An automatic assembly method for valve drive units

Abstract

This invention discloses an automatic assembly method for a valve drive unit. The method involves assembling motor gears onto a motor to form a motor module using a motor module assembly device; pre-assembling a lower mounting frame module using a lower mounting frame module assembly device; assembling the lower mounting frame module onto the motor module using an inter-module assembly device to form a first assembly; assembling the transmission gear and output gear one by one onto the gear shaft using a gear assembly device to form a second assembly; assembling the upper mounting frame onto the lower mounting frame using an upper mounting frame assembly device; assembling gear assemblies onto the upper mounting frame using a gear assembly assembly device; pre-assembling a ratchet assembly using a ratchet assembly assembly device; assembling the ratchet assembly onto the connecting shaft using a ratchet assembly clamping and rotating assembly device; and assembling the pawl into the internal ratchet using a pawl clamping and rotating assembly device, fixing it circumferentially to the connecting shaft. This invention improves assembly efficiency and yield, meeting actual production needs.

Description

Technical Field

[0001] This invention belongs to the field of product assembly technology, and in particular relates to an automatic assembly method for valve drive units. Background Technology

[0002] The valve actuator is a crucial component of a valve. It typically comprises several main parts: a motor module (motor and motor gears), a lower mounting module (lower mounting bracket and gear shaft), a gear module, an upper mounting module (upper mounting bracket and gear assembly), and a ratchet and pawl module (ratchet assembly and pawl). Each part consists of numerous small components, creating a complex hierarchy with poor component consistency. Consequently, valve actuator assembly is currently primarily done manually, resulting in low efficiency, low pass rates, and an inability to meet the actual production needs of valve actuators. Summary of the Invention

[0003] In order to overcome at least one of the shortcomings of the prior art, the technical problem solved by the present invention is to provide an automatic assembly method for valve drive units, which has a high degree of automation, can improve production efficiency, ensure product quality, and meet actual production needs.

[0004] To address the technical problems existing in the prior art, embodiments of the present invention provide an automatic assembly method for a valve drive unit; the automatic assembly method includes:

[0005] S1. When the motor-carrying tooling is transferred to the motor module assembly station, the motor module assembly device assembles the motor gears onto the motor to form a motor module.

[0006] S2. The lower mounting bracket module assembly device pre-inserts multiple gear shafts synchronously onto the lower mounting bracket to form a lower mounting bracket module.

[0007] S3. When the transfer tooling carrying the motor module is transferred to the inter-module assembly station, the inter-module assembly device transports and assembles the already assembled lower mounting frame module onto the motor module to form the first assembly.

[0008] S4. When the transfer tool carrying the first assembly is transferred to each gear assembly station in sequence, the gear assembly mechanism arranged in sequence along the transfer direction in the gear assembly device will assemble the corresponding transmission gear and output gear one by one onto the corresponding gear shaft according to their meshing relationship to form the second assembly.

[0009] S5. When the transfer tooling carrying the second component is transferred to the upper mounting frame assembly station, the upper mounting frame assembly device assembles the upper mounting frame onto the lower mounting frame, and the second external gear ring portion and the connecting shaft portion of the output gear extend out of the upper mounting frame; when the transfer tooling is transferred to the gear assembly assembly station, the gear assembly device assembles the gear assembly onto the upper mounting frame.

[0010] S6. The ratchet assembly device pre-assembles the internal ratchet and the transition gear into a ratchet assembly.

[0011] S7. When the transfer tooling is transferred to the ratchet assembly station, the ratchet clamping and rotating assembly device adjusts the angle of the ratchet assembly and assembles it onto the connecting shaft, and the transition gear meshes with the second external gear ring. When the transfer tooling is transferred to the pawl assembly station, the pawl clamping and rotating assembly device adjusts the angle of the pawl and assembles it into the internal ratchet and fixes it circumferentially with the connecting shaft, thus completing the assembly of the valve drive unit.

[0012] Furthermore, the lower mounting frame module assembly device includes a first rotary table, a lower mounting frame vibration feeding mechanism, a lower mounting frame adsorption conveying mechanism, a gear shaft vibration feeding mechanism, a pin insertion mechanism, and a lower mounting frame module unloading and conveying mechanism; step S2 specifically includes:

[0013] S21. When the first rotating turntable drives the first positioning fixture to the lower mounting frame loading station in a circumferential direction, the lower mounting frame adsorption and conveying mechanism adsorbs and conveys the lower mounting frame supplied by the lower mounting frame vibration loading mechanism to the first positioning fixture.

[0014] S22. When the first positioning fixture carrying the lower mounting frame is circumferentially transferred to the pin insertion station, the pin insertion mechanism synchronously inserts the multiple gear shafts supplied by the gear shaft vibration feeding mechanism into the lower mounting frame to form the lower mounting frame module.

[0015] S23. When the first positioning fixture carrying the lower mounting frame module moves circumferentially to the lower mounting frame module unloading station, the lower mounting frame module unloading and transporting mechanism adsorbs and transports the lower mounting frame module onto the linear vibration conveyor mechanism.

[0016] Furthermore, the pin insertion mechanism includes a frame, on which a mounting platform is provided above the first rotating turntable; the mounting platform is provided with a support frame, a horizontal transfer structure, and a gear shaft positioning block;

[0017] The support frame has a top pin pressing structure and a side guiding structure; the horizontal transfer structure includes a transfer plate and a horizontal drive module for driving the transfer plate to move below the pin pressing structure. The transfer plate is located below the guiding structure and above the gear shaft positioning block; the transfer plate has multiple gear shaft receiving holes, and the gear shaft positioning block has multiple guide positioning through holes.

[0018] The material guiding structure is used to guide the gear shaft supplied by the gear shaft vibration feeding mechanism into the gear shaft receiving hole; the ejector pin pressing structure is used to push the gear shaft in the gear shaft receiving hole, and the gear shaft is inserted into the lower mounting bracket through the guide positioning through hole.

[0019] Furthermore, step S3 also includes:

[0020] When the transfer tool carrying the first component moves to the lower mounting frame engagement station, the first engagement device radially pushes the hook on the lower mounting frame to engage the hook with the slot on the motor.

[0021] When the transfer tooling continues to transfer to the lower mounting frame engagement detection station, the first engagement detection device detects whether the hook is engaged in the slot.

[0022] Furthermore, the first engaging device includes a first bracket, a first lifting drive component disposed on the first bracket, and a first multi-jaw chuck disposed on the drive part of the first lifting drive component. The first multi-jaw chuck has a first mounting bracket on its jaws, and a pushing component is radially slidably mounted on the first mounting bracket.

[0023] The first engagement detection device includes a second bracket, a second lifting drive component disposed on the second bracket, and a second multi-jaw chuck disposed on the drive part of the second lifting drive component. The jaws of the second multi-jaw chuck are provided with a second mounting frame, and the second mounting frame is provided with a photoelectric detection component. The photoelectric detection component includes a floating trigger rod that is radially slidably mounted on the second mounting frame and a photoelectric sensor adapted to the floating trigger rod.

[0024] Furthermore, the ratchet assembly device includes a second rotary table, a transition gear feeder, a transition gear conveying mechanism, a ratchet feeder, and a ratchet conveying mechanism; step S6 specifically includes:

[0025] S61. When the second rotating turntable drives the second positioning fixture to rotate circumferentially to the transition gear loading station, the transition gear conveying mechanism will absorb and convey the transition gear supplied by the transition gear feeder to the second positioning fixture.

[0026] S62. When the second positioning fixture carrying the transition gear moves circumferentially to the ratchet loading station, the ratchet conveying mechanism transports the internal tooth ratchet supplied by the ratchet feeder to the second positioning fixture and inserts the eccentric shaft at the bottom of the internal tooth ratchet into the center hole of the transition gear to form the ratchet assembly.

[0027] Furthermore, in step S7, both the ratchet assembly clamping and transporting rotary assembly device and the pawl clamping and transporting rotary assembly device include a horizontal drive mechanism, a vertical drive mechanism disposed at the drive end of the horizontal drive mechanism, a rotary drive mechanism disposed at the drive end of the vertical drive mechanism, and a clamping mechanism disposed on the rotary drive mechanism.

[0028] The horizontal drive mechanism is equipped with an upper CCD camera on its drive end, the ratchet assembly station is equipped with a first lower CCD camera, and the pawl assembly station is equipped with a second lower CCD camera.

[0029] Furthermore, the automatic assembly method also includes, before the transfer fixture carrying the motor is transferred, a motor placement detection device detects whether the motor is placed in place on the transfer fixture; if it is placed in place, the transfer is carried out; otherwise, manual adjustment is performed.

[0030] Furthermore, step S5 also includes: when the transfer tooling is transferred to the upper mounting frame engagement station, the second engagement device radially pushes the hook on the upper mounting frame to engage the hook with the slot on the lower mounting frame;

[0031] When the transfer tooling continues to transfer to the upper mounting frame engagement detection station, the second engagement detection device detects whether the hook is engaged in the slot.

[0032] When the transfer tooling continues to the tooth missing detection station, the laser beam emitted by the laser detection device is aimed at the second external gear ring of the output gear to detect whether there is a missing tooth; if there is a missing tooth, an alarm is triggered; if it is normal, the assembly continues to the next step.

[0033] The upper mounting bracket engagement station, the upper mounting bracket engagement detection station, and the missing tooth detection station are sequentially arranged between the upper mounting bracket assembly station and the gear assembly station.

[0034] Furthermore, the automated assembly method also includes:

[0035] S8. When the transfer tool carrying the valve drive unit is transferred to the pawl preload detection station, the pawl preload detection device 1 applies downward pressure to the pawl and takes a picture for detection.

[0036] S9. When the transfer tooling carrying the valve drive unit is transferred to the gear detection station, the positioning detection device performs installation positioning detection on the transition gear and gear assembly.

[0037] S10. When the transfer fixture carrying the valve drive unit is transferred to the product unloading station, the unloading robot removes the valve drive unit from the transfer fixture.

[0038] The beneficial effects achieved by this invention due to the adoption of the above technical solution are as follows:

[0039] The automatic assembly method for the valve drive unit in this invention involves: assembling motor gears onto a motor using a motor module assembly device to form a motor module; pre-inserting multiple gear shafts synchronously onto a lower mounting frame using a lower mounting frame module assembly device to form a lower mounting frame module; transporting and assembling the assembled lower mounting frame module onto the motor module using an inter-module assembly device to form a first assembly; assembling corresponding transmission gears and output gears one by one onto the corresponding gear shafts according to their meshing relationship using a gear assembly device to form a second assembly; assembling an upper mounting frame onto a lower mounting frame using an upper mounting frame assembly device; assembling gear assemblies onto an upper mounting frame using a gear assembly assembly device; pre-assembling an internal ratchet and transition gear into a ratchet assembly using a ratchet assembly assembly device; assembling the ratchet assembly onto a connecting shaft using a ratchet assembly clamping and rotating assembly device; and assembling a pawl into an internal ratchet and circumferentially fixing it to the connecting shaft using a pawl clamping and rotating assembly device, thus completing the assembly of the valve drive unit. Compared with the prior art, the automatic assembly method for valve drive units in this invention enables the automated assembly of valve drive units by connecting and cooperating with each other according to the set process steps, thereby improving the assembly efficiency and pass rate of valve drive units and meeting the actual production needs of valve drive units. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the valve drive unit;

[0042] Figure 2 This is a flowchart of the automatic assembly method for the valve drive unit of the present invention;

[0043] Figure 3 This is a structural layout diagram of the automatic assembly production line for the valve drive unit of the present invention;

[0044] Figure 4 yes Figure 3 A structural diagram of Module 1;

[0045] Figure 5 yes Figure 4 Schematic diagram of the positioning device for intermediate tooling;

[0046] Figure 6 yes Figure 4 Schematic diagram of the intermediate transfer tooling;

[0047] Figure 7 yes Figure 4 Schematic diagram of the structure of the motor placement detection device;

[0048] Figure 8 yes Figure 3 Schematic diagram of the structure of Module 2;

[0049] Figure 9 yes Figure 8 A schematic diagram of the central insertion mechanism, the first flow turntable, and the lifting mechanism;

[0050] Figure 10 yes Figure 9 A schematic diagram of the middle insertion pin mechanism;

[0051] Figure 11 yes Figure 8 A schematic diagram of the structure of the first engaging device;

[0052] Figure 12 yes Figure 8 A partial structural schematic diagram of the first engagement detection device in the middle section;

[0053] Figure 13 yes Figure 3 Schematic diagram of the structure of Module 3;

[0054] Figure 14 yes Figure 3 Schematic diagram of the structure of Module 4;

[0055] Figure 15 yes Figure 3 Schematic diagram of the structure of Module 5; Figure;

[0056] Figure 16 yes Figure 15 Schematic diagram of the middle ratchet assembly clamping, handling and rotating assembly device;

[0057] Figure 17 yes Figure 3 A structural diagram of Module Six;

[0058] In the diagram: 01-Valve drive unit, 011-Motor module, 0111-Motor, 0112-First slot, 012-Lower mounting bracket module, 0121-Lower mounting bracket, 0122-First hook, 0123-Second slot, 0124-Gear shaft, 013-Transmission gear, 014-Output gear, 015-Upper mounting bracket module, 0151-Upper mounting bracket, 0152-Second hook, 0153-Gear assembly, 016-Ratchet and pawl module, 0161-Ratchet assembly, 01611-Internal ratchet, 01612-Transition gear, 0162-Pawl, 1-Transfer tooling, 11-Platform, 12-Motor mounting base, 121-Motor energizing device, 13-Electrifying electrode, 131-Battery cell. 14-Wire harness structure, 15-Magnet, 16-Positioning post, 17-Floating top rod structure, 18-Positioning trigger, 2-Conveying device, 21-Tooling positioning device, 211-Frame, 212-Front gear lifting mechanism, 213-Rear gear lifting mechanism, 214-Electrified pin lifting mechanism, 215-Floating positioning post structure, 216-First photoelectric sensor, 3-Motor module assembly device, 31-Motor gear vibration feeding mechanism, 32-Motor gear adsorption and handling mechanism, 4-Motor placement detection device, 41-Lifting drive component, 42-Mounting frame, 43-Trigger rod, 44-Floating spring, 45-Second photoelectric sensor, 5-Motor gear installation placement detection device, 6-Lower mounting frame module assembly device, 61 - First turntable, 611- First positioning fixture, 62- Lower mounting frame vibration feeding mechanism, 63- Lower mounting frame adsorption and conveying mechanism, 64- Gear shaft vibration feeding mechanism, 65- Pin insertion mechanism, 651- Frame, 652- Mounting platform, 653- Support frame, 654- Horizontal transfer structure, 6541- Transfer plate, 6542- Horizontal drive module, 655- Gear shaft positioning block, 656- Ejector pin pressing structure, 6561- Pressing drive component, 6562- Mounting block, 6563- Ejector pin, 6564- Floating ejector rod assembly, 657- Guide structure, 66- Lower mounting frame module unloading and conveying mechanism, 67- Linear vibration conveying mechanism, 68- Lifting mechanism, 69- Gear shaft installation in place detection mechanism, 7- Module assembly device, 8-first engaging device, 81-first bracket, 82-first lifting drive component, 83-first multi-jaw chuck, 84-first mounting bracket, 85-pushing assembly, 9-first engaging position detection device, 91-second multi-jaw chuck, 92-second mounting bracket, 93-photoelectric detection component, 10-gear assembly device, 101-first transmission gear assembly mechanism, 102-second transmission gear assembly mechanism, 103-first oiling device, 104-output gear assembly mechanism, 105-third transmission gear assembly mechanism, 106-second oiling device, 110-upper mounting bracket assembly device, 1101-upper mounting bracket feeder, 1102-upper mounting bracket suction and conveying mechanism, 111-second engaging device.112-Second engagement detection device; 113-Laser detection device; 114-Gear assembly device; 115-Ratchet assembly device; 1151-Second rotary table; 1152-Second positioning fixture; 1153-Transition gear feeder; 1154-Transition gear handling mechanism; 1155-Ratchet feeder; 1156-Ratchet handling mechanism; 116-Ratchet clamping, handling, and rotating assembly device; 1161-Horizontal drive mechanism; 1162-Vertical drive mechanism; 1163-Rotary drive mechanism; 1164-Clamping mechanism; 1165-First upper CCD camera; 117-Pawl clamping, handling, and rotating assembly device; 1171-Second upper CCD camera; 118-Pawl vibrating feeder; 119-Pawl preload detection device; 200-Appointment detection device; 201-Unloading robot. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0060] It should be noted that if the embodiments of the present invention involve directional indication, the directional indication is only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0061] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0062] Depend on Figure 1 As shown, a valve drive unit 01 includes a motor module 011, a lower mounting frame module 012, multiple transmission gears 013, an output gear 014, an upper mounting frame module 015, and a ratchet and pawl module 016.

[0063] The motor module 011 includes a motor 0111 and a motor gear mounted on the drive shaft of the motor 0111. The lower mounting frame module 012 includes a lower mounting frame 0121 and multiple gear shafts 0124 disposed on the lower mounting frame 0121; the lower mounting frame 0121 is provided with a clearance hole for the motor gear to extend; a transmission gear 013 and an output gear 014 are mounted on corresponding gear shafts 0124; the transmission gear 013 is a double gear, and the output gear 014 includes a first external gear ring portion, an intermediate shaft portion, a second external gear ring portion, and a connecting shaft portion connected sequentially from bottom to top, with one end of the connecting shaft portion having a square structure. The lower mounting frame 0121 is provided with multiple first hooks 0122 and second slots 0123; the periphery of the motor 0111 is provided with multiple first slots 0112 that are adapted to and engage with the first hooks 0122. The upper mounting bracket module 015 includes an upper mounting bracket 0151 and a gear assembly 0153. The upper mounting bracket 0151 has a clearance opening for the second external gear ring portion and the connecting shaft portion to extend out, and the upper mounting bracket 0151 has multiple second hooks 0152, which are adapted to engage with second slots 0123. A receiving space is formed between the upper mounting bracket 0151 and the lower mounting bracket 0121, and the first external gear ring portion and intermediate shaft portion of the transmission gear 013 and the output gear 014 are located within the receiving space. The gear assembly 0153 includes a mounting shaft disposed on the top of the upper mounting bracket 0151 and a rack gear rotatably mounted on the mounting shaft. The ratchet and pawl module 016 includes a ratchet assembly 0161 and a pawl 0162. The ratchet assembly 0161 includes an internal gear ratchet 01611 and a transition gear 01612. An eccentric shaft is provided at the bottom of the internal gear ratchet 01611. The transition gear 01612 is rotatably mounted on the eccentric shaft and meshes with the second external gear ring. The ratchet assembly 0161 is sleeved on the connecting shaft and abuts against the upper end face of the second external gear ring. The pawl 0162 is located inside the internal gear ratchet 01611 and is circumferentially fixed to the connecting shaft (which has a square hole in the middle that fits the square structure) that extends into the internal gear ratchet 01611.

[0064] The diagram shows three transmission gears 013. The lower gear portion of the first transmission gear meshes with the motor gear, the upper gear portion meshes with the lower gear portion of the second transmission gear, the upper gear portion of the second transmission gear meshes with the upper gear portion of the third transmission gear, and the lower gear portion of the third transmission gear meshes with the first external gear ring portion of the output gear 014. The transmission gears 013 are used to reduce the rotational power of the motor 0111 before transmitting it to the output gear 014.

[0065] Depend on Figures 1 to 17 As shown in the figure, the present invention discloses an automatic assembly method for valve drive unit 01 specifically for assembly, which is implemented based on an automatic assembly production line;

[0066] The automated assembly line mainly includes a conveyor device 2, a motor module assembly device 3, a lower mounting frame module assembly device 6, an inter-module assembly device 7, a gear assembly device 10, an upper mounting frame assembly device 110, a gear assembly device 114, a ratchet assembly device 115, a ratchet clamping, handling, and rotating assembly device 116, and a pawl clamping, handling, and rotating assembly device 117.

[0067] Automated assembly methods include:

[0068] S1. When the transfer tool 1 carrying the motor 0111 is transferred to the motor module assembly station, the motor module assembly device 3 assembles the motor gear onto the motor 0111 to form the motor module 011.

[0069] S2. The lower mounting frame module assembly device 6 pre-inserts multiple gear shafts 0124 onto the lower mounting frame 0121 to form the lower mounting frame module 012. To speed up the assembly process, step S2 can be performed simultaneously with step S1.

[0070] S3. When the transfer fixture 1 carrying the motor module 011 is transferred to the inter-module assembly station, the inter-module assembly device 7 transports and assembles the already assembled lower mounting frame module 012 onto the motor module 011 to form the first assembly.

[0071] S4. When the transfer tool 1 carrying the first assembly is transferred to each gear assembly station in sequence, the gear assembly mechanism arranged in sequence along the transfer direction in the gear assembly device 10 will assemble the corresponding transmission gear 013 and output gear 014 one by one onto the corresponding gear shaft 0124 according to their meshing relationship to form the second assembly.

[0072] S5. When the transfer tooling 1 carrying the second assembly moves to the upper mounting frame assembly station, the upper mounting frame assembly device 110 assembles the upper mounting frame 0151 onto the lower mounting frame 0121, and the second external gear ring portion and the connecting shaft portion of the output gear 014 extend out of the upper mounting frame 0151; when the transfer tooling moves to the gear assembly assembly station, the gear assembly device 114 assembles the gear assembly 0153 onto the upper mounting frame 0151 to form the upper mounting frame module 015.

[0073] S6. The ratchet assembly device 115 pre-assembles the internal toothed ratchet 01611 and the transition gear 01612 into a ratchet assembly 0161. To speed up the assembly process, step S6 can be performed simultaneously with step S5.

[0074] S7. When the transfer tooling 1 is transferred to the ratchet assembly station, the ratchet clamping and rotating assembly device 116 adjusts the angle of the ratchet assembly 0161 and assembles it onto the connecting shaft, and the transition gear 01612 meshes with the second external gear ring. When the transfer tooling 1 is transferred to the pawl assembly station, the pawl clamping and rotating assembly device 117 adjusts the angle of the pawl 0162 and assembles it into the internal gear ratchet 01611 and fixes it circumferentially with the connecting shaft, thus completing the assembly of the valve drive unit 01.

[0075] In this way, the various assembly devices in the automatic assembly production line of valve drive units are interconnected and cooperate with each other according to the set process steps to realize the automated assembly of valve drive units, improve the assembly efficiency and qualification rate of valve drive units, and meet the actual production needs of valve drive units.

[0076] The conveying device 2 facilitates the movement of the transfer tooling 1 between various assembly devices or workstations. A tooling positioning device 21 is located below the conveying device 2; the tooling positioning device 21 stops the movement of the transfer tooling 1 once it has been moved into position, facilitating the assembly of the products on it. Typically, the conveying device 2 includes multiple conveying units (i.e., belt conveyor mechanisms, including two spaced conveyor belts and a drive module); these multiple conveying units can be arranged according to space requirements, as shown in the figure, where multiple conveying units are arranged in a straight line.

[0077] In one specific embodiment, by Figure 5 and Figure 6 As shown, the transfer fixture 1 includes a platform 11, on which a motor mounting base 12 and an energized electrode 13 are provided. The bottom of the receiving groove in the motor mounting base 12 is provided with a motor energizing device 121 (including a pin block and a probe disposed on the pin block) electrically connected to the battery cell 131 on the energized electrode 13 via a wire, and a magnetic positioning structure for magnetically attracting and positioning the motor 0111. The probe in the motor energizing device 121 is used to abut against the power supply terminal of the motor 0111. The fixture positioning device 21 includes a frame 211, on which a front lifting mechanism 212, a rear lifting mechanism 213, and an energized ejector pin lifting mechanism 214 are provided. The energized ejector pin lifting mechanism 214 is used to abut against the battery cell 131 to energize it. The front lifting mechanism 212 and the rear lifting mechanism 213 cooperate to prevent the transfer fixture 1 from continuing to rotate after it has been moved into position. With this setup, the transfer fixture 1 and the fixture positioning device 21 can work together to enable the motor 0111 to rotate, which facilitates subsequent gear meshing and installation, gear installation testing, motor performance testing, and testing of the entire valve drive unit performance.

[0078] Preferably, the magnetic positioning structure includes a magnet 15 and a positioning post 16 disposed on the motor mounting base 12; the platform 11 is provided with a wire harness structure 14 and a positioning trigger 18; the frame 211 in the tooling positioning device 21 is provided with a first photoelectric sensor 216 adapted to the positioning trigger 18; the first photoelectric sensor 216 and the positioning trigger 18 cooperate with each other to accurately detect whether the transfer tooling 1 has been transferred into place. Preferably, the motor mounting base 12 is also provided with a floating top rod structure 17 with its top end extending into the receiving groove and its bottom end extending out of the platform 11; the floating top rod structure 17 includes a top rod vertically slidingly installed in the mounting cavity of the motor mounting base 12 and a floating spring sleeved on the top rod; the floating spring is used to provide an elastic force that causes the top rod to have a tendency to move away from the direction of the motor 0111. The tooling positioning device 21 at the unloading station of the valve drive unit is also equipped with a push mechanism (including a lifting cylinder and a push rod) on the frame 211. The push mechanism and the floating push rod structure 17 cooperate with each other to facilitate the motor 0111 to overcome the magnetic attraction and detach from the motor mounting base 12.

[0079] In one specific embodiment, the energized ejector pin lifting mechanism 214 includes a lifting cylinder (or other linear drive component). An insulating block is provided on the moving part of the lifting cylinder, and an energized ejector pin is mounted on the insulating block. Furthermore, the moving part of the lifting cylinder is also provided with a floating positioning column structure 215 (including a spring and a positioning column) for positioning the transfer tooling 1. In another specific embodiment, the floating positioning column structure 215 and the energized ejector pin are respectively mounted on different lifting cylinders. This arrangement allows the positioning of the transfer tooling 1 and the energization of the motor to be performed independently, improving versatility.

[0080] In one specific embodiment, the automated assembly production line further includes a motor placement detection device 4 and a motor gear installation detection device 5. The corresponding automated assembly method also includes step a: a) Before the transfer fixture 1 carrying the motor 0111 is transferred, the motor placement detection device 4 detects whether the motor 0111 is properly placed on the transfer fixture 1; if it is properly placed, the transfer proceeds; otherwise, manual adjustment is performed. The automated assembly method also includes step b, executed before step S3 and after step S2: b) When the transfer fixture 1 carrying the motor module 011 is transferred to the motor gear detection station, the motor gear installation detection device 5 detects whether the motor gear is properly installed.

[0081] The motor module assembly device 3 includes a motor gear vibration feeding mechanism 31 and a motor gear adsorption and transport mechanism 32 that adsorbs and transports the motor gears supplied by the motor gear vibration feeding mechanism 31 onto the motor 0111. The motor gear vibration feeding mechanism 31 includes a vibration feeder and a motor gear positioning mechanism. The vibration feeder includes a vibratory plate and a linear vibrator. The motor gear positioning mechanism includes a bracket, a positioning block mounted on the bracket, a positioning groove on the positioning block to accommodate the motor gear, the positioning groove corresponding to and connected to the outlet of the linear vibrator, and a lifting auxiliary feeding component on the bracket for lifting the motor gear in the positioning groove to facilitate adsorption by the motor gear adsorption and transport mechanism 32. The motor gear adsorption and transport mechanism 32 includes a horizontal drive component (selected as a horizontal cylinder, electric cylinder, or other linear motion component), a first vertical drive component (selected as a vertical cylinder, electric cylinder, or other linear motion component) mounted on the drive part of the horizontal drive component, a second vertical drive component mounted on the drive part of the first vertical drive component, and a floating suction nozzle structure mounted on the drive part of the second vertical drive component. The floating nozzle structure includes a mounting base, a nozzle rod vertically slidably mounted on the mounting base, a nozzle mounted at the bottom of the nozzle rod, and a spring sleeved on the nozzle rod. One end of the spring abuts against the mounting base, and the other end abuts against the nozzle. The top of the nozzle rod has a vent connector communicating with its inner cavity. This design allows for the adsorption of motor gears while preventing damage to the motor gears due to hard impacts.

[0082] The motor placement detection device 4 includes a lifting drive component 41 (which can be a lifting cylinder, electric cylinder, or other linear motion component), a mounting bracket 42 mounted on the power unit of the lifting drive component 41, a trigger rod 43 vertically slidably mounted on the mounting bracket 42, and a floating spring 44 sleeved on the trigger rod 43. One end of the floating spring 44 abuts against the mounting bracket 42, and the other end abuts against the contact part of the trigger rod 43. The mounting bracket 42 is equipped with a second photoelectric sensor 45 adapted to the trigger rod 43. The trigger rod 43 and the second photoelectric sensor 45 work together to detect whether the motor 0111 has been placed on the motor mounting base 12 and whether the placement height is appropriate. The motor gear placement detection device 5 has the same structure and principle (height detection principle) as the motor placement detection device 4, and will not be described in detail here.

[0083] In another specific embodiment, the lower mounting frame module assembly device 6 includes a first rotating turntable 61, a lower mounting frame vibration feeding mechanism 62, a lower mounting frame adsorption conveying mechanism 63, a gear shaft vibration feeding mechanism 64, a pin insertion mechanism 65, and a lower mounting frame module unloading and conveying mechanism 66; step S2 specifically includes:

[0084] S21. When the first rotating turntable 61 drives the first positioning fixture 611 to the lower mounting frame loading station in a circumferential direction, the lower mounting frame adsorption and transportation mechanism 63 adsorbs and transports the lower mounting frame 0121 supplied by the lower mounting frame vibration loading mechanism 62 to the first positioning fixture 611.

[0085] S22. When the first positioning fixture 611 carrying the lower mounting bracket 0121 moves circumferentially to the pin insertion station, the pin insertion mechanism 65 synchronously inserts multiple gear shafts 0124 supplied by the gear shaft vibration feeding mechanism 64 onto the lower mounting bracket 0121 to form the lower mounting bracket module 012.

[0086] S23. When the first positioning fixture 611 carrying the lower mounting frame module 012 moves circumferentially to the lower mounting frame module unloading station, the lower mounting frame module unloading and transporting mechanism 66 adsorbs and transports the lower mounting frame module 012 onto the linear vibration conveying mechanism 67.

[0087] Preferably, step S2 further includes step c, which is performed between step S22 and step S23. When the first positioning fixture 611 of the mounting bracket module 012 under the support is transferred to the gear shaft detection station, the gear shaft installation detection mechanism 69 detects whether the gear shaft is installed in place. If it is, the next step is continued; otherwise, an alarm is triggered.

[0088] The lower mounting frame vibration feeding mechanism 62 includes a vibratory feeder, a linear vibrator, and a lower mounting frame positioning mechanism. The lower mounting frame positioning mechanism is structurally similar to the motor gear positioning mechanism and will not be described in detail here. The lower mounting frame adsorption conveying mechanism 63 and the lower mounting frame module unloading conveying mechanism 66 have the same structure, both including a horizontal drive structure, a vertical drive structure mounted on the horizontal drive structure, and a floating adsorption structure mounted on the vertical drive structure. The gear shaft vibration feeding mechanism 64 includes a vibratory feeder, with a positioning block at the feed outlet. The positioning block has at least one spring tube (or flexible tube) for guiding the gear shaft 0124 during unloading.

[0089] The pin insertion mechanism 65 includes a frame 651, on which a mounting platform 652 is located above the first turntable 61. The mounting platform 652 is equipped with a support frame 653, a horizontal transfer structure 654, and a gear shaft positioning block 655. The support frame 653 has a pin pressing structure 656 on its top and a guide structure 657 (a guide block with multiple guide channels) on its side. The horizontal transfer structure 654 includes a transfer plate 6541 (the support frame 653 has a clearance opening on its side to avoid the transfer plate 6541) and a horizontal drive module 6542 for driving the transfer plate 6541 to move below the pin pressing structure 656. The transfer plate 6541 is located below the guide structure. Below 657 and above gear shaft positioning block 655, transfer plate 6541 is slidably mounted on mounting platform 652 via guide rails. Transfer plate 6541 has multiple gear shaft receiving holes, and gear shaft positioning block 655 has multiple guide positioning through holes. Guide structure 657 guides multiple gear shafts 0124 supplied by gear shaft vibration feeding mechanism 64 into their respective gear shaft receiving holes via spring tubes. Transfer plate 6541 carries gear shafts 0124 to below ejector pin pressing structure 656, which pushes all gear shafts 0124 in the receiving holes. The gear shafts 0124 are then inserted into lower mounting bracket 0121 through their respective guide positioning through holes. This configuration allows for the simultaneous insertion of multiple gear shafts 0124, and during insertion, the receiving holes and guide positioning through holes guide the gear shafts 0124, preventing bending and ensuring insertion accuracy.

[0090] Preferably, two gear shaft vibration feeding mechanisms 64 are arranged side by side. A guide structure 657 is provided on each of the opposite sides of the support frame 653. The two guide structures 657 correspond one-to-one with the gear shaft vibration feeding mechanism 64 (for guiding gear shafts 0124 of different lengths). Two horizontal transfer structures 654 are provided and located on opposite sides of the support frame 653. The gear shaft positioning block 655 is stepped and includes a first positioning part and a second positioning part. One transfer plate 6541 is located above the first positioning part, and the other transfer plate 6541 is located above the second positioning part. With this arrangement, the gear shaft positioning block 655 is stepped, the two horizontal transfer structures 654 operate bidirectionally, and the two transfer plates 6541 can respectively transfer gear shafts 0124 of different lengths, realizing the synchronous insertion of different types of gear shafts 0124 and further improving production efficiency.

[0091] Below the first rotating turntable 61 corresponding to the pin insertion mechanism 65, there is a lifting mechanism 68 for lifting the lower mounting bracket 0121 on the first positioning fixture 611 to assist in the insertion of the gear shaft 0124. (The lifting mechanism 68 has an adsorption channel for adsorbing and fixing the lower mounting bracket 0121 to prevent it from moving during the lifting process.) The pin pressing structure 656 includes a pressing drive 6561 and a mounting block 6562 connected to the power unit of the pressing drive 6561 and vertically slidably mounted on the support frame. The mounting block 6562 is provided with a pin 6563 and a floating push rod assembly 6564. The floating push rod assembly 6564 includes an elastic element and a push rod. The elastic element provides an elastic force that causes the push rod to move towards the lower mounting bracket 0121. When inserting the gear shaft 0124, the lifting mechanism 68 first lifts the lower mounting bracket 0121 from the first positioning fixture 611, so that it enters the clearance opening on the mounting table 652 and abuts against the bottom surface of the gear shaft positioning block 655 (the mounting holes on the lower mounting bracket 0121 correspond one-to-one with the guide positioning through holes); then the pressing drive 6561 in the ejector pin pressing structure 656 is activated, and the ejector pin 6563 pushes the gear shaft 0124 in the gear shaft receiving hole onto the lower mounting bracket 0121. At this time, the floating ejector rod assembly 6564 abuts against the lower mounting bracket 0121 (the elastic element in the floating ejector rod assembly 6564 is compressed). After the insertion is completed, the lifting mechanism 68 descends. At this time, the floating ejector rod assembly 6564 still gives the lower mounting bracket 0121 a downward force, which facilitates the separation of the lower mounting bracket 0121 from the gear shaft positioning block 655 and prevents material from being carried along.

[0092] The gear shaft installation detection mechanism 69 includes a vertical cylinder, a connecting frame mounted on the moving part of the vertical cylinder, multiple floating trigger rods vertically slidably mounted on the connecting frame, and multiple photoelectric detection devices mounted on the connecting frame and corresponding to the floating trigger rods; the number of floating trigger rods corresponds to the number of gear shafts 0124.

[0093] In another specific embodiment, the automated assembly production line further includes a first engagement device 8 and a first engagement detection device 9 located downstream of the inter-module assembly device 7; the corresponding step S3 further includes:

[0094] d. When the transfer tool 1 carrying the first assembly moves to the lower mounting frame engagement station, the first engagement device 8 radially pushes the hook (first hook 0122) on the lower mounting frame 0121 to engage with the slot (first slot 0112) on the motor 0111.

[0095] e. When the transfer tooling 1 continues to the lower mounting frame engagement detection station, the first engagement detection device 9 detects whether the first hook 0122 is engaged in the first slot 0112; if yes, continue to the next step; if no, alarm.

[0096] The inter-module assembly device 7 and the lower mounting frame module unloading and handling mechanism 66 have similar structures and working principles, and will not be described in detail here. The first engagement device 8 includes a first bracket 81, a first lifting drive 82 disposed on the first bracket 81, and a first multi-jaw chuck 83 disposed on the drive part of the first lifting drive 82. The jaws of the first multi-jaw chuck 83 are provided with a first mounting frame 84. A push assembly 85 (including a push rod and a sleeve on the push rod, one end of which abuts against the first mounting frame 84, and the other end of which abuts against the stepped surface of the push rod) is radially slidably mounted on the first mounting frame 84. The first engagement positioning detection device 9 includes a second bracket, a second lifting drive 91 disposed on the second bracket, and a second multi-jaw chuck 91 disposed on the drive part of the second lifting drive 91. The jaws of the second multi-jaw chuck 91 are provided with a second mounting frame 92. The second mounting frame 92 is provided with a photoelectric detection assembly 93. The photoelectric detection assembly 93 includes a floating trigger push rod radially slidably mounted on the second mounting frame 92 and a photoelectric sensor adapted to the floating trigger push rod.

[0097] In another specific embodiment, the gear assembly device 10 in step S4 includes a first transmission gear assembly mechanism 101, a second transmission gear assembly mechanism 102, a first oiling device 103, an output gear assembly mechanism 104, a third transmission gear assembly mechanism 105, and a second oiling device 106 arranged sequentially. Step S4 specifically includes:

[0098] S41. When the transfer tool 1 carrying the first component is transferred to the first gear assembly station, the first transmission gear assembly mechanism 101 assembles a transmission gear 013 onto the corresponding gear shaft 0124.

[0099] S42. When the transfer tool 1 carrying the first component is transferred to the second gear assembly station, the second transmission gear assembly mechanism 102 assembles another transmission gear 013 onto the corresponding gear shaft 0124.

[0100] S43. When the transfer tool 1 carrying the first component is transferred to the first oiling station, the first oiling device 103 applies lubricating oil at the gear meshing point.

[0101] S44. When the transfer fixture 1 carrying the first assembly moves to the third gear assembly station, the output gear assembly mechanism 104 assembles the output gear 014 onto the corresponding gear shaft 0124.

[0102] S45. When the transfer tool 1 carrying the first assembly moves to the fourth gear assembly station, the third transmission gear assembly mechanism 105 assembles another transmission gear 013 onto the corresponding gear shaft 0124.

[0103] S46. When the transfer tool 1 carrying the first component moves to the second oiling station, the second oiling device 106 applies lubricating oil at the gear meshing point.

[0104] During gear installation, the tooling positioning device 21 energizes the motor 0111 carried on the transfer tooling 1. The energized motor 0111 rotates, driving the pre-installed gear to rotate, thus realizing the meshing assembly between gears and improving the assembly yield.

[0105] The first transmission gear assembly mechanism 101, the second transmission gear assembly mechanism 102, the output gear assembly mechanism 104, and the third transmission gear assembly mechanism 105 all include a gear vibration feeding mechanism and a gear adsorption and conveying mechanism. The gear vibration feeding mechanism is largely the same in principle and structure as the motor gear vibration feeding mechanism 31, and the gear adsorption and conveying mechanism is largely the same in principle and structure as the motor gear adsorption and conveying mechanism 32; therefore, details will not be elaborated here. The first oiling device 103 and the second oiling device 106 both include a third support, a vertical cylinder mounted on the third support, and an oiling mechanism mounted on the power unit of the vertical cylinder.

[0106] In another specific embodiment, the upper mounting frame assembly device 110 in step S5 includes an upper mounting frame feeder 1101 and an upper mounting frame adsorption and conveying mechanism 1102. The upper mounting frame feeder 1101 and the lower mounting frame vibration feeding mechanism 62, and the upper mounting frame adsorption and conveying mechanism 1102 and the lower mounting frame adsorption and conveying mechanism 63 have roughly the same structure and principle, and will not be described in detail here. The gear assembly device 114 includes a gear shaft vibration feeding mechanism, a pin insertion mechanism, a gear shaft installation position detection mechanism, a gear vibration feeding mechanism, and a gear adsorption and conveying assembly mechanism; the specific structural composition is described above and will not be repeated here.

[0107] In addition, step S5 also includes the following steps:

[0108] f. When the transfer tool 1 is transferred to the upper mounting frame engagement station, the second engagement device 111 radially pushes the hook (second hook 0152) on the upper mounting frame 0151 so that the second hook 0152 engages with the slot (second slot 0123) on the lower mounting frame 0121.

[0109] g. When the transfer tooling 1 continues to the upper mounting frame engagement detection station, the second engagement detection device 112 detects whether the second hook 0152 is engaged in the second slot 0123. If it is engaged, continue to the next step; if it is not engaged, an alarm is triggered.

[0110] h. When the transfer fixture 1 continues to the tooth missing detection station, the laser beam emitted by the laser detection device 113 is aimed at the second outer gear ring of the output gear 014 to detect whether there is a missing tooth; if there is a missing tooth, an alarm is triggered; if it is normal, the next step is continued.

[0111] The upper mounting bracket engagement station, the upper mounting bracket engagement inspection station, and the missing tooth inspection station are sequentially set between the upper mounting bracket assembly station and the gear assembly station.

[0112] The second locking device 111 and the first locking device 8, the second locking position detection device 112 and the first locking position detection device 9 are similar in principle and structure, the difference being the number of jaws in the multi-jaw chuck; this will not be elaborated here.

[0113] The laser detection device 113 includes a column, a lifting cylinder mounted on the column, and a laser displacement sensor connected to the power unit of the lifting cylinder. The laser beam of the laser displacement sensor is aligned with the second external gear ring of the output gear 014. The power from the motor 0111 is ultimately transmitted to the output gear 014. The rotating fixture 1 and the fixture positioning device 21 work together to energize the motor 0111, causing it to rotate. If a tooth is missing, the output gear 014 will not rotate or will not be detected. If the motor 0111 rotates unevenly, the laser displacement sensor will detect irregular numerical fluctuations and trigger an alarm. If none of these problems occur, the assembly continues to the next step.

[0114] In another specific embodiment, in step S6, the ratchet assembly device 115 includes a second rotary table 1151, a transition gear feeder 1153, a transition gear conveying mechanism 1154, a ratchet feeder 1155, and a ratchet conveying mechanism 1156; step S6 specifically includes:

[0115] S61. When the second rotating turntable 1151 drives the second positioning fixture 1152 to rotate circumferentially to the transition gear loading station, the transition gear conveying mechanism 1154 adsorbs and transports the transition gear 01612 supplied by the transition gear feeder 1153 to the second positioning fixture 1152.

[0116] S62. When the second positioning fixture 1152 carrying the transition gear 01612 circumferentially moves to the ratchet loading station, the ratchet conveying mechanism 1156 transports the internal gear ratchet 01611 supplied by the ratchet feeder 1155 onto the second positioning fixture 1152 and inserts the eccentric shaft at the bottom end of the internal gear ratchet 01611 into the center hole of the transition gear 01612 to form a ratchet assembly 0161. Pre-assembling the ratchet assembly 0161 can avoid the occurrence of the transition gear 01612 being missing.

[0117] The transition gear feeder 1153 and ratchet feeder 1155 are based on the same principle and have roughly the same structure as the motor gear vibration feeder 31, and will not be described in detail here. Similarly, the transition gear conveying mechanism 1154 and ratchet conveying mechanism 1156 are based on the same principle and have roughly the same structure as the motor gear adsorption conveying mechanism 32, and will not be described in detail here.

[0118] In another specific embodiment, in step S7, the ratchet clamping and transporting rotary assembly device 116 and the pawl clamping and transporting rotary assembly device 117 have the same structure. The following description takes the ratchet clamping and transporting rotary assembly device 116 as an example. The ratchet clamping and transporting rotary assembly device 116 includes a horizontal drive mechanism 1161, a vertical drive mechanism 1162 disposed at the drive end of the horizontal drive mechanism 1161, a rotary drive mechanism 1163 disposed at the drive end of the vertical drive mechanism 1162, and a clamping mechanism 1164 disposed on the rotary drive mechanism 1163. An upper CCD camera is provided on the drive end of the horizontal drive mechanism 1161 (the upper CCD camera on the ratchet clamping and transporting rotary assembly device 116 is referred to as the first upper CCD camera 1165, and the upper CCD camera on the pawl clamping and transporting rotary assembly device 117 is referred to as the second upper CCD camera 1171). A first lower CCD camera is provided on the ratchet assembly station, and a second lower CCD camera is provided on the pawl assembly station.

[0119] Both the first upper CCD camera 1165 and the second upper CCD camera 1171 are used to detect the state of the output gear 014 on the transfer tooling 1 after it has been transferred into place. The first lower CCD camera is used to detect the state of the ratchet assembly 0161 held by the ratchet assembly clamping and transporting rotary assembly device 116; the second lower CCD camera is used to detect the state of the pawl 0162 held by the pawl transporting and rotating assembly mechanism 832. The first upper CCD camera 1165 and the first lower CCD camera work together to determine the rotation angle of the rotary drive mechanism 1163 in the ratchet assembly clamping and transporting rotary assembly device 116, so as to adjust the angle of the ratchet assembly 0161 and ensure the precise meshing of the transition gear 01612 with the second external gear ring of the output gear 014. The second upper CCD camera 1171 and the second lower CCD camera work together to determine the rotation angle of the rotary drive mechanism in the pawl clamping and transporting rotary assembly device 117, so as to adjust the angle of the ratchet assembly 0161 and ensure that the square hole in the middle of the pawl 0162 corresponds to the square structure on the connecting shaft of the output gear 014.

[0120] In addition, step S7 also includes: when the transfer tooling is transferred to the oiling station, the third oiling device applies grease to the ratchet assembly 0161. Along the transfer direction of the transfer tooling 1 on the conveyor device 2, the oiling station is located downstream of the ratchet assembly station and upstream of the pawl assembly station.

[0121] In another specific embodiment, the automated assembly production line further includes a pawl preload detection device 119, a position detection device 200, and a material unloading robot 201. The corresponding automated assembly method also includes:

[0122] S8. When the transfer tool 1 carrying the valve drive unit 01 is transferred to the pawl preload detection station, the pawl preload detection device 119 applies downward pressure to the pawl 0162 and takes a picture for detection.

[0123] S9. When the transfer fixture 1 carrying the valve drive unit 01 is transferred to the gear inspection station, the positioning detection device 200 performs installation positioning detection on the transition gear 01612 and the gear in the gear assembly 0153.

[0124] S10. When the transfer fixture 1 carrying the valve drive unit 01 is transferred to the product unloading station, the unloading robot 201 removes the valve drive unit 01 from the transfer fixture 1.

[0125] The pawl preload detection device 119 includes a horizontal moving module. The moving end of the horizontal moving module is equipped with a mounting plate, on which a vertical moving module and a CCD camera are mounted. The vertical moving module has a floating pressure head structure. This configuration not only improves the reliability of the pawl 0162 installation but also detects whether the pawl 0162 is missing, and detects whether the pawl 0162 and the internal ratchet 01611 are damaged after assembly. The positioning detection device 200 operates on the same principle as the motor positioning detection device 4, and its structure is also roughly similar, so it will not be described in detail here.

[0126] In short, the automatic assembly method for the valve drive unit of the present invention assembles motor gears onto a motor to form a motor module using a motor module assembly device; pre-assembles multiple gear shafts synchronously onto a lower mounting frame using a lower mounting frame module assembly device to form a lower mounting frame module; transports and assembles the assembled lower mounting frame module onto the motor module using an inter-module assembly device to form a first assembly; assembles corresponding transmission gears and output gears one by one onto the corresponding gear shafts according to their meshing relationship using a gear assembly device to form a second assembly; assembles an upper mounting frame onto a lower mounting frame using an upper mounting frame assembly device, and assembles gear assemblies onto an upper mounting frame using a gear assembly assembly device; pre-assembles an internal tooth ratchet and a transition gear into a ratchet assembly using a ratchet assembly assembly device; assembles the ratchet assembly onto a connecting shaft using a ratchet assembly clamping and rotating assembly device, and assembles the pawl into the internal tooth ratchet and fixes it circumferentially to the connecting shaft using a pawl clamping and rotating assembly device, thus completing the assembly of the valve drive unit. Finally, the assembled valve drive unit is removed from the transfer tooling by a material unloading robot.

[0127] The various embodiments in this specification are described in a progressive or parallel manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

[0128] In summary, compared with the prior art, the automatic assembly method for valve drive units of the present invention enables the automated assembly of valve drive units by connecting and cooperating with each other according to the set process steps, thereby improving the assembly efficiency and pass rate of valve drive units and meeting the actual production needs of valve drive units.

[0129] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic assembly method for a valve drive unit, characterized in that, The automatic assembly method includes: S1. When the motor-carrying tooling is transferred to the motor module assembly station, the motor module assembly device assembles the motor gears onto the motor to form a motor module. S2. The lower mounting bracket module assembly device pre-inserts multiple gear shafts synchronously onto the lower mounting bracket to form a lower mounting bracket module. S3. When the transfer tooling carrying the motor module is transferred to the inter-module assembly station, the inter-module assembly device transports and assembles the already assembled lower mounting frame module onto the motor module to form the first assembly. S4. When the transfer tool carrying the first assembly is transferred to each gear assembly station in sequence, the gear assembly mechanism arranged in sequence along the transfer direction in the gear assembly device will assemble the corresponding transmission gear and output gear one by one onto the corresponding gear shaft according to their meshing relationship to form the second assembly. S5. When the transfer tooling carrying the second component is transferred to the upper mounting frame assembly station, the upper mounting frame assembly device assembles the upper mounting frame onto the lower mounting frame, and the second external gear ring and connecting shaft of the output gear extend out of the upper mounting frame; when the transfer tooling is transferred to the gear assembly assembly station, the gear assembly device assembles the gear assembly onto the upper mounting frame to form the upper mounting frame module. S6. The ratchet assembly device pre-assembles the internal ratchet and the transition gear into a ratchet assembly. S7. When the transfer tooling is transferred to the ratchet assembly station, the ratchet clamping and rotating assembly device adjusts the angle of the ratchet assembly and assembles it onto the connecting shaft, and the transition gear meshes with the second external gear ring. When the transfer tooling is transferred to the pawl assembly station, the pawl clamping and rotating assembly device adjusts the angle of the pawl and assembles it into the internal ratchet and fixes it circumferentially with the connecting shaft, thus completing the assembly of the valve drive unit.

2. The automatic assembly method for valve drive unit according to claim 1, characterized in that, The lower mounting frame module assembly device includes a first rotary table, a lower mounting frame vibration feeding mechanism, a lower mounting frame adsorption and conveying mechanism, a gear shaft vibration feeding mechanism, a pin insertion mechanism, and a lower mounting frame module unloading and conveying mechanism. Step S2 specifically includes: S21. When the first rotating turntable drives the first positioning fixture to the lower mounting frame loading station in a circumferential direction, the lower mounting frame adsorption and conveying mechanism adsorbs and conveys the lower mounting frame supplied by the lower mounting frame vibration loading mechanism to the first positioning fixture. S22. When the first positioning fixture carrying the lower mounting frame is circumferentially transferred to the pin insertion station, the pin insertion mechanism synchronously inserts the multiple gear shafts supplied by the gear shaft vibration feeding mechanism into the lower mounting frame to form the lower mounting frame module. S23. When the first positioning fixture carrying the lower mounting frame module moves circumferentially to the lower mounting frame module unloading station, the lower mounting frame module unloading and transporting mechanism adsorbs and transports the lower mounting frame module onto the linear vibration conveyor mechanism.

3. The automatic assembly method for the valve drive unit according to claim 2, characterized in that, The pin insertion mechanism includes a frame, on which a mounting platform is provided above the first rotating turntable; the mounting platform is provided with a support frame, a horizontal transfer structure and a gear shaft positioning block; The support frame has a top pin pressing structure and a side guiding structure; the horizontal transfer structure includes a transfer plate and a horizontal drive module for driving the transfer plate to move below the pin pressing structure. The transfer plate is located below the guiding structure and above the gear shaft positioning block; the transfer plate has multiple gear shaft receiving holes, and the gear shaft positioning block has multiple guide positioning through holes. The material guiding structure is used to guide the gear shaft supplied by the gear shaft vibration feeding mechanism into the gear shaft receiving hole; the ejector pin pressing structure is used to push the gear shaft in the gear shaft receiving hole, and the gear shaft is inserted into the lower mounting bracket through the guide positioning through hole.

4. The automatic assembly method for valve drive unit according to claim 1, characterized in that, Step S3 also includes: When the transfer tool carrying the first component moves to the lower mounting frame engagement station, the first engagement device radially pushes the hook on the lower mounting frame to engage the hook with the slot on the motor. When the transfer tooling continues to transfer to the lower mounting frame engagement detection station, the first engagement detection device detects whether the hook is engaged in the slot.

5. The automatic assembly method for the valve drive unit according to claim 4, characterized in that, The first engaging device includes a first bracket, a first lifting drive component disposed on the first bracket, and a first multi-jaw chuck disposed on the drive part of the first lifting drive component. The jaws of the first multi-jaw chuck are provided with a first mounting bracket, and a pushing component is radially slidably mounted on the first mounting bracket. The first engagement detection device includes a second bracket, a second lifting drive component disposed on the second bracket, and a second multi-jaw chuck disposed on the drive part of the second lifting drive component. The jaws of the second multi-jaw chuck are provided with a second mounting frame, and the second mounting frame is provided with a photoelectric detection component. The photoelectric detection component includes a floating trigger rod that is radially slidably mounted on the second mounting frame and a photoelectric sensor adapted to the floating trigger rod.

6. The automatic assembly method for a valve drive unit according to claim 1, characterized in that, The ratchet assembly device includes a second rotary table, a transition gear feeder, a transition gear conveying mechanism, a ratchet feeder, and a ratchet conveying mechanism; step S6 specifically includes: S61. When the second rotating turntable drives the second positioning fixture to rotate circumferentially to the transition gear loading station, the transition gear conveying mechanism will absorb and convey the transition gear supplied by the transition gear feeder to the second positioning fixture. S62. When the second positioning fixture carrying the transition gear moves circumferentially to the ratchet loading station, the ratchet conveying mechanism transports the internal tooth ratchet supplied by the ratchet feeder to the second positioning fixture and inserts the eccentric shaft at the bottom of the internal tooth ratchet into the center hole of the transition gear to form the ratchet assembly.

7. The automatic assembly method for a valve drive unit according to claim 1, characterized in that, In step S7, both the ratchet assembly clamping and transporting rotary assembly device and the pawl clamping and transporting rotary assembly device include a horizontal drive mechanism, a vertical drive mechanism disposed at the drive end of the horizontal drive mechanism, a rotary drive mechanism disposed at the drive end of the vertical drive mechanism, and a clamping mechanism disposed on the rotary drive mechanism. The horizontal drive mechanism is equipped with an upper CCD camera on its drive end, the ratchet assembly station is equipped with a first lower CCD camera, and the pawl assembly station is equipped with a second lower CCD camera.

8. The automatic assembly method for a valve drive unit according to claim 1, characterized in that, The automatic assembly method further includes, before the transfer fixture carrying the motor is transferred, a motor placement detection device detects whether the motor is placed in place on the transfer fixture. If it is placed in the correct position, it will be circulated. Otherwise, adjustments will be made manually.

9. The automatic assembly method for a valve drive unit according to claim 1, characterized in that, Step S5 further includes: when the transfer tooling is transferred to the upper mounting frame engagement station, the second engagement device radially pushes the hook on the upper mounting frame to engage the hook with the slot on the lower mounting frame; When the transfer tooling continues to transfer to the upper mounting frame engagement detection station, the second engagement detection device detects whether the hook is engaged in the slot. When the transfer tooling continues to the tooth missing detection station, the laser beam emitted by the laser detection device is aimed at the second external gear ring of the output gear to detect whether there is a missing tooth; if there is a missing tooth, an alarm is triggered; if it is normal, the assembly continues to the next step. The upper mounting bracket engagement station, the upper mounting bracket engagement detection station, and the missing tooth detection station are sequentially arranged between the upper mounting bracket assembly station and the gear assembly station.

10. The automatic assembly method for a valve drive unit according to claim 1, characterized in that, The automated assembly method further includes: S8. When the transfer tool carrying the valve drive unit is transferred to the pawl preload detection station, the pawl preload detection device applies downward pressure to the pawl and takes a picture for detection. S9. When the transfer tooling carrying the valve drive unit is transferred to the gear detection station, the positioning detection device performs installation positioning detection on the transition gear and gear assembly. S10. When the transfer fixture carrying the valve drive unit is transferred to the product unloading station, the unloading robot removes the valve drive unit from the transfer fixture.

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