安装于第一直线导轨225的输出端，第一直线导轨225用于驱动锚定位平台221沿第二行程方向移动，以具有锚销上料位置和销下压位置。当锚定位平台221处于锚销上料位置时，锚销上料机构222用于将锚913上料至锚定位平台221，再将卡销组件917上料至锚913的中心孔；当锚定位平台221处于销下压位置时，销下压机构223用于将卡销组件917的卡销911与锚913进行铆压。
请参照图6，锚定位平台221上设置有锚定位凹槽2211，锚定位凹槽2211的中心设有同心柱2212。容易理解的，当锚913被放置于锚定位凹槽2211后，同心柱2212位于锚913的中心孔中，并能够承接被插入锚913的中心孔的卡销组件917。
请参照图5，锚销上料机构222包括锚上料机械手2221、卡销组件上料机械手2222。 锚上料机械手2221将锚913上料至锚定位凹槽2211；卡销组件上料机械手2222与卡销组装设备210对接，将卡销组件917从卡销定位治具2112上取出，并上料至锚913的中心孔。
作为一种示例形式，锚上料机械手2221的执行端和卡销组件上料机械手2222的执行端均为常见的气动手指。
请参照图5和图7，销下压机构223包括销下压驱动机构2231、销下压头(图7中的销下压头被防尘罩遮住)和销夹持手指2232。
在第一直线导轨225的驱动下，锚定位平台221向前移送至销下压机构223的下方，销夹持手指2232夹持住卡销911，销下压驱动机构2231驱动销下压头下压，将锚913和卡销911铆压，形成锚销组件918。
优选地，销下压头内部中空，且下压面呈环状，以均匀、稳定地下压于卡销911的顶侧。
以确保铆压过程中不会损伤球912的顶面。
可选地，销下压机构223还设有锚销铆压NG检测装置，用于检测销下压头的下压量，进而判定锚销铆压是否合格。
请参照图6，进一步地，锚销组装设备220还包括锚销到位检测机构224。锚销到位检测机构224设置锚定位平台221，用于检测待铆压的组件是否到位锚定位凹槽2211。
作为一种示例形式，锚销到位检测机构224为到位传感器。
下述锚销组装设备220的工作原理。
锚上料机械手2221将锚913上料至锚定位凹槽2211；
卡销组件上料机械手2222将卡销组件917从卡销定位治具2112上取出，并上料至锚913的中心孔；
第一直线导轨225驱动锚定位平台221移动至销下压机构223的下方；
销夹持手指2232夹持住卡销911；
销下压头下压，将锚913和卡销911铆压，形成锚销组件918。
极管组件组装设备300用于将锚销组件918、极盖914和极管915组装，形成极管组件910。
下面示例一种极管组件组装设备300的构造形式。
请参照图8，极管组件组装设备300包括转盘310、锚移送机械手330、预装配机构340和极管压装装置350。
请参照图8，转盘310上沿其周向均设多个定位治具320，每个定位治具320安装于转盘310，用于定位锚913、极盖914和极管915。
在本申请的一些实施例中，定位治具320布置有8个。
请参照图9，以其中一个定位治具320为例，定位治具320包括基板321、锚定位部322、极盖定位部323和极管定位部324。基板321可拆卸地安装于转盘310上，锚定位部322和极管定位部324分别布置于极盖定位部323的两侧。
1号位所在位置为上料位，锚913、极盖914和极管915于1号位所在位置被上料至定位治具320上。
作为一种示例形式，1号位为第一人工位390，操作人员于第一人工位390将锚913、极盖914和极管915手动上料至对应的定位部上。
作为另一种示例形式，1号位使用机械手将锚913、极盖914和极管915分别上料至定位治具320上所对应的定位部上。
请参照图8，可选地，极管组件组装设备300包括定位治具到位传感机构370，布置于上料位的上方，用于检测锚913、极盖914和极管915是否放置到位。
锚移送机械手330用于将锚913从定位治具320移送至锚销组装设备220。
容易理解的，锚913由第一人工位390上料后，转盘310携带定位治具320转动至锚 移送机械手330的上料位，锚移送机械手330抓取锚913，并将锚913移送至锚销组装设备220的锚定位平台221，作为形成锚销组件918的原料之一。
在本申请的一些实施例中，锚移送机械手330即是锚上料机械手2221，锚移送机械手330是基于极管组件组装设备300而言，锚上料机械手2221是基于锚销组装设备220而言。
预装配机构340布置于锚移送机械手330的下游，用于将锚销组装设备220形成的锚销组件918上料至定位治具320，再将锚销组件918、极盖914和极管915进行预组装，形成极管预装配组件。
请参照图8，在本申请的一些实施例中，预装配机构340包括第一机械手341和第二机械手342。第一机械手341、第二机械手342和极管压装装置350沿着转盘310的转动方向依次布置，以使整个极管组件组装设备300结构紧凑。
第一机械手341用于将锚销组件918从锚销组装设备220取出，翻转后组装于位于极盖定位部323上的极盖914，形成极盖组件。
容易理解的，锚销组装设备220形成的锚销组件918处于正置状态，而卡销组件917的上端插入极盖914，需要将锚销组件918翻转至倒置状态，再组装于极盖914。
第二机械手342布置于第一机械手341之后，第二机械手342用于将位于极管定位部324上的极管915组装于位于极盖定位部323上的极盖组件上，形成极管预装配组件。
极管压装装置350布置于第二机械手342之后，用于将位于极盖定位部323上的极管预组装组件取下进行铆压，输出极管组件910。
在本申请的一些实施例中，第一机械手341的执行端和第二机械手342的执行端均为常见的气动手指，其中，第一机械手341的执行端能够夹持锚销组件918并翻转。
下面示例一种形式的极管压装装置350的具体构造。
请参照图10，极管压装装置350包括极管抓取机构351、极管预装配组件定位平台352和极管下压机构353。
极管预装配组件定位平台352用于定位极管预装配组件。
请参照图10和图12，在本申请的一些实施例中，极管预装配组件定位平台352包括极管铆压工作台3521和极管组件铆压定位部3522，极管组件铆压定位部3522安装在极管铆压工作台3521上，用于定位倒置的极管预装配组件。
极管下压机构353用于对极管预装配组件定位平台352上的极管预装配组件进行铆压，形成极管组件910。
请参照图12，在本申请的一些实施例中，极管下压机构353包括极管组件抱持手指3531，极管组件抱持手指3531周向抱住极管预装配组件的极管915，并下压作用于极管915，将极管预装配组件的极管915和极盖914铆压为一体，形成极管组件910。
可选地，极管下压机构353还包括极管铆压NG检测装置，用于检测极管组件抱持手指3531的下压量，进而判定极管铆压是否合格。
极管抓取机构351用于从定位治具320上抓取极管预装配组件，并将极管预装配组件放至极管预装配组件定位平台352，并且用于从极管预装配组件定位平台352取走极管组件910并放回定位治具320。
请参照图10和图11，在本申请的一些实施例中，极管抓取机构351包括升降旋转机构3511、安装架3512和两个抓取手指。安装架3512连接于升降旋转机构3511的输出端，升降旋转机构3511用于驱动安装架3512升降和旋转，安装架3512的两端分别安装有一个抓取手指，抓取手指用于抓取极管预装配组件或极管组件910。
作为升降旋转机构3511的一种示例，升降旋转机构3511包括L板3513、转动驱动机构3518和升降驱动机构3519。机架上设置有竖板(图中未标出)，升降驱动机构3519安装于竖板，升降驱动机构3519的输出端安装有L板3513，L板3513的平板部分的下侧安装有转动驱动机构3518，平板部分的上侧转动安装有安装架3512，转动驱动机构3518的输出端与安装架3512相连。
请参照图10，两个抓取手指分别为第一抓取手指3514和第二抓取手指3515。两个抓取手指的结构相同。
请参照图11，以第一抓取手指3514为例，第一抓取手指3514包括抱持爪3516和底持爪3517。容易理解的，当移送极管预装配组件时，底持爪3517能够承接住极管预装配组件，抱持爪3516周向抱住极管915，共同移送极管预装配组件。
可选地，极管压装装置350还包括极管铆压除尘机构354。
请参照图12，极管铆压除尘机构354布置于极管铆压工作台3521上，用于清洁极管组件铆压定位部3522。
作为一种示例形式，极管铆压除尘机构354为常见的吸吹式除尘机构。
请参照图10，进一步地，极管压装装置350还包括极管组件到位检测机构355，用于检测极管组件910是否到位极管组件铆压定位部3522。作为一种示例形式，极管组件到位检测机构355为到位传感器。
下述极管压装装置350的工作原理。
第一抓取手指3514对接定位治具320；
第一抓取手指3514抓取极管预装配组件；
升降驱动机构3519驱动L板3513上升，L板3513带动第一抓取手指3514上升以抓起极管预装配组件；
转动驱动机构3518进一步地驱动安装架3512转动，以使第一抓取手指3514转动至极管组件铆压定位部3522；
升降驱动机构3519驱动L板3513下降，第一抓取手指3514将极管预装配组件放置于极管组件铆压定位部3522，后抬升复位；
转动驱动机构3518驱动安装架3512继续转动，以使第一抓取手指3514避让极管下压机构353的行程；
极管组件抱持手指3531周向抱住极管预装配组件并下压，将极管预装配组件的极管915和极盖914铆压为一体，形成极管组件910；
转动驱动机构3518驱动第一抓取手指3514继续转动至定位治具320处，以抓取下一个极管预装配组件，此时，第二抓取手指3515到达极管组件铆压定位部3522，以抓取铆压好的极管组件910；
转动驱动机构3518驱动第一抓取手指3514继续转动至极管组件铆压定位部3522，此时，第二抓取手指3515到达定位治具320处，将铆压好的极管组件910放回至定位治具320上。
容易理解的，该种布置形式能够高效进行极管压装，提高铆压效率。
请参照图8，可选地，极管组件组装设备300还包括转盘除尘装置360，用于清洁转盘310上的定位治具320。
作为一种示例形式，转盘除尘装置360为常见的吸吹式除尘机构。在其他实施例中，转盘除尘装置360也可以通过毛刷清扫的方式清洁定位治具320。
下面阐述极管组件组装设备300的工作原理。
人工将锚913上料至定位治具320的锚定位部322，将极盖914上料至极盖定位部323，将极管915上料至极管定位部324；
转盘310带动定位治具320至锚移送机械手330处，锚移送机械手330抓起锚913，将锚913送至锚销组装设备220；
转盘310带动定位治具320转至第一机械手341处，第一机械手341从锚销组装设备220抓起锚销组件918，将锚销组件918插入极盖914，形成极盖组件；
转盘310带动定位治具320转至第二机械手342处，第二机械手342抓起极管915，将极管915盖在极盖组件上，形成极管预装配组件；
转盘310带动定位治具320转至极管压装装置350，极管压装装置350将极管预装配 组件取走铆压，并将送回铆压合格的极管组件910送回定位治具320的极盖定位部323；
转盘310带动定位治具320转至极管组件下料位311，由下述的第三机械手380将极管组件910取出并移送至下一环节；
转盘310带动定位治具320转至清洁位，转盘除尘装置360清洁定位治具320。
请参照图1，可选地，相位执行器装配线100还包括第三机械手380和回流输送线500。
请参照图13，回流输送线500上沿其输送方向设有多个回流治具510，每个回流治具510设有极管组件定位结构511和线圈组件定位结构512。极管组件定位结构511用于定位极管组件910，线圈组件定位结构512用于定位线圈组件920。相位执行器组装设备400用于从回流治具510上抓取极管组件910和线圈组件920进行组装，形成相位执行器900后放回回流治具510上。
作为回流治具510的一种示例形式，极管组件定位结构511为极管组件定位槽，线圈组件定位结构512为线圈组件定位槽。
请参照图1，作为补充的是，回流输送线500上设有第二人工位530和第三人工位540。线圈组件920包括线圈组件本体和密封圈，操作人员在第二人工位530完成线圈组件920的人工组装，再上料至回流治具510上；第三人工位540用于取出合格的相位执行器900。
请参照图1，第三机械手380用于将极管组件910从极管组件组装设备300移送至回流输送线500上的回流治具510上。
请参照图8，具体而言，第三机械手380对接极管组件组装设备300的极管组件下料位311。第三机械手380的执行端的气动手指能够翻转，以将极管组件910正置于回流治具510上。
在本申请的描述中，极管组件910的“正置”为“极管915在下，极盖914在上”；极管组件910的“倒置”为“极管915在上，极盖914在下”。
容易理解的，在形成极管预装配组件以及对其进行铆压的过程中，极管组件910处于倒置状态，以便于极管组件910的组装。而极管组件910正置安装于线圈组件920，第三机械手380在将极管组件910上料至回流治具510时对其进行翻转，以使其正置于回流治具510，便于极管组件910与线圈组件920组装。
相位执行器组装设备400用于将极管组件910和线圈组件920进行组装，形成相位执行器900。
请参照图14和图15，下面示例一种形式的相位执行器组装设备400的具体构造。
请参照图14，相位执行器组装设备400包括极管线圈定位夹具410、上下料机械手420、线圈铆压机构430和转台440。
在本申请的一些实施例中，极管线圈定位夹具410固定在转台440上，极管线圈定位夹具410能够跟随转台440转动，以具有上下料位置和铆压位置具有上下料位置和铆压位置。
作为一种示例形式，转台440通过“齿轮+齿条”的形式驱动转动。
当极管线圈定位夹具410处于上下料位置时，极管线圈定位夹具410与上下料机械手420对应；当极管线圈定位夹具410处于铆压位置时，极管线圈定位夹具410与线圈铆压机构430对应。
极管线圈定位夹具410包括极管组件定位治具411和线圈组件抬升机构412。
请参照图15，具体而言，极管组件定位治具411包括极管组件定位部4111和对冲孔4112；线圈组件抬升机构412的输出端设置有线圈组件定位块4121，线圈组件定位块4121位于对冲孔4112下方。
上下料机械手420用于将极管组件910上料至极管组件定位部4111，将线圈组件920上料至线圈组件定位块4121，再将铆压形成的相位执行器900从线圈组件定位块4121下料。
请参照图14，作为一种示例形式，上下料机械手420包括线圈组件上下料机械手421 和极管组件上料机械手422。线圈组件上下料机械手421用于将移送线圈组件920或相位执行器900，极管组件上料机械手422用于移送极管组件910。
请参照图15，线圈铆压机构430包括线圈极管下压头431和极管组件移送机械手432。
极管组件移送机械手432用于从极管组件定位部4111抓取极管组件910并放入对冲孔4112，线圈极管下压头431用于穿过对冲孔4112，并对极管组件910和线圈组件920进行铆压，形成相位执行器900。
进一步地，极管线圈定位夹具410布置有两个，分别为第一极管线圈定位夹具450和第二极管线圈定位夹具460，第一极管线圈定位夹具450和第二极管线圈定位夹具460分别安装于转台440的两端。也就是说，极管组件定位治具411和线圈组件抬升机构412均布置有两个，线圈组件抬升机构412与极管组件定位治具411一一对应。当一组极管组件定位治具411和线圈组件抬升机构412处于所述上下料位置时，另一组极管组件定位治具411和线圈组件抬升机构412处于所述铆压位置。容易理解的，该种布置形式能够高效进行极管组件910与线圈组件920进行压装，提高铆压效率。
下述相位执行器组装设备400的工作原理。
第一极管线圈定位夹具450位于上下料位置，第二极管线圈定位夹具460位于铆压位置；
线圈组件上下料机械手421将线圈组件920上料至第一极管线圈定位夹具450的线圈组件定位块4121；
极管组件上料机械手422将极管组件910从回流治具510上取出，并上料至第一极管线圈定位夹具450的极管组件定位部4111；
转台440转动，并带动第一极管线圈定位夹具450转动至铆压位置，同时，第二极管线圈定位夹具460转动至上下料位置；
第一极管线圈定位夹具450的线圈组件抬升机构412带动线圈组件定位块4121顶升，使线圈组件定位块4121上的线圈组件920靠近对冲孔4112的下侧；
极管组件移送机械手432将位于极管组件定位部4111上的极管组件910取出并移送至对冲孔4112的上方，将极管组件910透过对冲孔4112放置于线圈组件920上；
线圈极管下压头431下压，将极管组件910与线圈组件920进行铆压，形成相位执行器900；
极管组件上料机械手422将相位执行器900送回到回流治具510。
通过相位执行器组装设备400，极管组件910和线圈组件920被铆压并形成相位执行器900。
请参照图1，沿着回流输送线500的输送方向，于相位执行器组装设备400的上游，相位执行器装配线100还包括O型圈组装设备600。O型圈组装设备600沿着回流输送线500的输送方向布置于第三机械手380和相位执行器组装设备400之间，O型圈组装设备600用于在极管组件910的极管915与极盖914处绷上O型圈916，以提高其密封性。
下面示例一种O型圈组装设备600的构造形式。
请参照图16，O型圈组装设备600包括O型圈上料组件610、O型圈组装组件620和O型圈移送机械手630。其中，O型圈上料组件610设有O型圈出料位611，能够将一个O型圈916准确地出料至O型圈出料位611；O型圈组装组件620用于将O型圈916绷在极管组件910上，形成密封的极管组件910。
在本申请的一些实施例中，O型圈上料组件610采用“振动盘+直线送料器”的构造形式出料。
请参照图17和图18，O型圈组装组件620包括可升降的O型圈组装台，O型圈组装台的上端面为O型圈组装台面621。O型圈组装组件620还包括撑开爪622、撑开爪抬升机构623、收拢环624、开锁抬升机构625和滑动槽块626。其中，撑开爪抬升机构623、开锁抬升机构625和滑动槽块626均安装于O型圈组装台，撑开爪622的端部露出O型圈 组装台面621，形成O型圈放置部6223。
O型圈移送机械手630用于将O型圈916从O型圈出料位611吸起，并放置于O型圈上料位。
撑开爪622可侧向滑动地安装于滑动槽块626，撑开爪622具有撑开状态和收拢状态。
请参照图19，具体而言，撑开爪622设有多个爪板6224。
请参照图18，滑动槽块626设有多个侧滑槽6261,。侧滑槽6261与爪板6224一一对应，爪板6224滑动布置于侧滑槽6261内。
请参照图19，收拢环624套设于撑开爪622的外部，撑开爪抬升机构623的顶端设有顶升块，顶升块设有第一周面6231；对应的，撑开爪622的内侧靠下处设有第二周面6221。撑开爪抬升机构623向上推动撑开爪622时，第一周面6231与第二周面6221抵接，以推动撑开爪622侧滑，从而撑开O型圈916。收拢环624的内壁设有第三周面6241；对应的，撑开爪622的外侧设有第四周面6222。开锁抬升机构625向上推动收拢环624时，第三周面6241与第四周面6222抵接，以将撑开爪622收拢入滑动槽块626，从而卸下O型圈916。
请参照图16，可选地，O型圈组装组件620还包括O型圈在位检测传感器627，用于检测O型圈916是否合格地绷在极管组件910上。
下述O型圈组装设备600的工作原理。
O型圈上料组件610将O型圈916上料至O型圈出料位611；
O型圈组装台上升至预设高度；
O型圈移送机械手630将O型圈916从O型圈出料位611移送至撑开爪622的顶端；
撑开爪抬升机构623向上推动撑开爪622，使撑开爪622处于撑开状态；
外部的机械手将极管组件910从回流治具510上取出，翻转后倒置伸入撑开爪622中间的区域；
开锁抬升机构625向上推动收拢环624，使撑开爪622处于收拢状态；
O型圈916自动安装到极管组件910上，形成密封的极管组件910；
外部的机械手将密封的极管组件910送回到回流治具510上。
进一步地，相位执行器装配线100还包括一些功能测试、刻印产品信息相关的装置，以保证最终下料的相位执行器900的产品质量以及可追溯性。
请参照图1，在本申请的一些实施例中，相位执行器装配线100还包括功能性检测装置700，沿着回流输送线500的输送方向，功能性检测装置700布置于相位执行器组装设备400的下游，用于检测相位执行器900的性能是否达标。
请参照图1，在本申请的一些实施例中，功能性检测装置700布置有四个，四个功能性检测装置700的结构相同，沿着回流输送线500依次布置于相位执行器组装设备400的下游，以提高相位执行器900的功能性检测效率。
以其中一个功能性检测装置700为例，示例一种功能性检测装置700的构造形式。
请参照图20，在本申请的一些实施例中，功能性检测装置700包括相位执行器定位台710、相位执行器检测机构720、探头夹具730和第四机械手740。
相位执行器定位台710用于定位相位执行器900，包括相位执行器顶升机构711和定位环712，相位执行器顶升机构711的顶端设有相位执行器放置位7111，相位执行器顶升机构711能够带动相位执行器放置位7111升降。第四机械手740用于将相位执行器900从回流治具510上取出，并放置于相位执行器放置位7111。定位环712布置于相位执行器放置位7111的上方，当相位执行器放置位7111上升后，将相位执行器900卡入定位环712中。
相位执行器检测机构720用于测试相位执行器900的推力值。
相位执行器检测机构720包括推力杠杆721、推力传感器722和探头723。推力杠杆721通过旋销安装于相位执行器定位台710的机架上，包括第一端7211和第二端7212。第一端7211位于定位环712的上方，用于承受相位执行器900的推力。推力传感器722安装 于相位执行器定位台710的机架上，第二端7212位于推力传感器722的上方，用于在杠杆作用下传递相位执行器900的推力，并作用于推力传感器722。探头723用于插入相位执行器900的接口940。
在本申请的描述中，探头723的另一端与电池相连，探头723仅作为导电部件，在电池供电下，线圈组件920通电，产生磁场，以推动锚销组件918向外顶出。
探头夹具730能够调节相位执行器检测机构720中的探头723的角度，并将探头723插入相位执行器900的接口940。
请参照图21，探头夹具730包括角度调节板731和探头安装件732，探头安装件732可调节角度地安装于角度调节板731，探头安装件732上安装有探头723和电池安装位。
作为一种示例形式，角度调节板731设有多道弧形凹槽7311，探头安装件732安装于角度调节板731的一侧，通过螺纹件穿过弧形凹槽7311，与螺母配合以将探头安装件732安装于角度调节板731。当需要调整探头723的安装角度时，沿着弧形凹槽7311滑动探头安装件732后固定，以调整探头723至合适的角度。
进一步地，探头安装件732上设有滑台气缸，以将探头723插入相位执行器900的接口940。
下述功能性检测装置700的工作原理。
第四机械手740将相位执行器900从回流治具510上移送至相位执行器放置位7111；
相位执行器顶升机构711上升，将相位执行器900卡入定位环712；
探头夹具730调整探头723角度，将探头723插入相位执行器900的接口940；
通过推力传感器722记录相位执行器900的推力值，并通过外部的控制装置判定相位执行器900的推力值是否符合要求；
探头723退出接口940；
相位执行器顶升机构711下降复位；
第四机械手740将相位执行器900从相位执行器放置位7111上取走，并放回到回流治具510上。
请参照图1，在本申请的一些实施例中，相位执行器装配线100还包括激光打码装置800，沿着回流输送线500的输送方向，激光打码装置800布置于功能性检测装置700的下游，用于对功能合格的相位执行器900刻码，以标注产品相关的信息。
对于功能性检测装置700中出料的相位执行器900，无论功能测试是否合格，均被放回至回流治具510上，激光打码装置800仅从回流治具510上取出功能合格的相位执行器900，对其刻印二维码。
下面示例一种激光打码装置800的构造形式。
请参照图22，激光打码装置800包括激光刻码位810、扫码位820、相位执行器上料机械手830、转移机械手840和相位执行器下料机械手850。其中，激光刻码位810和扫码位820分别位于转移机械手840的起始两侧。激光刻码位810的下方设有刻码机，扫码位820的下方设有扫码机。
下述激光打码装置800的工作原理。
相位执行器上料机械手830将功能合格的相位执行器900从回流治具510上取出，并移送至激光刻码位810；
于激光刻码位810，相位执行器上料机械手830夹持相位执行器900，刻码机对相位执行器900的底部刻印二维码；
转移机械手840将相位执行器900移送至靠近扫码位820处；
相位执行器下料机械手850接过相位执行器900；
相位执行器下料机械手850将相位执行器900移送至扫码位820；
相位执行器下料机械手850夹持相位执行器900，扫码机扫码检测，如能读出二维码，则刻码合格；
相位执行器下料机械手850将相位执行器900送回到回流治具510的线圈组件定位结构512上。
沿着回流输送线500的输送方向，在激光打码装置800的下游设置有第三人工位540，操作人员于第三人工位540取下相位执行器900，将合格的相位执行器900下料至合格箱，将不合格的相位执行器900下料至废料箱。
可选地，相位执行器装配线100还包括气密性检测装置(图中没有示出)，气密性检测装置沿着回流输送线500布置于相位执行器组装设备400于功能性检测装置700之间，用于检测相位执行器900的气密性是否合格。
可选地，回流输送线500上还设有回流治具清洁装置550，回流治具清洁装置550布置于第三人工位540的下游，用于对空回流治具510进行清洁。
请参照图24和图25，本申请实施例的相位执行器装配线100的组装过程如下：
卡销组装设备210将卡销911和球912进行组装，形成卡销组件917；
于第一人工位390，操作人员手动将锚913、极盖914和极管915上料至定位治具320；
锚移送机械手330将锚913从定位治具320取走，并移送至锚销组装设备220；
锚销组装设备220将卡销组件917和锚913进行组装，形成锚销组件918；
第一机械手341从锚销组装设备220中取出锚销组件918，翻转后将锚销组件918插入极盖914，形成极盖组件；
第二机械手342将极管915套在极盖组件上，形成极管预装配组件；
极管压装装置350将极管预装配组件取走进行铆压，以形成极管组件910，并将极管组件910送回定位治具320；
第三机械手380将极管组件910从定位治具320取出，翻转后移送至回流输送线500上的极管组件上料位520，并将极管组件910放置在极管组件定位结构511上；
在回流输送线500的输送下，回流治具510到达O型圈组装设备600；
外部的机械手(图中没有示出)将极管组件910从回流治具510上取出，送入O型圈组装设备600，O型圈组装组件620将O型圈916绷在极管组件910上，形成密封的极管组件910，外部的机械手再将密封的极管组件910送回到回流治具510上；
在回流输送线500的输送下，回流治具510到达第二人工位530；
于第二人工位530，操作人员手动将线圈组件920上料至回流治具510的线圈组件定位结构512上；
在回流输送线500的输送下，回流治具510到达相位执行器组装设备400；
上下料机械手420将线圈组件920和极管组件910从回流治具510移送至转台定位治具；
相位执行器组装设备400将极管组件910和线圈组件920进行组装，形成相位执行器900；
上下料机械手420将相位执行器900送回到回流治具510；
在回流输送线500的输送下，回流治具510到达功能性检测装置700；
第四机械手740将相位执行器900从回流治具510抓取至相位执行器定位台710；
功能性检测装置700测试相位执行器900的推力值是否合格；
第四机械手740将相位执行器900送回到回流治具510上；
在回流输送线500的输送下，回流治具510到达激光打码装置800；
相位执行器上料机械手830将功能合格的相位执行器900从回流治具510抓取至激光打码装置800，经刻码、扫码检测后，相位执行器下料机械手850将相位执行器900送回到回流治具510上；
在回流输送线500的输送下，回流治具510到达第三人工位540；
于第三人工位540，操作人员将合格的相位执行器900下料至合格箱，将不合格的相位执行器900下料至废料箱。
相对于传统的手工、零散组装的形式，本申请的相位执行器装配线100以卡销911、球912、锚913、极盖914、极管915、O型圈916和线圈组件920为原料，保留三个人工位，实现自动化组装相位执行器900，提高了组装效率。
进一步地，相位执行器装配线100中，在形成卡销组件917、锚销组件918和极管组件910的铆压工艺时，均设有铆压NG检测装置，筛出不合格的成型件，仅输出铆压合格的成型件。O型圈组装设备600设有O型圈在位检测传感器627，以筛出不合格的极管组件910，仅输出密封合格的极管组件910。另外，相位执行器组装设备400输出铆压合格的相位执行器900后，依次布置功能性检测装置700和激光打码装置800，功能性检测装置700能够挑选出功能合格的相位执行器900，激光打码装置800能够进一步对功能合格的相位执行器900进行刻码，进行扫描检测后，输出刻码合格的相位执行器900。通过层层筛选，不仅保证了相位执行器900的质量一致性，还优化了加工流程，提高量产效率。
需要说明的是，在不冲突的情况下，本申请中的实施例中的特征可以相互结合。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (16)

  1. 一种相位执行器装配线，其特征在于，包括：
    卡销组装设备，用于将卡销和球进行组装，形成卡销组件；
    锚销组装设备，用于将卡销组件和锚进行组装，形成锚销组件；
    极管组件组装设备，用于将锚销组件、极盖和极管进行组装，形成极管组件；
    相位执行器组装设备，用于将极管组件和线圈组件进行组装，形成相位执行器。
  2. 根据权利要求1所述的相位执行器装配线，其特征在于，所述卡销组装设备包括：
    卡销定位平台；
    卡销上料机构，所述卡销上料机构用于将卡销上料至所述卡销定位平台；
    球上料机构，所述球上料机构用于将球上料至卡销的上端；
    球下压机构，所述球下压机构用于将卡销的上端与球进行铆压。
  3. 根据权利要求1所述的相位执行器装配线，其特征在于，所述锚销组装设备包括：
    锚定位平台；
    锚销上料机构，用于将锚上料至所述锚定位平台，再将卡销组件上料至锚的中心孔；
    销下压机构，用于将卡销组件的卡销与锚进行铆压。
  4. 根据权利要求1所述的相位执行器装配线，其特征在于，所述极管组件组装设备包括：
    转盘，所述转盘上沿其周向均设多个定位治具，每个定位治具设有锚定位部、极盖定位部和极管定位部；
    锚移送机械手，用于将锚从所述定位治具移送至所述锚销组装设备；
    预装配机构，所述预装配机构布置于所述锚移送机械手的下游，用于将所述锚销组装设备形成的锚销组件上料至所述定位治具，再将极管、极盖和锚销组件进行预组装，形成极管预装配组件；
    极管压装装置，所述极管压装装置位于所述预装配机构的下游，用于将所述极管预装配组件从所述定位治具上取走进行铆压以形成极管组件，并将极管组件送回所述定位治具。
  5. 根据权利要求4所述的相位执行器装配线，其特征在于，所述极管压装装置包括：
    极管预装配组件定位平台，用于定位极管预装配组件；
    极管下压机构，用于对所述极管预装配组件定位平台上的极管预装配组件进行铆压，形成极管组件；
    极管抓取机构，用于从所述定位治具上抓取极管预装配组件，并将极管预装配组件放至所述极管预装配组件定位平台，并且用于从所述极管预装配组件定位平台取走极管组件并放回所述定位治具。
  6. 根据权利要求5所述的相位执行器装配线，其特征在于，所述极管抓取机构包括升降旋转机构、安装架和两个抓取手指，所述安装架连接于所述升降旋转机构的输出端，所述升降旋转机构用于驱动所述安装架升降和旋转，所述安装架的两端分别安装有一个抓取手指，所述抓取手指用于抓取极管预装配组件或极管组件。
  7. 根据权利要求4所述的相位执行器装配线，其特征在于，所述预装配机构包括第一机械手和第二机械手，所述第一机械手用于将锚销组件从所述锚销组装设备取出，翻转后组装于所述极盖定位部上的极盖，形成极盖组件；所述第二机械手位于所述第一机械手的下游，用于从所述极管定位部上抓取极管，并将极管组装于所述极盖定位部上的极盖组件，形成极管预装配组件。
  8. 根据权利要求1所述的相位执行器装配线，其特征在于，所述相位执行器组装设备包括：
    极管组件定位治具，所述极管组件定位治具包括极管组件定位部和对冲孔；
    线圈组件抬升机构，所述线圈组件抬升机构的输出端设置有线圈组件定位块，所述线 圈组件定位块位于所述对冲孔下方；
    上下料机械手，用于将极管组件上料至所述极管组件定位部，将线圈组件上料至所述线圈组件定位块，再将铆压形成的相位执行器从所述线圈组件定位块下料；
    线圈铆压机构，包括线圈极管下压头和极管组件移送机械手，所述极管组件移送机械手用于从所述极管组件定位部抓取极管组件并放入所述对冲孔，所述线圈极管下压头用于穿过所述对冲孔对极管组件和线圈组件进行铆压，形成相位执行器。
  9. 根据权利要求8所述的相位执行器装配线，其特征在于，所述相位执行器组装设备还包括转台，所述极管组件定位治具和所述线圈组件抬升机构固定在所述转台上，所述极管组件定位治具和所述线圈组件抬升机构能够跟随所述转台转动，以具有与所述上下料机械手对应的上下料位置和与所述线圈铆压机构对应的铆压位置。
  10. 根据权利要求9所述的相位执行器装配线，其特征在于，所述极管组件定位治具和所述线圈组件抬升机构均布置有两个，所述线圈组件抬升机构与极管组件定位治具一一对应，当一组极管组件定位治具和线圈组件抬升机构处于所述上下料位置时，另一组极管组件定位治具和线圈组件抬升机构处于所述铆压位置。
  11. 根据权利要求1所述的相位执行器装配线，其特征在于，所述相位执行器装配线还包括：
    回流输送线，所述回流输送线上沿其输送方向设有多个回流治具，每个回流治具设有极管组件定位结构和线圈组件定位结构，所述相位执行器组装设备用于从所述回流治具上抓取极管组件和线圈组件进行组装，形成相位执行器后放回所述回流治具上；
    第三机械手，用于将极管组件从所述极管组件组装设备移送至所述回流输送线上的回流治具上。
  12. 根据权利要求11所述的相位执行器装配线，其特征在于，所述相位执行器装配线还包括O型圈组装设备，所述O型圈组装设备沿着所述回流输送线的输送方向布置于所述第三机械手和所述相位执行器组装设备之间，用于将O型圈套在极管组件上。
  13. 根据权利要求12所述的相位执行器装配线，其特征在于，所述O型圈组装设备包括O型圈上料组件、O型圈组装组件和O型圈移送机械手，所述O型圈上料组件设有O型圈上料位，O型圈上料组件用于每次将一个O型圈上料至所述O型圈上料位；所述O型圈移送机械手用于将O型圈从所述O型圈上料组件送至所述O型圈组装组件，所述O型圈组装组件用于撑开O型圈，并将O型圈绷在极管组件上。
  14. 根据权利要求13所述的相位执行器装配线，其特征在于，所述O型圈组装设备包括：
    撑开爪，所述撑开爪的端部用于放置O型圈，所述撑开爪的中间具有供极管组件插入的空间；
    撑开爪抬升机构，所述撑开爪抬升机构能够驱动所述撑开爪撑开，以撑开O型圈；
    收拢环，所述收拢环套设于所述撑开爪的外侧；
    开锁抬升机构，所述开锁抬升机构用于驱动所述收拢环向上移动，以收拢处于撑开状态的撑开爪，以将O型圈卸在极管组件上。
  15. 根据权利要求11所述的相位执行器装配线，其特征在于，所述相位执行器装配线还包括功能性检测装置，所述功能性检测装置沿着所述回流输送线的输送方向布置于所述相位执行器组装设备的下游，包括相位执行器定位台、相位执行器检测机构和探头夹具，所述相位执行器检测机构用于测试相位执行器的推力值，所述探头夹具能够调节所述相位执行器检测机构中的探头角度，并将所述探头插入相位执行器的接口。
  16. 根据权利要求1所述的相位执行器装配线，其特征在于，所述相位执行器装配线还包括激光打码装置，所述激光打码装置布置于所述相位执行器组装设备的下游，包括：
    激光刻码位，用于在相位执行器的表面刻印二维码；
    扫码位，用于对所述激光刻码位输出的相位执行器进行扫码检测。
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