TCU controller assembly production line and assembly method

Abstract

The invention discloses an assembly production line and an assembly method of a TCU (Transmission Control Unit) controller. The assembly line comprises a top cover production system for additionally installing parts on a top cover, a PCBA board production system for additionally installing components on a PCBA board, a bottom cover production system for additionally installing parts on a bottom cover, a first assembly system for achieving assembly of the PCBA board and the bottom cover, and a second assembly system for achieving assembly of the bottom cover and the top cover. The multiple production systems and the multiple assembling systems are each provided with an upper layer conveying line and a lower layer conveying line which achieve turnover of the product carriers, the two layers of conveying lines are provided with lifting modules in an end-to-end butt joint mode, and each station is provided with a jacking module for jacking the product carriers. According to the TCU controller assembling device, assembling operation of the TCU controller is achieved, the automation degree of assembling is improved, the production efficiency is further improved, and the production cost is reduced.

Description

[Technical field]

[0001] The invention belongs to the technical field of TCU controller production, and in particular relates to an assembly production line and an assembly method of a TCU controller. [Background technology]

[0002] The TCU controller is assembled from a bottom cover, a PCBA board and a top cover. The bottom cover needs to be assembled with original parts such as the ground plate, the PCBA board needs to be assembled with components such as the shielding cover, cables, antennas, fans, radiators, etc., and the top cover needs to be pasted with labels and foam. The entire assembly process has many steps and is relatively complicated. If a single workstation produces it alone, not only will the efficiency be low, but the number of machines will also be large and the space occupied will be extremely large. In order to realize the automated production of the TCU controller, the entire production line needs to be designed and laid out to improve production efficiency.

[0003] Therefore, it is necessary to provide an assembly production line and an assembly method of a TCU controller to solve the above technical problems. [Summary of the invention]

[0004] The main purpose of the present invention is to provide an assembly production line for a TCU controller, which realizes the assembly operation of the TCU controller, improves the degree of automation of assembly, further improves production efficiency and reduces production costs.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions: an assembly production line and an assembly method of a TCU controller, which include a top cover production system for adding parts to a top cover, a PCBA board production system for adding components to a PCBA board, a bottom cover production system for adding parts to a bottom cover, a first assembly system for realizing the assembly of the PCBA board and the bottom cover, and a second assembly system for realizing the assembly of the bottom cover and the top cover, several production systems and several assembly systems are provided with upper and lower conveyor lines for realizing the turnover of product carriers, the two conveyor lines are provided with lifting modules at the end-to-end connection, and each station is provided with a lifting module for lifting the product carrier;

[0006] The top cover production system comprises a labeling machine, a foaming machine and a discharging machine which are arranged in sequence along the conveying direction of the conveying line;

[0007] The PCBA board production system includes a shielding cover assembly machine, a cable assembly machine, an antenna assembly machine and a fan assembly machine which are sequentially arranged along the conveying direction of the conveyor line; the cable assembly machine includes a cable assembly device for assembling the cable onto the PCBA board, a cable pressing device for pressing the female connector at the end of the cable onto the PCBA board, and a cable detection device for detecting the assembled cable; the antenna assembly machine includes an antenna feeding device, an antenna assembly device for assembling the antenna onto the PCBA board, an antenna welding device for welding the antenna pin onto the PCBA board, and an antenna detection device for detecting the welded antenna;

[0008] The bottom cover production system comprises a bottom cover assembly device for assembling the ground plate onto the bottom cover, a ground plate hot-melt assembly device for hot-melting and fixing the ground plate onto the bottom cover, and a buckle pressing machine for pressing the buckle onto the bottom cover, which are sequentially arranged along the conveying direction of the conveying line;

[0009] The first assembly system includes a combined tooling for assembling a PCBA board and a bottom cover to obtain a semi-finished TCU controller, which is sequentially arranged along the conveying direction of the conveyor line, a cable hot-melt assembly device for hot-melting a cable on the PCBA board and connecting it with the FPC board to achieve electrical connection, a fan screw locking device for locking a fan assembled on the PCBA board on the bottom cover, an antenna hot-melt assembly device for hot-melting an antenna assembled on the PCBA board and fixing it on the bottom cover, a heat sink assembly device for assembling a heat sink on the PCBA board, a heat sink screw locking device for locking the heat sink on the PCBA board on the bottom cover, a spot soldering device for spot soldering at a position where a ground plate is to be soldered on the PCBA board, a ground plate welding device for welding the ground plate to the PCBA board, and a detection device for detecting the assembled finished product;

[0010] The second assembly system includes a screw locking assembly device for assembling the bottom cover and the top cover.

[0011] Furthermore, the labeling machine includes a top cover feeding module arranged on one side of the conveyor line, a top cover feeding module arranged on the other side of the conveyor line, and a first conveying and pasting device for conveying the top cover and the label and pasting the label on the top cover; the foam pasting machine includes a foam feeding module arranged on one side of the conveyor line, a top cover flipping module arranged on the other side of the conveyor line, and a second conveying and pasting device for conveying the foam and the top cover and pasting the foam on the top cover.

[0012] Furthermore, the shielding cover assembly machine includes a shielding cover feeding device arranged on one side of the conveyor line, a PCBA board feeding device arranged on the other side of the conveyor line, a first flipping material receiving mechanism arranged next to the PCBA board feeding device, and a transporting and assembling device for transporting the shielding cover and the PCBA board;

[0013] The first flipping material receiving mechanism includes a flipping positioning plate for positioning the PCBA board, a first rotating shaft fixed on the back of the flipping positioning plate, a first motor driving the first rotating shaft to rotate, a first receiving plate for receiving the PCBA board after the flipping positioning plate is flipped, a first driving component driving the first receiving plate to perform lifting and horizontal movement, and a first pressure sensor arranged on the first receiving plate.

[0014] Furthermore, the cable assembly device includes a cable mounting frame arranged above the conveyor line, a cable positioning plate three-dimensionally floatingly arranged on the cable mounting frame and positioning the cable, and a pressing rod for pressing and assembling the cable onto the PCBA board via the cable positioning plate, and the cable positioning plate is provided with a cable profiling hole profiling the direction of the cable;

[0015] The cable pressing device includes a first XY-axis driving module, a first support plate driven by the first XY-axis driving module to move in the XY direction, a first cylinder fixed on the first support plate, a torque sensor driven by the first cylinder to move up and down, and a pressing needle fixed at the lower end of the torque sensor.

[0016] Furthermore, the antenna assembly device includes an antenna positioning mechanism for positioning the antenna, an antenna transfer table for temporarily placing the PCBA board, a first transport mechanism for transporting the PCBA board, and a first CCD camera; the antenna positioning mechanism includes two movable mounting plates movably arranged above the product carrier and located on the front and rear sides of the product carrier, two second motors that respectively drive the two movable mounting plates to move closer to or away from each other, and a plurality of second cylinders arranged on the movable mounting plates, and a first clamp driven by the second cylinder to clamp the end of the antenna and correct the antenna.

[0017] Further, the buckle pressing machine includes a buckle feeding device, a buckle pressing device for pressing the buckle onto the back of the bottom cover, and a first transport device for transporting the buckle and the bottom cover;

[0018] The buckle press-fitting device includes a bottom cover positioning plate for positioning the bottom cover, a flipping drive component for driving the bottom cover positioning plate to flip so as to flip the front and back sides of the bottom cover, a press-fitting module arranged on one side of the bottom cover positioning plate, a bottom cover detection module arranged on the other side of the bottom cover positioning plate, and a receiving and conveying mechanism for receiving the bottom cover after the bottom cover positioning plate is flipped and conveying the bottom cover between the press-fitting module, the bottom cover positioning plate, and the bottom cover detection module.

[0019] Furthermore, the structures of the ground plate hot-melt assembly device, the cable hot-melt assembly device and the antenna hot-melt assembly device all include a first pressing component for pressing the product, a hot-melt assembly mechanism for the hot-melt cable or ground plate or antenna and assembled with the product, and a second CCD camera for detecting and locating the hot-melt connection position;

[0020] The hot melt assembly mechanism includes a first YZ-axis driving module and a hot melt pressing head arranged at the movable end of the first YZ-axis driving module and used for hot melting the cable.

[0021] Furthermore, the radiator screw locking device and the fan screw locking device both include a first screw feeding mechanism on one side of the conveyor line and a screw locking mechanism arranged above the conveyor line; the spot soldering device is provided with a third YZ-axis driving module, an L-shaped support plate driven by the third YZ-axis driving module to move in the YZ direction, and a plurality of spot soldering heads movably arranged on the horizontal end of the L-shaped support plate; the grounding plate welding device is provided with a fourth YZ-axis driving module and a welding head driven by the fourth YZ-axis driving module to move along the YZ direction and solder the pins of the grounding plate to the PCBA board.

[0022] Furthermore, the radiator assembly device includes a radiator feeding mechanism, a radiator gluing mechanism for gluing the radiator, a second flipping and receiving mechanism for flipping the TCU controller semi-finished product on the front and back sides, and a second conveying mechanism for the TCU controller semi-finished product and the radiator; the structure of the second flipping and receiving mechanism is the same as that of the first flipping and receiving mechanism.

[0023] Furthermore, the screw locking assembly device includes a turntable, a pressing module pressed on the upper surface of the TCU controller, a positioning carrier arranged on the turntable and positioning the TCU controller, a plurality of screw locking modules arranged around the outer circumference of the turntable, and a second screw feeding mechanism arranged beside the screw locking modules;

[0024] The screw locking module includes an XYZ-axis driving module, a third support plate driven by the XYZ-axis driving module to move in the XYZ direction, a second screwdriver fixed on the third support plate, a second screw nozzle sleeved on the outer periphery of the lower end of the second screwdriver, a fourth cylinder driving the second screw nozzle to move up and down, and a fourth CCD camera fixed on the second support plate.

[0025] Another main purpose of the present invention is to provide a TCU controller assembly method, which can use the above TCU controller assembly production line to complete the entire TCU controller assembly process, reduce manual participation and improve production efficiency.

[0026] A method for assembling a TCU controller comprises the following steps: Based on the above-mentioned assembly production line of the TCU controller, it is characterized in that it comprises the following steps:

[0027] S1. Pasting labels and foam on the top cover: two labels and two foams are pasted on the top cover in sequence on the labeling machine and the foaming machine, and the discharging machine transfers the well-pasted top cover to the AGV trolley;

[0028] S2. Assemble components on PCAB board:

[0029] S21, assembling two shielding covers onto the front and back sides of the PCBA board respectively on the shielding cover assembly machine;

[0030] S22, assembling the cables onto the PCBA board respectively on the plurality of cable assembly devices, press-fitting the female connectors at the ends of the cables onto the PCBA board on the cable press-fitting device, and inspecting whether the press-fitting appearance and press-fitting position of the cables are qualified on the cable inspection device;

[0031] S23, positioning the antenna on the product carrier on the antenna feeding device, assembling the antenna on the PCBA board on the antenna assembling device, respectively welding different pins of the antenna to the PCBA board on the multiple antenna welding devices, and detecting whether the welding position is qualified on the antenna detection device;

[0032] S24, assembling the fan onto the PCBA board on the fan assembly machine, and transferring the assembled good products to the AGV vehicle;

[0033] S3. Assemble the ground plate and buckle on the bottom cover:

[0034] S31, assembling the grounding plate on the bottom surface of the bottom cover on the bottom cover assembly device, and hot-melting and fixing the grounding plate on the bottom cover on a plurality of grounding plate hot-melt assembly devices;

[0035] S32, pressing two buckles onto the bottom surface of the bottom cover using the buckle pressing machine;

[0036] S4. Assemble the bottom cover and PCBA board to obtain the semi-finished TCU controller:

[0037] S41, the AGV transports the assembled PCBA board to the assembly tool, and fastens the PCBA board and the bottom cover together on the assembly tool;

[0038] S42, hot-melting one of the cables on the PCBA board on the cable hot-melt assembly device and connecting it to the FPC board;

[0039] S43, locking the fan and the bottom cover by using a plurality of screws on the fan screw locking device;

[0040] S44, hot-melting the antennas on the plurality of antenna hot-melt assembly devices respectively and fixing and assembling them with the bottom cover;

[0041] S45, assembling the heat sink onto the PCBA board on the heat sink assembly device, and locking the heat sink and the bottom cover with a plurality of screws on the heat sink screw locking device;

[0042] S46, applying solder paste to the position of the ground plate to be welded on the PCBA board on the soldering device, and completing the welding of the ground plate and the PCBA board on the ground plate welding device, and inspecting the semi-finished TCU controller by the inspection device, and transferring the inspected qualified products to the AGV;

[0043] S5. Assemble the TCU controller semi-finished product and the top cover to obtain the TCU controller:

[0044] S51, the AGV trolley transports the pasted top cover and the tested TCU controller semi-finished product to the screw locking assembly device, and the TCU controller semi-finished product and the top cover are locked by multiple screws to obtain the TCU controller, thereby completing the assembly of the TCU controller.

[0045] Compared with the prior art, the beneficial effect of the assembly production line and assembly method of a TCU controller of the present invention is that the entire production line integrates a top cover production system for assembling parts on the top cover, a PCBA board production system for adding components on the PCAB board, a bottom cover production system for adding parts on the bottom cover, a first assembly system for assembling the bottom cover and the PCBA board, and a second assembly system for assembling the bottom cover and the top cover. The entire production line realizes the assembly operation of the TCU controller, and the transmission between the systems is realized by the AGV trolley, which improves the automation degree of assembly and further improves production efficiency.

Brief Description of the Drawings

[0046] Figure 1 This is a schematic diagram of an assembly production line of a TCU controller according to an embodiment of the present invention;

[0047] Figure 2 It is a three-dimensional structural schematic diagram of a labeling machine according to an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the three-dimensional structure of the top cover feeding module according to an embodiment of the present invention;

[0049] Figure 4 It is a schematic diagram of the three-dimensional structure of the foam sticking machine according to an embodiment of the present invention;

[0050] Figure 5 This is a schematic diagram of the three-dimensional structure of the top cover flip module according to an embodiment of the present invention;

[0051] Figure 6 It is a schematic diagram of the three-dimensional structure of the second carrying and pasting device according to an embodiment of the present invention;

[0052] Figure 7 It is a schematic diagram of the three-dimensional structure of the discharging machine according to an embodiment of the present invention;

[0053] Figure 8 It is a schematic diagram of the three-dimensional structure of the shielding cover assembly machine according to an embodiment of the present invention;

[0054] Fig. 9 It is a schematic diagram of the three-dimensional structure of the first overturning material receiving mechanism according to an embodiment of the present invention;

[0055] Fig.10 It is a schematic diagram of the three-dimensional structure of a cable assembly device according to an embodiment of the present invention;

[0056] Fig.11 It is a schematic diagram of the three-dimensional structure of a cable assembly device according to an embodiment of the present invention;

[0057] Fig.12 It is a schematic diagram of the three-dimensional structure of a cable pressing device according to an embodiment of the present invention;

[0058] Fig.13 It is a schematic diagram of the three-dimensional structure of a cable detection device according to an embodiment of the present invention;

[0059] Fig.14 This is a schematic diagram of the three-dimensional structure of an antenna feeding device according to an embodiment of the present invention;

[0060] Fig.15 It is a schematic diagram of the three-dimensional structure of the antenna transport mechanism according to an embodiment of the present invention;

[0061] Fig.16 This is a schematic diagram of the three-dimensional structure of the product carrier after placing the antenna in an embodiment of the present invention;

[0062] Fig.17 It is a schematic diagram of the three-dimensional structure of an antenna assembly device according to an embodiment of the present invention;

[0063] Fig.18 It is a schematic diagram of the three-dimensional structure of the antenna positioning mechanism according to an embodiment of the present invention;

[0064] Fig.19 It is a schematic diagram of the three-dimensional structure of an antenna welding device and an antenna detection device according to an embodiment of the present invention;

[0065] Fig. 20 It is a schematic diagram of the three-dimensional structure of a fan assembly machine according to an embodiment of the present invention;

[0066] Fig.21 It is a schematic diagram of the three-dimensional structure of the bottom cover assembly device according to an embodiment of the present invention;

[0067] Fig. 22 It is a schematic diagram of the three-dimensional structure of the buckle press-fit machine according to an embodiment of the present invention;

[0068] Fig.23It is a schematic diagram of the three-dimensional structure of the buckle press-fitting device according to an embodiment of the present invention;

[0069] Fig.24 It is a schematic diagram of the three-dimensional structure of the receiving and conveying mechanism according to an embodiment of the present invention;

[0070] Fig.25 It is a schematic diagram of the three-dimensional structure of the buckle positioning assembly according to an embodiment of the present invention;

[0071] Fig.26 It is a schematic diagram of the three-dimensional structure of the first transport device according to an embodiment of the present invention;

[0072] Fig. 27 It is a schematic diagram of the three-dimensional structure of the combined tooling according to an embodiment of the present invention;

[0073] Fig.28 It is a schematic diagram of the three-dimensional structure of a cable hot-melt assembly device according to an embodiment of the present invention;

[0074] Fig.29 It is a schematic diagram of the three-dimensional structure of a fan screw locking device according to an embodiment of the present invention;

[0075] Fig.30 It is a schematic diagram of the three-dimensional structure of a heat sink assembly device according to an embodiment of the present invention;

[0076] Fig.31 is a schematic diagram of the three-dimensional structure of the second transport mechanism according to an embodiment of the present invention;

[0077] Fig.32 This is a schematic diagram of the three-dimensional structure of a spot soldering device according to an embodiment of the present invention;

[0078] Fig.33 It is a schematic diagram of the three-dimensional structure of the ground plate welding device according to an embodiment of the present invention;

[0079] Fig.34 It is a schematic diagram of the top view of the structure of the detection device according to an embodiment of the present invention;

[0080] Fig.35 This is a schematic diagram of the three-dimensional structure of a screw locking assembly device according to an embodiment of the present invention;

[0081] Fig.36 This is a schematic diagram of the three-dimensional structure of a screw locking module according to an embodiment of the present invention;

[0082] The numbers in the figure represent:

[0083] 100 - assembly line of TCU controller; product carrier 800, first antenna 901, second antenna 902;

[0084] 200-top cover production system, 1-labeling machine, 11-top cover feeding module, 111-elevator, 112-conveying assembly, 12-top cover feeding module, 121-discharging roller, 122-first guide pressing assembly, 123-peeling assembly, 124-second receiving plate, 125-second guide pressing assembly, 126-collecting roller, 13-first conveying and pasting device, 2-foam pasting machine, 21-foam feeding module, 22-top cover flipping module , 221-support frame, 222-horizontal axis, 223-first positioning plate, 224-flip driving member, 225-first positioning assembly, 23-second handling and pasting device, 231-first adsorption assembly, 232-second adsorption assembly, 233-fifth CCD camera, 234-opening assembly, 2341-opening claw, 2342-driving member, 3-discharging machine, 31-top cover unloading module, 32-defective product conveying line, 33-adsorption and handling module;

[0085] 300-PCBA board production system, 4-shielding cover assembly machine, 41-shielding cover feeding device, 42-PCBA board feeding device, 43-first flip material receiving mechanism, 431-flip positioning plate, 432-first rotating shaft, 433-first motor, 434-first receiving plate, 435-first driving assembly, 436-first pressure sensor, 44-handling assembly device, 5-cable assembly machine, 51-cable assembly device, 511-cable mounting frame, 512-cable positioning plate, 5121-cable profiling hole, 513-pressure rod, 514- 3D floating structure, 5141-first linear bearing, 5142-first moving rod, 5143-second linear bearing, 5144-second moving rod, 5145-third linear bearing, 5146-third moving rod, 52-cable pressing device, 521-first XY axis driving module, 522-first support plate, 523-first cylinder, 524-torque sensor, 525-pressing needle, 53-cable detection device, 531-2D camera, 532-first 3D camera, 533-second XY axis driving module, 6-antenna assembly machine, 61- Antenna feeding device, 611-antenna feeding mechanism, 6111-first feeding mechanism, 6112-second feeding mechanism, 6113-third feeding mechanism, 612-antenna conveying mechanism, 6121-antenna conveying module, 61211-antenna adsorption component, 61212-first clamping component, 61213-second clamping component, 6122-sixth CCD camera, 62-antenna assembly device, 621-antenna positioning mechanism, 6211-mobile mounting plate, 6212-second motor, 6213-second cylinder, 6214-first clamping claw, 622-antenna transfer table, 623-first transport mechanism, 624-first CCD camera, 63-antenna welding device, 631-welding positioning plate, 6311-positioning through hole, 632-welding gun, 64-antenna detection device, 641-seventh CCD camera, 7-fan assembly machine, 71-fan assembly tool, 711-pressing assembly, 7111-profile pressing plate, 7112-eleventh cylinder, 712-positioning assembly, 7121-twelfth cylinder, 7122-third support plate, 7123-force control motor, 7124-positioning claw;

[0086] 400-bottom cover production system, 8-bottom cover assembly device, 81-bottom cover feeding mechanism, 82-grounding plate feeding mechanism, 83-second handling device, 84-bottom cover assembly platform, 9-grounding plate hot melt assembly device, 10-clip pressing machine, 101-clip feeding device, 102-clip pressing device, 1021-bottom cover positioning plate, 1022-flip driving assembly, 1023-pressing module, 10231-Z-axis driving motor, 10232-fourth supporting plate, 10234-pressing structure, 1024-bottom cover detection module, 10241-positioning platform, 10242-second 3D camera, 10243-XY-axis driving assembly, 1025-conducting conveyor Mechanism, 10251-X-axis linear motor, 10252-fifth support plate, 10253-buckle positioning assembly, 102531-sixth support plate, 102532-seventh support plate, 102533-buckle carrier, 102534-movable clamping block, 102535-fifth cylinder, 102536-profile positioning groove, 10254-second positioning plate, 10255-pushing assembly, 10256-second pressure sensor, 103-first handling device, 1031-bottom cover adsorption assembly, 1032-buckle clamping assembly, 10321-sixth cylinder, 10322-eighth support plate, 10323-seventh cylinder, 10324-second clamping claw;

[0087] 500-first assembly system, 20-combination tooling, 201-profiled upper cover, 202-profiled lower cover, 203-vacuum tube, 30-cable hot melt assembly device, 301-first clamping assembly, 3011-clamping piece, 3012-eighth cylinder, 302-hot melt assembly mechanism, 3021-first YZ axis drive module, 3022-hot melt clamping head, 3023-second CCD camera, 40-fan screw locking device, 401-first screw feeding mechanism, 402-screw locking mechanism, 4021-second YZ axis drive module, 4022-second support plate, 4023-first screwdriver, 4024-first screw nozzle, 4025-third cylinder, 4026-third CCD camera, 50-antenna hot melt assembly Device, 60- radiator assembly device, 601- radiator feeding mechanism, 602- radiator dispensing mechanism, 603- second flipping material receiving mechanism, 604- second conveying mechanism, 6041- clamping module, 6042- ninth cylinder, 6043- ninth support plate, 6044- tenth cylinder, 6045- third clamping jaw, 70- radiator screw locking device, 80- soldering device, 801- third YZ axis drive module, 802- L-type support plate, 803- soldering head, 90- grounding plate welding device, 901- fourth YZ axis drive module, 902- welding head, 110- detection device, 1101- defective product conveying line, 1102- good product conveying line, 1103- third conveying mechanism, 1104- X-ray detection module;

[0088] 600-the second assembly system, 120-the screw locking assembly device, 1201-the turntable, 1202-the positioning carrier, 1203-the screw locking module, 12031-the XYZ axis driving module, 12032-the third supporting plate, 12033-the second screwdriver, 12034-the second screw suction nozzle, 12035-the fourth cylinder, 12036-the fourth CCD camera, 1204-the second screw feeding mechanism, 1205-the clamping module. [Specific implementation method]

[0089] Please refer to Figure 1-Figure 36The present embodiment is an assembly production line of a TCU controller. The assembly production line 100 of the TCU controller includes a top cover production system 200 for adding parts to the top cover, a PCBA board production system 300 for adding components to the PCBA board, a bottom cover production system 400 for adding parts to the bottom cover, a first assembly system 500 for assembling the PCBA board and the bottom cover, and a second assembly system 600 for assembling the bottom cover and the top cover. Several production systems and several assembly systems are provided with upper and lower conveyor lines for realizing the turnover of product carriers. The two-layer conveyor lines are provided with a lifting module at the end to end, and each station is provided with a lifting module for lifting the product carrier; the top cover production system 200 includes a labeling machine 1, a foam sticking machine 2 and a discharging machine 3 which are sequentially arranged along the conveying direction of the conveying line; the PCBA board production system 300 includes a shielding cover assembly machine 4, a cable assembly machine 5, an antenna assembly machine 6 and a fan assembly machine 7 which are sequentially arranged along the conveying direction of the conveying line; the cable assembly machine 5 includes a cable assembly device 51 which is sequentially arranged along the conveying direction of the conveying line and assembles the cable onto the PCBA board, a cable pressing device 52 which presses the female connector at the end of the cable onto the PCBA board, and a cable detection device 53 which detects the assembled cable; the antenna assembly machine 6 includes an antenna feeding device 61 which is sequentially arranged along the conveying direction of the conveying line and an antenna assembly device 62 which assembles the antenna onto the PCBA board. The bottom cover production system 400 includes a bottom cover assembly device 8 for assembling the ground plate onto the bottom cover, a ground plate hot-melt assembly device 9 for hot-melting and fixing the ground plate onto the bottom cover, and a buckle pressing machine 10 for pressing the buckle onto the bottom cover. The first assembly system 500 includes a combined tool 20 for assembling the PCBA board and the bottom cover to obtain a semi-finished TCU controller, a cable hot-melt assembly device 20 for hot-melting the cable on the PCBA board and connecting it to the FPC board to achieve electrical connection. The second assembly system 600 includes an assembly device 30, a fan locking screw device 40 for locking the fan assembled on the PCBA board to the bottom cover, an antenna hot melt assembly device 50 for hot melting and fixing the antenna assembled on the PCBA board to the bottom cover, a radiator assembly device 60 for assembling the radiator to the PCBA board, a radiator locking screw device 70 for locking the radiator on the PCBA board to the bottom cover, a spot soldering device 80 for spot soldering at the position of the ground plate to be soldered on the PCBA board, a ground plate welding device 90 for welding the ground plate to the PCBA board, and a detection device 110 for detecting the assembled finished product; the second assembly system 600 includes a screw locking assembly device 120 for assembling the bottom cover and the top cover.

[0090] The labeling machine 1 includes a top cover feeding module 11 arranged on one side of the conveyor line, a top cover feeding module 12 arranged on the other side of the conveyor line, and a first conveying and pasting device 13 for conveying the top cover and the label and pasting the label on the top cover. The foaming machine 2 includes a foam feeding module 21 arranged on one side of the conveyor line, a top cover flipping module 22 arranged on the other side of the conveyor line, and a second conveying and pasting device 23 for conveying the foam and the top cover and pasting the foam on the top cover. The discharge machine 3 includes a top cover unloading module 31, a defective product conveyor line 32, and an adsorption conveying module 33 for conveying the top cover after pasting to the top cover unloading module 31 or the defective product conveyor line 32. The top cover feeding module 11 and the top cover unloading module 31 both include an elevator 111 for conveying a product tray and a conveying assembly 112 connected to the elevator 111 and arranged horizontally. The structures of the top cover feeding module 12 and the foam feeding module 21 both include a discharge roller 121, a first guide and clamping assembly 122 for guiding and clamping the material roll, a peeling assembly 123 for peeling the label or foam from the release paper, a second receiving plate 124 disposed at the front end of the peeling assembly 123 and receiving the label or foam, a second guide and clamping assembly 125 disposed below the peeling assembly 123 and guiding and clamping the release paper, and a receiving roller 126 disposed beside the second guide and clamping assembly 125 and recovering the release paper. In this embodiment, two labels of different sizes need to be attached to the same top cover, so two top cover feeding modules 12 are required. Two foams of different shapes need to be pasted on the same top cover, the first foam is a circular ring, and the second foam is a square ring. Therefore, two foam feeding modules 21 need to be set up to paste the circular ring foam and the square ring foam. The first foam is pasted on the horizontal surface of the top cover, and the second foam is pasted on the inclined surface of the top cover. Therefore, the first foam and the second foam are pasted on different surfaces of the top cover respectively. Since the second transport and pasting device 23 can only move up and down, it is necessary to set up a device to flip one side of the inclined surface of the top cover upward to become a horizontal surface, and then the second foam is pasted to the top cover by the second transport and pasting device 23. The top cover flip module 22 includes a support frame 221, a horizontal shaft 222 rotatably set on the support frame 221, a first positioning plate 223 fixed on the horizontal shaft 222, and a flip driving member 224 that drives the first positioning plate 223 to flip. The first positioning plate 223 is provided with a first positioning component 225 for positioning the top cover. The flip driving member 224 drives the first positioning plate 223 to flip the top cover so that one side of the top cover slope is flipped upward to become a horizontal surface, and then the second foam is pasted on the top cover by the second conveying and pasting device 23. The top cover flip module 22 is not limited to being used in the foam pasting machine 2. If the label is also pasted on the slope, it can also be used in the labeling machine 1.Both the first handling and pasting device 13 and the second handling and pasting device 23 include a first adsorption component 231 disposed at the end of the manipulator to adsorb labels or foams, a second adsorption component 232 to adsorb top covers, and a fifth CCD camera 233 to take pictures of the materials. The adsorption and handling module 33 is provided with a second adsorption component 232 to adsorb top covers at the movable end of the manipulator. Since two labels and two foams are pasted on each top cover, two first adsorption components 231 are provided. Since the shape of the pasted foam is annular, in order to ensure accurate positioning, the second handling and pasting device 23 is also provided with an opening component 234 to open the foam so that the foam remains annular in the first adsorption component 231. The opening component 234 includes a plurality of opening claws 2341 to open the foam and a driving member 2342 to drive the opening claws 2341 to open. The structures of the label adsorption component 131, the foam adsorption component 231, the first top cover adsorption component 132, the second top cover adsorption component 232 and the third top cover adsorption component 331 are all to drive the adsorption block to adsorb materials through the cylinder, and the adsorption block is provided with adsorption holes to adsorb materials through vacuum.

[0091] The working process of the top cover production system 200 is as follows: the second adsorption component 232 of the first transporting and pasting device 13 absorbs a top cover from the conveying component 112 of the top cover feeding module 11, and then the first adsorption component 231 of the first transporting and pasting device 13 absorbs two labels from the two top cover feeding modules 12 in turn, the first transporting and pasting device 13 first places the absorbed top cover on the product carrier, the fifth CCD camera 233 locates the label and determines the position of label pasting, and pastes the two labels on the top cover in turn, after pasting is completed, the lifting module drives the product carrier to descend, the product carrier drives the top cover to move to the foam pasting machine 2, the lifting module drives the product carrier to rise, and at the same time, the first adsorption component 231 of the second transporting and pasting device 23 moves to the two foam feeding modules 21 to absorb two foams respectively, because the first foam is pasted on the horizontal surface of the top cover and the second foam is pasted on the inclined surface of the top cover, therefore, the second adsorption component 232 of the second transporting and pasting device 23 The top cover is adsorbed and moved to the top cover flip module 22, the first positioning component 225 surrounds the outer periphery of the top cover to realize the positioning of the top cover, the second transport and pasting device 23 first pastes the first foam on the top cover, the flip driving member 224 drives the first positioning plate 223 to drive the top cover to flip so that one side of the inclined surface of the top cover is flipped upward to become a horizontal plane, and then the second transport and pasting device 23 pastes the second foam on the top cover, the second adsorption component 232 adsorbs the top cover and places it on the product carrier, the fifth CCD camera 233 takes a photo of the top cover for detection, the jacking module descends so that the product carrier is located on the conveyor line and is conveyed to the discharge machine 3, if it is a good product, the adsorption and transport module 33 transports the top cover to the top cover unloading module 31, if it is a defective product, the adsorption and transport module 33 transports the top cover to the defective conveying line 32, the product carrier is conveyed to the lower conveying line via the lifting module, and then conveyed to the upper conveying line via the lifting module, waiting for the next round of labeling and foaming operations.

[0092] The shielding cover assembly machine 4 includes a shielding cover feeding device 41 arranged on one side of the conveying line, a PCBA board feeding device 42 arranged on the other side of the conveying line, a first flipping material receiving mechanism 43 arranged next to the PCBA board feeding device 42, and a conveying assembly device 44 for conveying shielding covers and PCBA boards. The shielding cover feeding device 41 and the PCBA board feeding device 42 have the same structure as the top cover feeding module 11, except that the structure of the material tray is slightly changed. The positioning structure in the material tray is changed accordingly according to different products, which will not be repeated here. In this embodiment, since each PCBA board needs to be assembled with two shielding covers, in order to improve efficiency, two shielding cover feeding devices 41 are arranged along the conveying direction of the conveying line. The two shielding covers are respectively assembled on the front and back sides of the PCBA board, so a first flipping material receiving mechanism 43 is provided to flip the PCBA board, first assemble one shielding cover on the front side of the PCBA board, flip the PCBA board through the first flipping material receiving mechanism 43, and then assemble the other shielding cover on the back side of the PCBA board. The front and back sides of the PCBA board are both provided with a conformal matching structure for conformal positioning with the shielding cover. The handling and assembly device 44 places the shielding cover in the correct position, and then presses down to complete the assembly of the shielding cover. The first flipping and receiving mechanism 43 includes a flipping and positioning plate 431 for positioning the PCBA board, a first rotating shaft 432 fixed on the back of the flipping and positioning plate 431, a first motor 433 driving the first rotating shaft 432 to rotate, a first receiving plate 434 for receiving the PCBA board after the flipping and positioning plate 431 is flipped, a first driving assembly 435 driving the first receiving plate 434 to lift and move horizontally, and a first pressure sensor 436 arranged on the first receiving plate 434. The flipping and positioning plate 431 and the first receiving plate 434 are both provided with a first positioning structure for positioning the PCBA board, and the first positioning structure includes a positioning pin and an adsorption hole. The handling and assembly device 44 has the same structure as the first handling and pasting device 13, which will not be repeated here.

[0093] Since different components will be assembled on the PCBA board, when assembling the antenna, in order to avoid other components, the cables will form different directions. Therefore, multiple antennas on the PCBA board will have different directions. In the fourth example of this embodiment, four cables of different lengths and directions need to be assembled on the back of the PCBA board. In order to improve the assembly efficiency of the cables, four cable assembly devices 51 are arranged along the conveying direction of the conveyor line, and each cable assembly device 51 assembles one cable. The cable assembly device 51 includes a cable mounting frame 511 arranged above the conveyor line, a cable positioning plate 512 that is three-dimensionally floatingly arranged on the cable mounting frame 511 and positions the cable, and a pressure rod 513 that presses the cable to be assembled onto the PCBA board via the cable positioning plate 512. The cable mounting frame 511 is provided with a three-dimensional floating structure 514 that enables the cable positioning plate 512 to float in three dimensions. The three-dimensional floating structure 514 includes a pair of first moving rods 5142 that are arranged at both ends of the cable mounting frame 511 through a first linear bearing 5141 and float in the Z direction, a pair of second moving rods 5144 that are arranged on the first moving rods 5142 through a second linear bearing 5143 and float in the X direction, and a pair of third moving rods 5146 that are arranged on the second moving rods 5144 through a third linear bearing 5145 and float in the Y direction. Both ends of the cable positioning plate 512 are fixed on the third moving rods 5146, and the cable positioning plate 512 is provided with a cable profiling hole 5121 that is shaped in accordance with the direction of the cable. The cable positioning plate 512 is provided with a cable profiling hole 5121 that is shaped in accordance with the direction of the cable, which limits the direction of the wire, facilitates the smooth installation of the cable from the cable profiling hole 5121 to the PCBA board, and can improve the efficiency of cable assembly.

[0094] In this embodiment, since four cables are assembled and the female connectors at the ends of the cables need to be pressed onto the male connectors of the PCBA board to achieve electrical conduction between the cables and the PCBA board, two cable pressing devices 52 are provided along the conveying direction of the conveyor line to press different cables respectively in order to improve the efficiency of pressing. The cable pressing device 52 includes a first XY axis driving module 521, a first support plate 522 driven by the first XY axis driving module 521 to move in the XY direction, a first cylinder 523 fixed on the first support plate 522, a torque sensor 524 driven by the first cylinder 523 to move up and down, and a pressing needle 525 fixed at the lower end of the torque sensor 524. The bottom of the pressing needle 525 is configured to conform to the upper surface of the female connector at the end of the cable. In this embodiment, the upper surface of the female connector at the end of the cable is a plane, so the pressing needle 525 is configured to be rod-shaped and the bottom is a plane.

[0095] The cable detection device 53 includes a 2D camera 531 for detecting whether the cable pressing appearance and pressing position are qualified, a first 3D camera 532 for detecting whether the pressing height of the female connectors at both ends of the cable 500 is qualified, and a second XY axis driving module 533 for driving the 2D camera 531 and the first 3D camera 532 to move along the XY direction.

[0096] Three pairs of six antennas need to be assembled on the front of the PCBA board. The six antennas are assembled at the ends and both sides of the PCBA board. After assembly, the antennas need to be welded to the PCBA board. Since the cable assembly system is pressed and installed, the back of the PCBA board is facing upward. Therefore, the antenna loading device 61 first transports the antenna to the product carrier, and then the antenna assembly device 62 places the PCBA board on the antenna to complete the assembly operation, and all the pins of the antenna are facing upward, and then the antenna welding device 63 is used to weld the pins of the antenna to the back of the PCBA board. Therefore, the product carrier 800 is also provided with a first positioning structure 801 for positioning the PCBA board, a second positioning structure 802 for positioning the six antennas, and a positioning structure for positioning other states of the product, which are not limited here. The antenna includes a first antenna 901 of larger size and a second antenna 902 and a third antenna of smaller size. The first antenna 901, the second antenna 902 and the third antenna are arranged in pairs, so two antenna loading devices 61 are arranged along the conveying direction of the conveyor line, and each antenna loading device 61 completes the loading of the first antenna 901, the second antenna 901 and the third antenna. The third antenna is located beside the first antenna 901 and at both ends of the second positioning structure 802.

[0097] The antenna loading device 61 includes an antenna feeding mechanism 611 and an antenna transport mechanism 612. Since the three antennas have different external structures, three antenna feeding mechanisms 611 are used, namely, a first feeding mechanism 6111 for the first antenna, a second feeding mechanism 6112 for the second antenna, and a third feeding mechanism 6113 for the third antenna. The first feeding mechanism 6111 has the same structure as the shielding cover feeding device 41 and the PCBA board feeding device 42, except that the structure of the material tray is slightly changed. The positioning structure in the material tray is changed accordingly according to different products, which will not be described here. The second feeding mechanism 6112 and the third feeding mechanism 6113 are both vibrating tray feeding methods, and vibrating tray feeding is a conventional feeding method, which will not be described here. The antenna transport device 612 includes an antenna transport module 6121 arranged at the movable end of the manipulator for transporting the antenna and a sixth CCD camera 6122 for detecting the position of the antenna. The antenna transport module 6121 includes an antenna adsorption component 61211 for adsorbing the first antenna, a first clamping component 61212 for clamping the second antenna, and a second clamping component 61213 for clamping the third antenna.

[0098] The antenna assembly device 62 includes an antenna positioning mechanism 621 for positioning the antenna 600, an antenna transfer table 622 for temporarily placing the PCBA board, a first transport mechanism 623 for transporting the PCBA board 300, and a first CCD camera 624. The antenna positioning mechanism 621 includes two movable mounting plates 6211 movably arranged above the product carrier and located at the front and rear sides of the product carrier, two second motors 6212 respectively driving the two movable mounting plates 6211 to move closer to or away from each other, and a plurality of second cylinders 6213 arranged on the movable mounting plates 6211, and a first clamping jaw 6214 driven by the second cylinder 6213 to clamp the end of the antenna and correct the antenna. Multiple pairs of first clamping jaws 6214 are clamped at the end of the antenna and correct the antenna at the same time, so that when the first transport mechanism 623 places the PCBA board above the antenna, the three pairs of antennas can be smoothly assembled on the PCBA board. At this time, the pins of the antenna are all inserted into the welding holes of the PCBA board, and the antenna welding device 63 welds the pins to the PCBA board. A first positioning structure for positioning the PCBA board is provided on the antenna transfer platform 62. The first transport mechanism 623 has the same structure as the adsorption transport module 33, and will not be described in detail here.

[0099] Since each antenna is provided with multiple pins, and there are a total of six antennas that need to be welded, in order to improve the efficiency of welding, three antenna welding devices 63 are provided along the conveying direction of the conveyor line to weld different pins of the antenna respectively. The antenna welding device 63 includes a welding positioning plate 631 arranged above the product carrier and used to position the welding position, and a welding gun 632 arranged above the welding positioning plate 631 and used to weld the antenna on the PCBA board. The welding positioning plate 631 is provided with a plurality of positioning through holes 6311 corresponding to the welding position and for the welding gun 632 to extend into. Since the three antenna welding devices 63 are respectively welded to different pins of the antenna, the position and shape of the positioning through hole 6311 on the welding positioning plate 631 of each antenna welding device 63 are adapted to different pins, which are not limited here. A circle of silicone is provided on the outer side of the positioning through hole 6311 on the back of the welding positioning plate 631, so that when the welding positioning plate 631 is pressed tightly on the PCBA board, the silicone is in soft contact with the PCBA board to prevent the PCBA board from being crushed. The antenna detection device 64 is provided with a seventh CCD camera 641 for detecting solder on the PCBA board.

[0100] The fan assembly machine 7 is provided with a fan assembly tool 71 for assembling a fan, and the fan assembly tool 71 includes a second clamping assembly 711 for clamping the PCBA board and a second positioning assembly 712 for positioning and assembling the fan to one end of the PCBA board. The second clamping assembly 711 includes a contoured clamping plate 7111 that is clamped on the surface of the PCBA board and whose lower surface is contoured with the surface of the PCBA board, and an eleventh cylinder 7112 that drives the contoured clamping plate 7111 to move up and down. The second positioning assembly 712 includes a twelfth cylinder 7121, a tenth support plate 7122 that is driven by the twelfth cylinder 7121 to move up and down, a force control motor 7123 fixed on the tenth support plate 7122, and a positioning claw 7124 arranged at the end of the force control motor 7123, and the positioning claw 7124 is provided with an avoidance opening for avoiding the antenna. The working principle of the fan assembly machine 7 is as follows: the fan is manually placed on one end of the PCBA board, the eleventh cylinder 7112 drives the contour pressing plate 7111 to descend and press on the other end of the PCBA board, the twelfth cylinder 7121 drives the third support plate 7122 to descend, and the force control motor 7123 drives the positioning claw 7124 to position and assemble the fan on one end of the PCBA board. The force control motor 7123 can accurately control the clamping force of the positioning claw 7124, which can improve the accuracy of fan installation.

[0101] The production process of the PCBA board production system 300 is as follows: the transporting and assembling device 44 moves to the shielding cover feeding device 41, adsorbs two shielding covers in turn, and moves to the PCBA board feeding device 42 to adsorb a PCBA board, then moves to the first flipping material receiving mechanism 43, and places the PCBA board with the front side facing up on the flip positioning plate 431. The transporting and assembling device 44 assembles one of the shielding covers to the front side of the PCBA board, and the first motor 433 drives the rotating shaft 432 to rotate and drive the flip positioning plate 431 to flip 180°. At the same time, the first driving component 435 drives the receiving plate 434 to move to the bottom of the flip positioning plate 431 to receive the PC that falls from the flip positioning plate 431 and flips 180°. BA board, the back of the PCBA board is positioned upward on the receiving plate 434, the handling and assembly device 44 assembles another shielding cover to the back of the PCBA board, and the pressure sensor 436 detects the pressure during assembly to ensure that the shielding cover can be smoothly assembled to the back of the PCBA board. The handling and assembly device 44 transports the PCBA board to the product carrier, and the lifting module drives the product carrier to descend. The product carrier is located on the conveyor line and flows into the first cable assembly device 51 through the conveyor line. The lifting module lifts the product carrier, fine-tunes the cable positioning plate 512 so that the cable profiling hole 5121 of the cable positioning plate 5122 is aligned with the position where the cable needs to be assembled on the PCBA board below, and places the first cable in the cable profiling hole 5121. Use the pressure rod The pressing needle 513 presses the cable downward so that the middle part of the cable is inserted into the buckles of the PCBA board at multiple places. The lifting module drives the product carrier to descend. The product carrier is located on the conveyor line and flows into the three cable assembly devices 51 at the back through the conveyor line. In the same way, the second cable, the third cable and the fourth cable are assembled to the corresponding positions of the PCBA board in turn. After the four cables are assembled, the product carrier drives the PCBA board to flow into the first cable pressing device 52. The lifting module lifts the product carrier, and the first XY axis driving module 521 drives the pressing needle 525 to move and press the female head of the cable end into the male head of the PCBA board respectively. The torque sensor 524 controls the pressure of the pressing needle 525 to ensure that the cable end After the female connector is smoothly pressed into the male connector of the PCBA board, after the two cable pressing devices 52 are pressed, the lifting module drives the product carrier to descend, the product carrier is located on the conveyor line and flows into the cable detection device 53 through the conveyor line, the 2D camera 531 detects the appearance and position of the cable pressing, the first 3D camera 532 detects the height of the female connectors at both ends of the cable, and after the detection, it flows into the first antenna feeding device 61, the antenna conveying mechanism 612 respectively absorbs or clamps an antenna from the first feeding mechanism 6111, the second feeding mechanism 6112 and the third feeding mechanism 6113 and places them on the second positioning structure on the product carrier in turn, and the product carrier moves to the second feeding device 61,The antenna transport mechanism 612 also places the other three antennas on the second positioning structure on the product carrier. The lifting module drives the product carrier to descend. The product carrier is located on the conveyor line and flows into the antenna assembly device 62 through the conveyor line. The lifting module lifts the product carrier but is located below the mobile mounting plate 6211. The first transport mechanism 623 transports the PCBA board on the product carrier to the antenna transfer table 622. The two second motors 6212 drive the mobile mounting plate 6211 to approach respectively. The second cylinder 6213 drives the first clamp 6214 to clamp the end of the antenna and correct the antenna. The first transport mechanism 623 transports the PCBA board on the antenna transfer table 622 to the top of the antenna. The three pairs of antennas can be smoothly assembled on the PCBA board. At this time, the pins of the antenna are all inserted into the welding holes of the PCBA board. Inside, the lifting module drives the product carrier to descend, and at the same time, the first CCD camera 624 detects whether the antenna pins are inserted into the welding holes of the PCBA board. The product carrier flows to the first antenna welding device 63, and the lifting module lifts the product carrier and contacts the welding positioning plate 631. The silicone on the lower side of the welding positioning plate 631 is in soft contact with the PCBA board. The welding gun 632 moves to the positioning through hole 6311 and welds the antenna pins to the PCBA board. The product carrier flows through the two antenna welding devices 63 in turn, and the same actions as above are used to complete the assembly welding of the antenna and the PCBA board. After the welding is completed, the seventh CCD camera 641 detects the soldering condition on the PCBA board. After the inspection is completed, the product carrier is transported to the fan assembly machine 7, and the fan is manually assembled on the fan assembly tool 71.

[0102] The bottom cover assembly device 8 includes a bottom cover feeding mechanism 81, a grounding plate feeding mechanism 82, a second conveying device 83 for conveying the bottom cover and the grounding plate, and a bottom cover assembly platform 84. The bottom cover feeding mechanism 81 and the grounding plate feeding mechanism 82 are respectively the same in structure as the PCBA board feeding device 42 and the shielding cover feeding device 41, except that the structure of the material tray is slightly changed. The positioning structure in the material tray is changed accordingly according to different products, which will not be repeated here. The second conveying device 83 has the same structure as the first conveying and pasting device 13, which will not be repeated here. The bottom cover assembly platform 84 includes a bottom cover positioning plate for positioning the bottom cover, and a third pressure sensor is installed under the bottom cover positioning plate. The second conveying device 83 first conveys the bottom cover to the bottom cover positioning plate, and then conveys the two grounding plates to the bottom cover, and presses downward to assemble the grounding plates on the bottom surface of the bottom cover. After the assembly is completed, the second conveying device 83 conveys the bottom cover assembled with the grounding plate to the conveyor line, and conveys it to the grounding plate hot melt assembly device 9, and hot melts and fixes the grounding plate on the bottom cover. Since there are many locations on the grounding plate that need to be hot-melted, four grounding plate hot-melt assembly devices 9 are arranged along the conveying direction of the conveyor line to perform hot-melt on different locations of the grounding plate respectively. The grounding plate hot-melt assembly device 9 has the same structure as the cable hot-melt assembly device 30, except that the grounding plate is hot-melted and assembled on the bottom cover, which will not be described in detail here.

[0103] In addition to assembling two grounding plates on the bottom cover, two buckles need to be assembled. The buckle pressing machine 10 includes a buckle feeding device 101, a buckle pressing device 102 for pressing the buckle on the back of the bottom cover, and a first transport device 103 for transporting the buckle and the bottom cover. The buckle feeding device 101 is a vibrating plate feeding method, which is a conventional feeding method and will not be described in detail here. The first handling device 103 includes a bottom cover adsorption assembly 1031 disposed at the movable end of the manipulator and a buckle clamping assembly 1032 for clamping buckles. Since each clamp clamps two buckles, two buckle clamping assemblies 1032 are provided. The bottom cover adsorption assembly 1031 has the same structure as the first top cover adsorption assembly 132, which will not be described in detail here. The buckle clamping assembly 1032 includes a sixth cylinder 10321, an eighth support plate 10322 driven by the fourth cylinder to move up and down, a seventh cylinder 10323 disposed on the eighth support plate 10322, and a pair of second clamping claws 10324 driven by the second cylinder to open or clamp. Since two buckles are assembled on each bottom cover, two buckle clamping assemblies 1032 are provided.

[0104] The buckle press-fit device 102 includes a bottom cover positioning plate 1021 for positioning the bottom cover, a flip driving assembly 1022 for driving the bottom cover positioning assembly plate 1021 to flip so as to flip the front and back sides of the bottom cover, a pressing module 1023 arranged on one side of the bottom cover positioning plate 1021, a bottom cover detection module 1024 arranged on the other side of the bottom cover positioning plate 1021, and a receiving and conveying mechanism 1025 for receiving the bottom cover after the bottom cover positioning plate 1021 is flipped and conveying the bottom cover between the pressing module 1023, the bottom cover positioning plate 1021, and the bottom cover detection module 1014. A third positioning structure for positioning the bottom cover is provided on the bottom cover positioning plate 1021. The flip driving assembly 1022 includes a rotary motor and a second rotary shaft driven to rotate by the rotary motor, and the output shaft end of the rotary motor and the second rotary shaft are rotated by a synchronous pulley to realize rotation transmission. The pressing module 1023 includes a Z-axis driving motor 10231, a fourth support plate 10232 driven by the Z-axis driving motor 10231 to move up and down, a guide positioning rod fixed below the fourth support plate 10232, and a clamping structure 10234 arranged below the fourth support plate 10232. The clamping structure 10234 is provided with a plurality of clamping rods or a plurality of clamping blocks, and the specific shape of the clamping rods or the clamping blocks is set according to the shape of the bottom cover, which is not limited here. The bottom cover detection module 1024 includes a positioning platform 10241 for placing the press-fitted product, a second 3D camera 10242 arranged below the positioning platform 10241, and an XY-axis driving component 10243 that drives the second 3D camera 10242 to move in the XY direction. The receiving and conveying mechanism 1025 includes an X-axis linear motor 10251, a fifth support plate 10252 driven by the X-axis linear motor 10251 to move left and right, a buckle positioning assembly 10253 arranged above the fifth support plate 10252, and a second positioning plate 10254 relatively arranged above the buckle positioning assembly 10253 and used to receive the bottom cover on the bottom cover positioning plate 1021. The fifth support plate 10252 is provided with a pushing assembly 10255 for pushing the second positioning plate 10254 upwards, the pressing module 2 is located above the second positioning plate 10254, and the buckle positioning assembly 10253 is provided with a second pressure sensor 10256 for detecting pressure and stroke during the pressing process. The buckle positioning assembly 10253 includes a sixth support plate 102531 located directly above the fifth support plate 10252, a seventh support plate 102532 arranged above the sixth support plate 102531, a buckle carrier 102533 arranged at both ends of the seventh support plate 102532, two movable clamping blocks 102534 arranged on the front and rear sides of the buckle carrier 102533 and used to position the front and rear sides of the buckle, and a fifth cylinder 102535 for driving the two movable clamping blocks 102534 to open or clamp.The buckle carrier 102533 is provided with a contoured positioning groove 102536 that is contoured with the buckle, and the fifth cylinder 102535 is fixed on the sixth support plate 102531; the second pressure sensor 10256 is arranged between the sixth support plate 102531 and the seventh support plate 102532. When the pressing module 1023 is pressed on the bottom cover, the second pressure sensor 10256 detects the downward pressure and stroke thereof to ensure that the buckle is pressed on the bottom cover smoothly.

[0105] The production process of the bottom cover production system 400 is as follows: the second conveying device 83 absorbs the bottom cover and the grounding plate from the bottom cover feeding mechanism 81 and the grounding plate feeding mechanism 82 respectively, and first places the bottom cover on the bottom cover assembly platform 84, and then conveys the two grounding plates to the bottom cover, and presses downward to assemble the grounding plates on the bottom cover, and the third pressure sensor detects the pressure during pressing. After the assembly is completed, the second conveying device 83 conveys the bottom cover assembled with the grounding plate to the conveyor line, and conveys it to the first grounding plate hot-melt assembly device 9, hot-melts the grounding plate and fixes it on the bottom cover, and conveys it to the three grounding plate hot-melt assembly devices 9 behind in turn, and hot-melts and fixes the different positions of the grounding plate on the bottom cover; the product carrier drives the bottom cover to be conveyed to the buckle pressing machine 10, and the two buckle clamping components 1032 of the first conveying device 103 each clamp a buckle from the buckle feeding device 101, and clamps the PCBA board from the product carrier, and places the buckle on the receiving conveyor The bottom cover is placed on the buckle carrier 102533 of the structure 1025, and the bottom cover is placed on the bottom cover positioning plate 1021 with the front side facing upward. The flip driving component 1022 drives the bottom cover positioning plate 1021 to flip 180 degrees to achieve the flipping of the front and back sides of the bottom cover. At the same time, the conveying mechanism 1025 drives the buckle to move to the entire bottom of the bottom cover positioning plate 1021, and the pushing component 10255 pushes the second positioning plate 10254 upward to receive the flipped bottom cover. The fourth support plate 10232 is moved downward by the Z-axis driving motor 10231 of the pressing module 1023, and the pressing structure 10234 is driven to press the bottom cover, thereby pressing the buckle on the back of the bottom cover. After the pressing is completed, the conveying mechanism 1025 drives the bottom cover to move onto the bottom cover detection module 1024, and the second 3D camera 10242 takes photos to detect the pressing position.

[0106] After the bottom cover is assembled with the grounding plate, it is placed in the positioning groove of the product carrier with the back facing upwards, and then transported to the assembly tool 20 via the conveyor line. The assembled PCBA board is pushed to the assembly tool 20 by the AVG trolley. After the bottom cover is manually removed from the positioning groove of the product carrier and turned over, the PCBA board is assembled to the front of the bottom cover in a vacuum environment, and then placed in another positioning groove of the carrier after the assembly is completed. The assembly tool 20 is provided with a contoured upper cover 201 for positioning the PCBA board and a contoured lower cover 202 for positioning the bottom cover. The contoured upper cover 201 is connected to a vacuum tube 203. During assembly, the PCBA board is placed on the contoured upper cover 201, and the bottom cover is positioned on the contoured lower cover 202. The contoured upper cover 201 and the contoured lower cover 202 are buckled up and down. At this time, the structure of the PCBA board and the structure of the bottom cover are mutually contoured and positioned, and the internal vacuum is simultaneously drawn to complete the assembly of the PCBA board and the bottom cover to obtain a semi-finished TCU controller.

[0107] Since one of the cables on the PCBA needs to be connected to the FPC inside the PCBA, a cable hot-melt assembly device 30 is provided to fix the cable on the FPC after hot-melting. The cable hot-melt assembly device 30 includes a first clamping assembly 301 for clamping the FPC, a hot-melt assembly mechanism 302 for hot-melting the cable and connecting it to the FPC, and a second CCD camera 3023 for detecting and locating the hot-melt connection position. The first clamping assembly 301 includes a clamping member 3011 clamped beside the hot-melt position and an eighth cylinder 3012 for driving the clamping member 3011 to move up and down. The clamping member 3011 can be set as a clamping rod or a clamping plate according to the shape of the position to be hot-melted, which is not limited here. The hot melt assembly mechanism 302 includes a first YZ-axis driving module 3021 and a hot melt pressing head 3022 arranged at the movable end of the first YZ-axis driving module 3021 and used to hot melt the cable. The hot melt pressing head 3022 heats the cable to melt the cable, and presses downward to fix the cable on the FPC.

[0108] The fan screw locking device 40 includes a first screw feeding mechanism 401 arranged at one side of the conveyor line and a screw locking mechanism 402 arranged above the conveyor line. The screw locking mechanism 402 includes a second YZ axis driving module 4021 and a second support plate 4022 driven by the second YZ axis driving module 4021 to move in the YZ direction, and the second support plate 4022 is provided with a first screwdriver 4023 for tightening the screw, a first screw suction nozzle 4024 sleeved at the lower end of the first screwdriver 4023 and sucking the screw, a third cylinder 4025 driving the first screw suction nozzle 4024 to move up and down, and a third CCD camera 4026 for detecting and positioning the screw hole.

[0109] A plurality of profiling columns are provided on the bottom cover. After the antenna is hot-melted, it is pressed downward and positioned on the profiling columns to complete the fixed assembly of the antenna and the bottom cover. Since three pairs of six antennas are assembled on the PCBA board, there are many locations for hot-melting. Therefore, four antenna hot-melt assembly devices 50 are provided along the conveying direction of the conveyor line to perform hot-melt on different locations of the antenna respectively. The structures of the four antenna hot-melt assembly devices 50 are the same as those of the cable hot-melt assembly devices 30, except that the locations of the hot-melt are different. Therefore, the difference lies in that the structure of the clamping assembly is slightly different. The structure of the clamping assembly is adaptively designed according to the different locations to be hot-melted, which is not limited here.

[0110] The radiator assembly device 60 includes a radiator feeding mechanism 601, a radiator glue dispensing mechanism 602 for dispensing glue on the radiator, a second flipping material receiving mechanism 603 for flipping the front and back of the TCU controller semi-finished product, and a second conveying mechanism 604 for the TCU controller semi-finished product and the radiator. Since the heat sink is placed in the shell when the radiator is loaded, a radiator glue dispensing mechanism 602 is provided to bond the heat sink to the shell. In order to improve the efficiency of glue dispensing, two radiator glue dispensing mechanisms 602 are provided. The radiator glue dispensing mechanism 602 includes a positioning device for positioning the radiator, a transfer device for transferring the radiator to the positioning device, and a glue dispensing device. The second flipping material receiving mechanism 603 has the same structure as the first flipping material receiving mechanism 43, which will not be repeated here. The second transport mechanism 604 includes a clamping module 6041 arranged at the movable end of the manipulator and used to clamp the radiator or TCU controller semi-finished product, the clamping module 6041 includes a ninth cylinder 6042, a ninth support plate 6043 driven by the ninth cylinder 6042 to move up and down, a tenth cylinder 6044 fixed on the ninth support plate 6043, and a third clamping jaw 6045 driven by the tenth cylinder 6044 to open or clamp, the third clamping jaw 6045 clamps on the front and rear sides of the radiator or TCU controller semi-finished product.

[0111] The structure of the radiator screw locking device 70 is the same as that of the fan screw locking device 40, and will not be repeated here. The radiator screw locking device 70 tightens four screws according to the above method. The spot soldering device 80 is provided with a third YZ axis driving module 801, an L-shaped support plate 802 driven by the third YZ axis driving module 801 to move in the YZ direction, and a plurality of spot soldering heads 803 movably arranged on the horizontal end of the L-shaped support plate 802. The provision of multiple spot soldering heads 803 can improve production efficiency. Two grounding plates are assembled on the bottom cover, and a total of multiple pins need to be soldered to the PCBA board. In order to improve the efficiency of soldering, four grounding plate welding devices 90 are provided along the conveying direction of the conveyor line. The grounding plate welding device 90 is provided with a fourth YZ axis driving module 901 and a soldering head 902 driven by the fourth YZ axis driving module 901 to move in the YZ direction and solder the pins of the grounding plate to the PCBA board. The detection device 110 includes a defective product conveyor line 1101, a good product conveyor line 1102, and a third conveying mechanism 1103 for conveying products. The good product conveyor line 1102 is provided with an X-ray detection module 1104 for detecting the processing conditions such as welding and hot melting of products. The clamping structure provided on the third conveying mechanism 1103 is the same as the clamping module 6041, and will not be described in detail here.

[0112] The production process of the first assembly system 500 is as follows: the PCBA board is transported to the assembly tool 20 by the AGV trolley, the PCBA board is placed on the contoured upper cover 201, the bottom cover is positioned on the contoured lower cover 202, the contoured upper cover 201 and the contoured lower cover 202 are buckled up and down, at this time, the structure of the PCBA board and the structure of the bottom cover are mutually contoured and positioned, and the inside is vacuumed, and the PCBA board and the bottom cover are assembled to obtain a semi-finished TCU controller; the semi-finished TCU controller is transported to the cable hot-melt assembly device 30 On the FPC, the first pressing assembly 301 is pressed against the side of the hot-melt position, the first YZ-axis driving module 3021 drives the hot-melt pressing head 3022 to move and heat the cable to make the cable hot-melt, and presses down to fix the cable on the FPC; after the cable hot-melt is completed, the TCU controller semi-finished product is transported to the fan screw locking device 40, the second YZ-axis driving module 4021 drives the second supporting plate 4022 to drive the first screw suction nozzle 4024 to move to the screw locking mechanism 402 to suck the screw, and the third CCD camera 4026 After detecting the position of the screw hole, the second YZ-axis driving module 4021 drives the second supporting plate 4022 to drive the first screw suction nozzle 4024 and the first screwdriver 4023 to move to the top of the screw hole. The third cylinder 4025 drives the first screw suction nozzle 4024 to place the screw into the screw hole. At the same time, the first screwdriver 4023 locks the screw in the screw hole. The fan needs to lock three screws in total. According to the above steps, after the first screw suction nozzle 4024 sucks the screw, it moves to a different screw hole to lock another The two outer screws are enough to complete the locking of the fan and the bottom cover; after the fan is screwed, the semi-finished TCU controller is transported to the first antenna hot-melt assembly device 50, the first clamping component 301 is pressed beside the hot-melt position, the first YZ-axis driving module 3021 drives the hot-melt clamping head 3022 to move and heat the antenna to make the antenna hot-melt, and presses down to fix the antenna on the bottom cover, and then enters the three antenna hot-melt assembly devices 50 in turn to complete the hot-melt of other positions of the antenna, so as to achieve the fixation of the antenna and the bottom cover;The semi-finished TCU controller is transported to the radiator assembly device 60, and the second conveying mechanism 604 clamps the semi-finished TCU controller and positions it on the second flipping material receiving mechanism 603. The front side of the semi-finished TCU controller is positioned on the second flipping material receiving mechanism 603, and the semi-finished TCU controller is flipped by the second flipping material receiving mechanism 603. The back side of the semi-finished TCU controller is positioned on the first receiving plate 434 of the second flipping material receiving mechanism 603 with its back side facing up. While flipping, the second conveying mechanism 604 clamps the radiator to the heat dispensing mechanism 602 for dispensing. After the radiator is glued, the second conveying mechanism 604 clamps the radiator to the product carrier, and then the second conveying mechanism 604 places the semi-finished TCU controller on the first receiving plate 434. The finished product is clamped onto the product carrier to realize the assembly of the radiator and the semi-finished TCU controller. The lifting module drives the product carrier to descend, and the product carrier drives the semi-finished TCU controller to flow into the radiator screw locking device 70. The radiator screw locking device 70 tightens four screws according to the above-mentioned fan screw locking method to complete the locking of the radiator and the bottom cover; the semi-finished TCU controller flows into the soldering device 80, and the soldering head 803 applies solder paste to the position to be soldered. After applying the solder paste, it enters the four grounding plate welding devices 90 to solder multiple pins of the grounding plate to the PCBA board. The third transport mechanism 1103 transports the defective products to the defective product conveying line 1101, and the good products to the good product conveying line 1102. The X-ray detection module 1104 performs quality inspection on the good products. ;

[0113] The screw locking assembly device 120 includes a turntable 1201, a positioning carrier 1202 disposed on the turntable 1201 and positioning the TCU controller, a pressing module 1205 pressed against the upper surface of the TCU controller, a plurality of screw locking modules 1203 disposed around the outer periphery of the turntable 1201, and a second screw feeding mechanism 1204 disposed beside the screw locking modules 1203. The second screw feeding mechanism 1204 is a vibrating plate feeding method, which is a conventional feeding method and will not be described in detail here. The screw locking module 1203 includes an XYZ-axis driving module 12031, a third support plate 12032 driven by the XYZ-axis driving module 12031 to move in the XYZ direction, a second screwdriver 12033 fixed on the third support plate 12032, a second screw nozzle 12034 sleeved on the outer periphery of the lower end of the second screwdriver 12033, a fourth cylinder 12035 driving the second screw nozzle 12034 to move up and down, and a fourth CCD camera 12036 fixed on the second support plate 12033. A fourth CCD camera 12036 is also provided on the outer periphery of the turntable 1201, all of which are used to detect whether the screws are locked or whether the screws are locked properly.

[0114] The production process of the second assembly system 600 is as follows: the semi-finished TCU controller and the top cover are transported to the screw locking assembly device 120 by the AGV trolley, the semi-finished TCU controller and the top cover are positioned in the positioning carrier 1202, the pressing module 1205 is pressed on the top cover, and a number of screw locking modules 1203 are used to screw and fix the semi-finished TCU controller and the top cover at different positions, and the TCU controller is assembled.

[0115] In this embodiment, based on the above-mentioned TCU controller assembly production line, a TCU controller assembly method is provided, which includes the following steps:

[0116] S1. Paste labels and foam on the top cover: paste two labels and two foams on the top cover in turn on labeling machine 1 and foaming machine 2, and the discharging machine transfers the well-pasted top cover to the AGV trolley;

[0117] S2. Assemble components on PCAB board:

[0118] S21, assembling two shielding covers onto the front and back sides of the PCBA board respectively on the shielding cover assembly machine 4;

[0119] S22, assembling the cables onto the PCBA board respectively on the multiple cable assembly devices 51, press-fitting the female connectors at the ends of the cables onto the PCBA board on the cable press-fitting device 52, and inspecting whether the cable press-fitting appearance and press-fitting position are qualified on the cable inspection device 53;

[0120] S23, positioning the antenna on the product carrier on the antenna feeding device 61, assembling the antenna on the PCBA board on the antenna assembling device 62, respectively welding different pins of the antenna to the PCBA board on multiple antenna welding devices 63, and inspecting whether the welding position is qualified on the antenna inspection device 64;

[0121] S24, assembling the fan onto the PCBA board on the fan assembly machine 7, and transferring the assembled good products onto the AGV vehicle;

[0122] S3. Assemble the ground plate and buckle on the bottom cover:

[0123] S31, assembling the grounding plate on the bottom surface of the bottom cover on the bottom cover assembly device 8, and hot-melting and fixing the grounding plate on the bottom cover on multiple grounding plate hot-melt assembly devices 9;

[0124] S32, press-fitting two buckles onto the bottom surface of the bottom cover on the buckle press-fitting machine 10;

[0125] S4. Assemble the bottom cover and PCBA board to obtain the semi-finished TCU controller:

[0126] S41, the AGV transports the assembled PCBA board to the assembly tool, and the PCBA board is buckled with the bottom cover on the assembly tool 20;

[0127] S42, hot-melt one of the cables on the PCBA board on the cable hot-melt assembly device 30 and connect it to the FPC board;

[0128] S43, locking the fan and the bottom cover by using a plurality of screws on the fan locking screw device 40;

[0129] S44, hot-melting the antennas respectively on the multiple antenna hot-melt assembly devices 50 and fixing and assembling them with the bottom cover;

[0130] S45, assembling the heat sink onto the PCBA board on the heat sink assembly device 60, and locking the heat sink and the bottom cover with a plurality of screws on the heat sink screw locking device 70;

[0131] S46, applying solder paste to the position of the ground plate to be welded on the PCBA board on the soldering device 80, and completing the welding of the ground plate and the PCBA board on the ground plate welding device 90, and inspecting the semi-finished TCU controller by the inspection device 110, and transferring the inspected qualified products to the AGV;

[0132] S5. Assemble the TCU controller semi-finished product and the top cover to obtain the TCU controller:

[0133] S51, the AGV transports the pasted top cover and the tested TCU controller semi-finished product to the screw locking assembly device 120, and the TCU controller semi-finished product and the top cover are locked by multiple screws to obtain the TCU controller, completing the assembly of the TCU controller.

[0134] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An assembly production line for a TCU controller, characterized in that: It includes a top cover production system for adding parts to the top cover, a PCBA board production system for adding components to the PCBA board, a bottom cover production system for adding parts to the bottom cover, a first assembly system for realizing the assembly of the PCBA board and the bottom cover, and a second assembly system for realizing the assembly of the bottom cover and the top cover. Several production systems and several assembly systems are provided with upper and lower conveyor lines for realizing the turnover of product carriers. The two conveyor lines are provided with lifting modules at the end to end, and each station is provided with a lifting module for lifting the product carrier. The top cover production system includes a labeling machine, a foaming machine and a discharging machine which are arranged in sequence along the conveying direction of the conveying line; The PCBA board production system includes a shielding cover assembly machine, a cable assembly machine, an antenna assembly machine and a fan assembly machine which are sequentially arranged along the conveying direction of the conveyor line; the cable assembly machine includes a cable assembly device for assembling the cable onto the PCBA board, a cable pressing device for pressing the female connector at the end of the cable onto the PCBA board, and a cable detection device for detecting the assembled cable; the antenna assembly machine includes an antenna feeding device, an antenna assembly device for assembling the antenna onto the PCBA board, an antenna welding device for welding the antenna pin onto the PCBA board, and an antenna detection device for detecting the welded antenna; The bottom cover production system comprises a bottom cover assembly device for assembling the ground plate onto the bottom cover, a ground plate hot-melt assembly device for hot-melting and fixing the ground plate onto the bottom cover, and a buckle pressing machine for pressing the buckle onto the bottom cover, which are sequentially arranged along the conveying direction of the conveying line; The first assembly system includes a combined tooling for assembling a PCBA board and a bottom cover to obtain a semi-finished TCU controller, which is sequentially arranged along the conveying direction of the conveyor line, a cable hot-melt assembly device for hot-melting a cable on the PCBA board and connecting it with the FPC board to achieve electrical connection, a fan screw locking device for locking a fan assembled on the PCBA board on the bottom cover, an antenna hot-melt assembly device for hot-melting an antenna assembled on the PCBA board and fixing it on the bottom cover, a heat sink assembly device for assembling a heat sink on the PCBA board, a heat sink screw locking device for locking the heat sink on the PCBA board on the bottom cover, a spot soldering device for spot soldering at a position where a ground plate is to be soldered on the PCBA board, a ground plate welding device for welding the ground plate to the PCBA board, and a detection device for detecting the assembled finished product; The second assembly system includes a screw locking assembly device for assembling the bottom cover and the top cover.

2. The assembly line of a TCU controller according to claim 1, characterized in that: The labeling machine includes a top cover feeding module arranged on one side of the conveyor line, a top cover feeding module arranged on the other side of the conveyor line, and a first conveying and pasting device for conveying the top cover and the label and pasting the label on the top cover; the foam pasting machine includes a foam feeding module arranged on one side of the conveyor line, a top cover flipping module arranged on the other side of the conveyor line, and a second conveying and pasting device for conveying the foam and the top cover and pasting the foam on the top cover.

3. The assembly line of a TCU controller according to claim 1, characterized in that: The shielding cover assembly machine includes a shielding cover feeding device arranged on one side of the conveying line, a PCBA board feeding device arranged on the other side of the conveying line, a first flipping material receiving mechanism arranged beside the PCBA board feeding device, and a conveying and assembling device for conveying the shielding cover and the PCBA board; The first flipping material receiving mechanism includes a flipping positioning plate for positioning the PCBA board, a first rotating shaft fixed on the back of the flipping positioning plate, a first motor driving the first rotating shaft to rotate, a first receiving plate for receiving the PCBA board after the flipping positioning plate is flipped, a first driving component driving the first receiving plate to perform lifting and horizontal movement, and a first pressure sensor arranged on the first receiving plate.

4. The assembly line of a TCU controller according to claim 1, characterized in that: The cable assembly device comprises a cable mounting frame arranged above the conveyor line, a cable positioning plate arranged three-dimensionally and floatingly on the cable mounting frame and positioning the cable, and a pressing rod for pressing and assembling the cable onto the PCBA board via the cable positioning plate, wherein the cable positioning plate is provided with a cable profiling hole profiling the direction of the cable; The cable pressing device includes a first XY-axis driving module, a first support plate driven by the first XY-axis driving module to move in the XY direction, a first cylinder fixed on the first support plate, a torque sensor driven by the first cylinder to move up and down, and a pressing needle fixed at the lower end of the torque sensor.

5. The assembly line of a TCU controller according to claim 1, characterized in that: The antenna assembly device includes an antenna positioning mechanism for positioning the antenna, an antenna transfer table for temporarily placing the PCBA board, a first transport mechanism for transporting the PCBA board, and a first CCD camera; the antenna positioning mechanism includes two movable mounting plates movably arranged above the product carrier and located on the front and rear sides of the product carrier, two second motors that respectively drive the two movable mounting plates to move closer to or away from each other, and a plurality of second cylinders arranged on the movable mounting plates, and a first clamp driven by the second cylinder to clamp the end of the antenna and correct the antenna.

6. The assembly line of a TCU controller according to claim 1, characterized in that: The buckle pressing machine comprises a buckle feeding device, a buckle pressing device for pressing the buckle onto the back of the bottom cover, and a first conveying device for conveying the buckle and the bottom cover; The buckle press-fitting device includes a bottom cover positioning plate for positioning the bottom cover, a flipping drive component for driving the bottom cover positioning plate to flip so as to flip the front and back sides of the bottom cover, a press-fitting module arranged on one side of the bottom cover positioning plate, a bottom cover detection module arranged on the other side of the bottom cover positioning plate, and a receiving and conveying mechanism for receiving the bottom cover after the bottom cover positioning plate is flipped and conveying the bottom cover between the press-fitting module, the bottom cover positioning plate, and the bottom cover detection module.

7. The assembly line of a TCU controller according to claim 1, characterized in that: The structures of the ground plate hot melt assembly device, the cable hot melt assembly device and the antenna hot melt assembly device all include a first pressing component for pressing the product, a hot melt assembly mechanism for hot melt cable or ground plate or antenna and assembled with the product, and a second CCD camera for detecting and locating the hot melt connection position; The hot melt assembly mechanism includes a first YZ-axis driving module and a hot melt pressing head arranged at the movable end of the first YZ-axis driving module and used for hot melting the cable.

8. The assembly line of a TCU controller according to claim 1, characterized in that: The radiator screw locking device and the fan screw locking device both include a first screw feeding mechanism on one side of the conveyor line and a screw locking mechanism arranged above the conveyor line; the spot soldering device is provided with a third YZ-axis driving module, an L-shaped support plate driven by the third YZ-axis driving module to move in the YZ direction, and a plurality of spot soldering heads movably arranged on the horizontal end of the L-shaped support plate; the grounding plate welding device is provided with a fourth YZ-axis driving module and a welding head driven by the fourth YZ-axis driving module to move along the YZ direction and solder the pins of the grounding plate to the PCBA board.

9. The assembly line of a TCU controller according to claim 3, characterized in that: The radiator assembly device includes a radiator feeding mechanism, a radiator gluing mechanism for gluing the radiator, a second flipping and receiving mechanism for flipping the TCU controller semi-finished product on the front and back sides, and a second conveying mechanism for the TCU controller semi-finished product and the radiator; the structure of the second flipping and receiving mechanism is the same as that of the first flipping and receiving mechanism.

10. The assembly line of a TCU controller according to claim 1, characterized in that: The screw locking assembly device includes a turntable, a pressing module pressed on the upper surface of the TCU controller, a positioning carrier arranged on the turntable and positioning the TCU controller, a plurality of screw locking modules arranged around the outer circumference of the turntable, and a second screw feeding mechanism arranged beside the screw locking modules; The screw locking module includes an XYZ-axis driving module, a third support plate driven by the XYZ-axis driving module to move in the XYZ direction, a second screwdriver fixed on the third support plate, a second screw nozzle sleeved on the outer periphery of the lower end of the second screwdriver, a fourth cylinder driving the second screw nozzle to move up and down, and a fourth CCD camera fixed on the second support plate.

11. A method for assembling a TCU controller, based on an assembly line of a TCU controller according to any one of claims 1 to 10, characterized in that: It includes the following steps: S1. Pasting labels and foam on the top cover: two labels and two foams are pasted on the top cover in sequence on the labeling machine and the foaming machine, and the discharging machine transfers the well-pasted top cover to the AGV trolley; S2. Assemble components on PCAB board: S21, assembling two shielding covers onto the front and back sides of the PCBA board respectively on the shielding cover assembly machine; S22, assembling the cables onto the PCBA board respectively on the plurality of cable assembly devices, press-fitting the female connectors at the ends of the cables onto the PCBA board on the cable press-fitting device, and inspecting whether the press-fitting appearance and press-fitting position of the cables are qualified on the cable inspection device; S23, positioning the antenna on the product carrier on the antenna feeding device, assembling the antenna on the PCBA board on the antenna assembling device, respectively welding different pins of the antenna to the PCBA board on the multiple antenna welding devices, and detecting whether the welding position is qualified on the antenna detection device; S24, assembling the fan onto the PCBA board on the fan assembly machine, and transferring the assembled good products to the AGV vehicle; S3. Assemble the ground plate and buckle on the bottom cover: S31, assembling the grounding plate on the bottom surface of the bottom cover on the bottom cover assembly device, and hot-melting and fixing the grounding plate on the bottom cover on a plurality of grounding plate hot-melt assembly devices; S32, pressing two buckles onto the bottom surface of the bottom cover using the buckle pressing machine; S4. Assemble the bottom cover and PCBA board to obtain the semi-finished TCU controller: S41, the AGV transports the assembled PCBA board to the assembly tool, and fastens the PCBA board and the bottom cover together on the assembly tool; S42, hot-melting one of the cables on the PCBA board on the cable hot-melt assembly device and connecting it to the FPC board; S43, locking the fan and the bottom cover by using a plurality of screws on the fan screw locking device; S44, hot-melting the antennas on the plurality of antenna hot-melt assembly devices respectively and fixing and assembling them with the bottom cover; S45, assembling the heat sink onto the PCBA board on the heat sink assembly device, and locking the heat sink and the bottom cover with a plurality of screws on the heat sink screw locking device; S46, applying solder paste to the position of the ground plate to be welded on the PCBA board on the soldering device, and completing the welding of the ground plate and the PCBA board on the ground plate welding device, and inspecting the semi-finished TCU controller by the inspection device, and transferring the inspected qualified products to the AGV; S5. Assemble the TCU controller semi-finished product and the top cover to obtain the TCU controller: S51, the AGV trolley transports the pasted top cover and the tested TCU controller semi-finished product to the screw locking assembly device, and the TCU controller semi-finished product and the top cover are locked by multiple screws to obtain the TCU controller, thereby completing the assembly of the TCU controller.

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