Valve drive unit assembly line

Abstract

The application discloses a valve driving unit assembly production line, which comprises a motor module assembly device for assembling a motor module, a lower mounting frame module assembly device, a gear assembly device, an upper mounting frame module assembly device and a ratchet wheel and pawl module assembly device. The lower mounting frame module assembly device is used for assembling a lower mounting frame module and assembling the lower mounting frame module to the motor module. The gear assembly device is used for assembling a plurality of transmission gears and an output gear to corresponding gear shafts one by one. The upper mounting frame module assembly device is used for assembling an upper mounting frame to the lower mounting frame and assembling a gear assembly to the upper mounting frame to form an upper mounting frame module. The ratchet wheel and pawl module assembly device is used for assembling a ratchet wheel set, assembling the ratchet wheel set to a connecting shaft part and assembling a pawl to an inner tooth ratchet wheel. The application has high automation degree, improves assembly efficiency and qualified rate and meets actual production requirements.

Description

Technical Field

[0001] This invention belongs to the field of product assembly technology, and in particular relates to a valve drive unit assembly production line. 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, the assembly of valve actuators 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 a valve drive unit assembly line with a high degree of automation, which 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 a valve drive unit assembly production line, wherein the assembly production line comprises at least the following steps in sequence:

[0005] Motor module assembly equipment is used to assemble motor gears onto a motor carried by a transfer fixture to form a motor module;

[0006] The lower mounting bracket module assembly equipment is used to synchronously insert multiple gear shafts onto the lower mounting bracket to form a lower mounting bracket module, and is also used to assemble the lower mounting bracket module onto the motor module, wherein the motor gear extends out of the lower mounting bracket;

[0007] A gear assembly device for assembling multiple transmission gears and one output gear one by one onto the corresponding gear shaft;

[0008] The upper mounting bracket module assembly equipment is used to assemble the upper mounting bracket onto the lower mounting bracket, wherein the second external gear ring portion and the connecting shaft portion of the output gear extend beyond the upper mounting bracket; it is also used to assemble the gear assembly onto the upper mounting bracket to form an upper mounting bracket module;

[0009] A ratchet and pawl module assembly device is used to assemble an internal ratchet and a transition gear into a ratchet assembly, to assemble the ratchet assembly onto the connecting shaft, wherein the transition gear meshes with the second external gear ring, and to assemble the pawl into the internal ratchet and fix it circumferentially to the connecting shaft.

[0010] Furthermore, the transfer fixture includes a platform, on which a motor mounting base and an energized electrode are provided. The motor mounting base is provided with a motor energizing device electrically connected to the battery cell on the energized electrode and a magnetic positioning structure for magnetically attracting and positioning the motor. The motor energizing device abuts against the power supply terminal of the motor.

[0011] Furthermore, the assembly production line also includes a conveying device, which includes a conveying device for moving the transfer tooling between various assembly equipment or workstations and a plurality of tooling positioning devices disposed below the conveying device and corresponding to each workstation; the tooling positioning device includes a frame, on which a front lifting mechanism, a rear lifting mechanism and an energized ejector pin lifting mechanism are provided.

[0012] Furthermore, the motor module assembly equipment includes a motor placement detection device, a motor gear loading and handling assembly device, and a motor gear installation detection device, which are arranged sequentially along the flow direction of the transfer tooling.

[0013] The motor placement detection device is used to detect whether the motor is placed in the correct position on the transfer fixture; the motor gear feeding and conveying assembly device includes a motor gear vibration feeding mechanism and a motor gear adsorption conveying mechanism for adsorbing and conveying the motor gear supplied by the motor gear vibration feeding mechanism onto the motor; the motor gear installation detection device is used to detect whether the motor gear is installed in place.

[0014] Furthermore, the lower mounting frame module assembly equipment includes a lower mounting frame module assembly device and a material handling assembly and testing device;

[0015] The lower mounting frame module assembly device includes a first turntable, a lower mounting frame vibration feeding mechanism for supplying the lower mounting frame, a lower mounting frame adsorption and transport mechanism for adsorbing and transporting the lower mounting frame onto the lower mounting frame positioning fixture on the first turntable, a gear shaft vibration feeding mechanism, a pin insertion mechanism for synchronously inserting multiple gear shafts supplied by the gear shaft vibration feeding mechanism into the lower mounting frame, and a lower mounting frame module unloading and transport mechanism; the material picking and assembly detection device is used to assemble the lower mounting frame module onto the motor module and detect whether the assembly is in place.

[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, the material handling assembly and testing device includes a lower mounting frame module transport mechanism for transporting and assembling the lower mounting frame module onto the motor module, a first engaging mechanism for radially pushing the hooks on the lower mounting frame to engage with the slots on the motor, and a first engaging detection mechanism for detecting whether the hooks are engaged in the slots.

[0020] Furthermore, the gear assembly equipment includes a first transmission gear assembly device, a second transmission gear assembly device, a first oiling device for applying grease to the gear meshing area, an output gear assembly device, a third transmission gear assembly device, and a second oiling device for applying grease to the gear meshing area, arranged sequentially along the flow direction of the transfer tooling.

[0021] The first transmission gear assembly device, the second transmission gear conversion device, the output gear assembly device, and the third transmission gear assembly device all include a gear vibration feeder and a gear adsorption and conveying mechanism.

[0022] Furthermore, the upper mounting frame module assembly equipment includes an upper mounting frame feeder, an upper mounting frame adsorption and conveying device, a second engagement mechanism for radially pushing the hooks on the upper mounting frame to engage with the slots on the lower mounting frame, a second engagement detection mechanism for detecting whether the hooks on the upper mounting frame are engaged in the slots, a laser detection device for installing and detecting the output gear, and a gear assembly device.

[0023] Furthermore, the ratchet and pawl module assembly equipment includes a ratchet assembly device, a ratchet assembly handling and rotating assembly device, and a pawl rotating assembly device;

[0024] The ratchet assembly device includes a second rotary table, a transition gear feeder, a transition gear transport mechanism, a ratchet feeder, and a ratchet transport mechanism. The transition gear transport mechanism is used to transport the transition gear supplied by the transition gear feeder to a positioning fixture on the second rotary table. The ratchet transport mechanism is used to transport the internal tooth ratchet supplied by the ratchet feeder to the positioning fixture carrying the transition gear and to insert the eccentric shaft at the bottom end of the internal tooth ratchet into the central hole of the transition gear.

[0025] The ratchet assembly transport and rotation device is used to clamp and transport the ratchet assembly assembled on the positioning fixture to the upper mounting frame module, adjust the angle of the ratchet assembly, and then fit it onto the connecting shaft.

[0026] The pawl rotary assembly device includes a pawl vibrating feeder and a pawl transport rotary assembly mechanism; the pawl transport rotary assembly mechanism is used to clamp and transport the pawl supplied by the pawl vibrating feeder to the top of the ratchet assembly, adjust the angle of the pawl, and then install it onto the connecting shaft inside the internal tooth ratchet.

[0027] Furthermore, the assembly line also includes a valve drive unit unloading device; the valve drive unit unloading device includes a pawl pre-pressure detection device for applying downward pressure to the pawl and taking photographic inspection, a positioning detection device for detecting the installation position of the transition gear and the gear assembly, and an unloading robot; the unloading robot is equipped with an anti-snagging detection mechanism for detecting whether the wires on the motor are tangled or snagged, and the anti-snagging detection mechanism is equipped with a product clamping mechanism.

[0028] Due to the adoption of the above technical solution, the beneficial effects achieved by the present invention are as follows:

[0029] The valve drive unit assembly production line of this invention assembles motor gears onto a motor carried by a transfer fixture using a motor module assembly equipment to form a motor module; a lower mounting frame module assembly equipment synchronously inserts multiple gear shafts onto a lower mounting frame to form a lower mounting frame module, and then assembles the lower mounting frame module onto the motor module, allowing the motor gears to extend beyond the lower mounting frame; a gear assembly equipment assembles multiple transmission gears and one output gear one by one onto their respective gear shafts; an upper mounting frame module assembly equipment assembles the upper mounting frame onto the lower mounting frame, with the second external gear ring and connecting shaft of the output gear extending beyond the upper mounting frame; a gear assembly is also assembled onto the upper mounting frame to form an upper mounting frame module; finally, a ratchet and pawl module assembly equipment assembles an internal ratchet and a transition gear into a ratchet assembly, assembles the ratchet assembly onto the connecting shaft, with the transition gear meshing with the second external gear ring; and finally, the pawl is assembled into the internal ratchet and circumferentially fixed to the connecting shaft. Compared with existing technologies, the valve drive unit assembly production line of this invention connects and coordinates various assembly equipment to replace manual operation, realizes automated assembly of valve drive units, improves assembly efficiency and pass rate of valve drive units, and meets the actual production needs of valve drive units. Attached Figure Description

[0030] 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.

[0031] Figure 1 This is a schematic diagram of the valve drive unit in the valve drive unit assembly production line of the present invention;

[0032] Figure 2 This is a structural layout diagram of the valve drive unit assembly production line of the present invention;

[0033] Figure 3 yes Figure 2 A schematic diagram of the structure of the motor module assembly equipment and some conveying equipment;

[0034] Figure 4 yes Figure 3 Schematic diagram of the positioning device for intermediate tooling;

[0035] Figure 5 yes Figure 3 Schematic diagram of the intermediate transfer tooling;

[0036] Figure 6 yes Figure 3 Schematic diagram of the structure of the motor placement detection device;

[0037] Figure 7 yes Figure 3 Schematic diagram of the gear adsorption and conveying mechanism of the electric motor;

[0038] Figure 8 yes Figure 2 A structural schematic diagram of the middle and lower mounting frame module assembly equipment and some conveying equipment;

[0039] Figure 9 yes Figure 8 Top view;

[0040] Figure 10 yes Figure 9 A schematic diagram of the central insertion mechanism, the first flow turntable, and the lifting mechanism;

[0041] Figure 11 yes Figure 10 A schematic diagram of the middle insertion pin mechanism;

[0042] Figure 12 yes Figure 9 Schematic diagram of the mechanism for detecting the installation position of the intermediate gear shaft;

[0043] Figure 13 yes Figure 8 A schematic diagram of the first engagement mechanism;

[0044] Figure 14 yes Figure 8 A partial structural diagram of the first card-fitting detection mechanism in the middle section;

[0045] Figure 15 yes Figure 1 Schematic diagram of the gear assembly equipment and some transmission equipment;

[0046] Figure 16 yes Figure 1 A structural schematic diagram of the upper and middle mounting frame module assembly equipment and some conveying equipment;

[0047] Figure 17 yes Figure 1 A schematic diagram of the assembly equipment for the ratchet and pawl module and some of the conveying equipment;

[0048] Figure 18 yes Figure 17 Top view;

[0049] Figure 19 yes Figure 17 Schematic diagram of the middle ratchet assembly and handling rotating device;

[0050] Figure 20 yes Figure 1 A schematic diagram of the valve drive unit's feeding device and some conveying equipment;

[0051] Figure 21 yes Figure 20 A schematic diagram of the product clamping mechanism;

[0052] 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-Position trigger, 2-Conveying equipment, 21-Conveying device, 22-Tooling positioning device, 221-Frame, 222-Front gear lifting mechanism, 223-Rear gear lifting mechanism, 224-Electrified pin lifting mechanism, 2241-Lifting cylinder, 2242-Electrified pin, 225-Floating positioning post structure, 2251-Spring, 2252-Positioning post, 226-First photoelectric sensor, 227-Limit baffle, 3-Motor module assembly equipment, 31-Motor placement detection device, 311-Lifting drive component, 312-Mounting bracket, 313-Trigger rod, 314-Floating spring, 315-Second photoelectric sensor, 32- Motor gear feeding, handling, and assembly device; 321-motor gear vibratory feeding mechanism; 3211-vibratory feeder; 3212-motor gear positioning mechanism; 322-motor gear adsorption and handling mechanism; 3221-horizontal drive component; 3222-first vertical drive component; 3223-second vertical drive component; 3224-floating suction nozzle structure; 33-motor gear installation in place detection device; 4-lower mounting frame module assembly device; 41-first turntable; 411-lower mounting frame positioning fixture; 42-lower mounting frame vibratory feeding mechanism; 43-lower mounting frame adsorption and handling mechanism; 44-gear shaft vibratory feeding mechanism; 45-pin insertion mechanism; 451-frame; 452-mounting platform; 453-support frame; 454-horizontal transfer. Structure: 4541-Transfer plate, 4542-Horizontal drive module, 455-Gear shaft positioning block, 456-Ejector pin pressing structure, 4561-Pressing drive component, 4562-Mounting block, 4563-Ejector pin, 4564-Floating ejector rod assembly, 457-Guiding structure, 46-Lower mounting frame module unloading and handling mechanism, 47-Linear vibratory feeder, 48-Lifting mechanism, 49-Gear shaft installation in place detection mechanism, 491-Vertical cylinder, 492-Connecting frame, 493-Floating trigger rod, 494-Photoelectric detection device, 5-Material handling assembly detection device, 51-Lower mounting frame module handling mechanism, 52-First locking mechanism, 521-First bracket, 522-First lifting drive component, 523-First multi-jaw chuck.524-First mounting bracket, 525-Pushing assembly, 53-First engagement detection mechanism, 531-Second multi-jaw chuck, 532-Second mounting bracket, 533-Photoelectric detection assembly, 6-Gear assembly equipment, 61-First transmission gear assembly device, 62-Second transmission gear assembly device, 63-First oiling device, 64-Output gear assembly device, 65-Third transmission gear assembly device, 66-Second oiling device, 7-Upper mounting bracket module assembly equipment, 71-Upper mounting bracket feeder, 72-Upper mounting bracket adsorption and conveying device, 73-Second engagement mechanism, 74-Second engagement detection mechanism, 75-Laser detection device, 76-Gear assembly assembly device, 8-Ratchet and pawl module assembly equipment, 81-Ratchet assembly device, 811-Second rotary table, 8111-Positioning fixture, 812-Transition gear feeder, 813- Transition gear handling mechanism, 814-Ratchet feeder, 815-Ratchet handling mechanism, 816-Cavity detection mechanism, 82-Ratchet group handling and rotating assembly device, 821-Horizontal drive mechanism, 822-Vertical drive mechanism, 823-Rotary drive mechanism, 824-Clamping mechanism, 825-First upper CCD camera, 83-Pawl rotating assembly device, 831-Pawl vibrating feeder, 832-Pawl handling and rotating assembly mechanism, 84-First lower CCD camera, 85-Second upper CCD camera, 86-Second lower CCD camera, 87-Third oiling device, 9-Valve drive unit unloading device, 91-Pawl preload detection device, 92-Arrival detection device, 93-Unloading robot, 94-Anti-snagging detection mechanism, 941-Fixed seat, 942-Slide seat, 943-Trigger plate, 944-Photoelectric sensor, 95-Product clamping mechanism. Detailed Implementation

[0053] 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.

[0054] 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.

[0055] 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.

[0056] Depend on Figure 1 As shown, a valve drive unit 01 includes a motor module 011, a lower mounting bracket module 012, multiple transmission gears 013, an output gear 014, an upper mounting bracket module 015, and a ratchet and pawl module 016.

[0057] 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.

[0058] 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.

[0059] Depend on Figures 1 to 21As shown in the figure, this embodiment of the invention discloses a valve drive unit assembly line specifically for assembling the aforementioned valve drive unit 01. This assembly line, according to the assembly process, includes at least the following in sequence: a motor module assembly equipment 3, a lower mounting frame module assembly equipment, a gear assembly equipment 6, an upper mounting frame module assembly equipment 7, and a ratchet and pawl module assembly equipment 8. Specifically, the motor module assembly equipment 3 is used to assemble motor gears onto the motor 0111 carried by the transfer tooling 1 to form a motor module 011. The lower mounting frame module assembly equipment is used to simultaneously insert multiple gear shafts 0124 onto the lower mounting frame 0121 to form a lower mounting frame module 012, and is also used to assemble the lower mounting frame module 012 onto the motor module 011, with the motor gears extending beyond the lower mounting frame 0121. Gear assembly equipment 6 is used to assemble multiple transmission gears 013 and one output gear 014 into meshing relationships onto the corresponding gear shafts 0124 one by one; upper mounting frame module assembly equipment 7 is used to assemble upper mounting frame 0151 onto lower mounting frame 0121, with the second outer gear ring portion and connecting shaft portion of the output gear 014 extending out of the upper mounting frame 0151; it is also used to assemble gear assembly 0153 onto upper mounting frame 0151 to form upper mounting frame module 015; ratchet and pawl module assembly equipment 8 is used to assemble internal ratchet 01611 and transition gear 01612 into ratchet assembly 0161, to assemble ratchet assembly 0161 onto connecting shaft portion, with transition gear 01612 meshing with the second outer gear ring portion, and to assemble pawl 0162 into internal ratchet 01611 and circumferentially fixed to connecting shaft portion. In this way, the interconnection and coordination between various assembly equipment in the valve drive unit assembly production line replaces manual operation, realizes the automated assembly of valve drive units, improves assembly efficiency and pass rate, and meets the actual production needs of valve drive units.

[0060] In addition, the assembly line also includes a conveying device 2, which includes a conveying unit 21 for moving the transfer tooling 1 between various assembly equipment or workstations, and multiple tooling positioning devices 22 located below the conveyor belt in the conveying unit 21 and corresponding to each workstation. The tooling positioning devices 22 are used to stop the transfer tooling 1 from moving in place, facilitating the assembly of the products on it. To facilitate handling and assembly, the conveying unit 21 typically includes multiple conveying units (i.e., belt conveyor mechanisms, including two spaced conveyor belts and a drive module). The multiple conveying units can be arranged according to space requirements; in the figure, the multiple conveying units are arranged in a straight line.

[0061] In one specific embodiment, by Figure 3 and Figure 4As 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 22 includes a frame 221, on which a front lifting mechanism 222, a rear lifting mechanism 223, and an energized ejector pin lifting mechanism 224 are provided. The energized ejector pin lifting mechanism 224 is used to abut against the battery cell 131 to energize it. The front lifting mechanism 222 and the rear lifting mechanism 223 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 22 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.

[0062] Preferably, the magnetic positioning structure includes a magnet 15 and a positioning post 16 mounted on the motor mounting base 12; the platform 11 is provided with a wire harness structure 14 and a positioning trigger 18; the frame 221 in the tooling positioning device 22 is provided with a first photoelectric sensor 226 adapted to the positioning trigger 18; the first photoelectric sensor 226 and the positioning trigger 18 cooperate to accurately detect whether the transfer tooling 1 has been transferred to the correct position. The frame 221 is provided with two limiting baffles 227, which are located above the conveyor belts and arranged along the arrangement direction of the two conveyor belts to prevent the transfer tooling 1 from moving vertically.

[0063] Preferably, the motor mounting base 12 is further provided with a floating push rod structure 17, the top end of which extends into the receiving groove and the bottom end of which extends out of the platform 11. The floating push rod structure 17 includes a push rod that is vertically slidably installed in the mounting cavity of the motor mounting base 12 and a floating spring sleeved on the push rod. The floating spring is used to provide an elastic force that makes the push rod have a tendency to move away from the direction of the motor 0111. The tooling positioning device 22 at the unloading station corresponding to the valve drive unit unloading equipment 9 is further provided with a push mechanism (including a lifting cylinder and a push rod) on the platform 221. 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.

[0064] In one specific embodiment, the energized ejector pin lifting mechanism 224 includes a lifting cylinder 2241 (or other linear drive components). An insulating block is provided on the moving part of the lifting cylinder 2241, and an energized ejector pin 2242 is mounted on the insulating block. Furthermore, the moving part of the lifting cylinder 2241 is also provided with a floating positioning column structure 225 (including a spring 2251 and a positioning column 2252) for positioning the transfer tooling 1. In another specific embodiment, the floating positioning column structure 225 and the energized ejector pin 2242 are respectively mounted on different lifting cylinders. This arrangement allows the positioning and motor energization of the transfer tooling 1 to be performed independently, improving versatility.

[0065] In one specific embodiment, by Figure 3 , Figure 6 and Figure 7 As shown, the motor module assembly equipment 3 includes a motor placement detection device 31, a motor gear loading and conveying assembly device 32, and a motor gear installation detection device 33, which are arranged sequentially along the flow direction of the transfer fixture 1 on the conveying device 21. The motor placement detection device 31 (using the height detection principle) is used to detect whether the motor 0111 is placed in the correct position on the transfer fixture 1. The motor gear loading and conveying assembly device 32 includes a motor gear vibration loading mechanism 321 and a motor gear adsorption and conveying mechanism 322 for adsorbing and conveying the motor gear supplied by the motor gear vibration loading mechanism 321 onto the motor 0111. The motor gear installation detection device 33 is used to detect whether the motor gear is installed in the correct position.

[0066] The motor placement detection device 31 includes a lifting drive component 311 (which can be a lifting cylinder, electric cylinder, or other linear motion component), a mounting bracket 312 mounted on the power unit of the lifting drive component 311, a trigger rod 313 vertically slidably mounted on the mounting bracket 312, and a floating spring 314 sleeved on the trigger rod 313. One end of the floating spring 314 abuts against the mounting bracket 312, and the other end abuts against the contact portion of the trigger rod 313. The mounting bracket 312 is equipped with a second photoelectric sensor 315 adapted to the trigger rod 313. The trigger rod 313 and the second photoelectric sensor 315 work together to detect whether the motor 0111 has been placed on the motor mounting base 12 and whether the placement height is appropriate.

[0067] The motor gear vibratory feeding mechanism 321 includes a vibratory feeder 3211 and a motor gear positioning mechanism 3212. The vibratory feeder 3211 includes a vibratory plate and a linear vibrator. The motor gear positioning mechanism 3212 includes a bracket and a positioning block mounted on the bracket. The positioning block has a positioning groove for accommodating the motor gear. The positioning groove is connected to the outlet of the linear vibrator. The bracket is provided with a lifting auxiliary feeding component for lifting the motor gear in the positioning groove so that it can be transported by the motor gear adsorption and conveying mechanism 322.

[0068] The motor gear adsorption and conveying mechanism 322 includes a horizontal drive member 3221 (which can be a horizontal cylinder, electric cylinder, or other linear motion component), a first vertical drive member 3222 (which can be a vertical cylinder, electric cylinder, or other linear motion component) mounted on the drive part of the horizontal drive member 3221, a second vertical drive member 3223 mounted on the drive part of the first vertical drive member 3222, and a floating suction nozzle structure 3224 mounted on the drive part of the second vertical drive member 3223. The floating suction nozzle structure 3224 includes a mounting base, a suction nozzle rod vertically slidably mounted on the mounting base, a suction nozzle mounted at the bottom end of the suction nozzle rod, and a spring sleeved on the suction nozzle rod. One end of the spring abuts against the mounting base, and the other end abuts against the suction nozzle. The top end of the suction 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.

[0069] The structure and principle (height detection principle) of the motor gear installation detection device 33 are the same as those of the motor placement detection device 31, and will not be described in detail here.

[0070] The following is a brief description of the working process based on the structure of motor module assembly equipment 3:

[0071] When the conveyor 21 drives the transfer fixture 1 to the motor placement and testing station, the fixture positioning device 22 activates to stop the transfer fixture 1 from rotating. At this time, the motor placement and testing device 31 starts working to perform installation and testing on the motor 0111. Afterward, the fixture positioning device 22 powers on the motor 0111 for rotational testing. If the test fails, manual adjustment is performed. After passing the test, the fixture positioning device 22 resets, and the transfer fixture 1 continues to move to the motor gear assembly station. After being placed in position, the motor gear adsorption and transport mechanism 322 adsorbs and transports the motor gear stored on the motor gear positioning mechanism 3212 onto the motor 0111. The motor 0111 and the motor gear form the motor module 011. After assembly, the transfer fixture 1 carrying the motor module 011 continues to transfer to the motor gear installation and inspection station. After the transfer is completed, the motor gear installation and inspection device 33 starts to work to check whether the motor gear is installed and the installation height. If the inspection is qualified, the transfer fixture 1 continues to transfer to the next station. If the inspection is unqualified, manual adjustment is performed.

[0072] In another specific embodiment, by Figures 8 to 14As shown, the lower mounting frame module assembly equipment includes a lower mounting frame module assembly device 4 and a material handling assembly and testing device 5. The lower mounting frame module assembly device 4 includes a first rotating turntable 41 for driving the lower mounting frame positioning fixture 411 to rotate, a lower mounting frame vibration feeding mechanism 42 for supplying the lower mounting frame 0121, a lower mounting frame adsorption and transport mechanism 43 for adsorbing and transporting the lower mounting frame 0121 to the lower mounting frame positioning fixture 411 in place, a gear shaft vibration feeding mechanism 44, a pin insertion mechanism 45 for synchronously inserting multiple gear shafts supplied by the gear shaft vibration feeding mechanism 44 into the lower mounting frame 0121, and a lower mounting frame module unloading and transport mechanism 46. The material handling assembly and testing device 5 is used to assemble the lower mounting frame module 012 onto the motor module 011 and to test whether the assembly is in place.

[0073] The lower mounting frame vibration feeding mechanism 42 includes a vibratory plate, a linear vibrator, and a lower mounting frame positioning mechanism. The lower mounting frame positioning mechanism is similar in structure to the motor gear positioning mechanism 3212, and will not be described in detail here.

[0074] The lower mounting bracket adsorption and handling mechanism 43 and the lower mounting bracket module unloading and handling mechanism 46 have the same structure (see [reference]). Figure 7 All of them include a horizontal driving structure, a vertical driving structure set on the horizontal driving structure, and a floating adsorption structure set on the vertical driving structure.

[0075] The gear shaft vibration feeding mechanism 44 includes a vibratory plate, and a positioning block is provided at the discharge port of the vibratory plate. The positioning block is provided with at least one spring tube (or flexible tube) for guiding the gear shaft 0124 to be fed.

[0076] The pin insertion mechanism 45 includes a frame 451, on which a mounting platform 452 is located above the first turntable 41. The mounting platform 452 is provided with a support frame 453, a horizontal transfer structure 454, and a gear shaft positioning block 455. The support frame 453 has a pin pressing structure 456 on its top and a guide structure 457 (a guide block with multiple guide channels) on its side. The horizontal transfer structure 454 includes a transfer plate 4541 (the support frame 453 has a clearance opening on its side to avoid the transfer plate 4541) and a horizontal drive module 4542 for driving the transfer plate 4541 to move below the pin pressing structure 456. The transfer plate 4541 is located below the guide structure. Below 457 and above gear shaft positioning block 455, transfer plate 4541 is slidably mounted on mounting platform 452 via guide rails. Transfer plate 4541 has multiple gear shaft receiving holes, and gear shaft positioning block 455 has multiple guide positioning through holes. Guide structure 457 guides multiple gear shafts 0124 supplied by gear shaft vibration feeding mechanism 44 into their respective gear shaft receiving holes via spring tubes. Transfer plate 4541 carries gear shafts 0124 to below ejector pin pressing structure 456, 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.

[0077] Preferably, two gear shaft vibration feeding mechanisms 44 are arranged side by side. A guide structure 457 is provided on each of the opposite sides of the support frame 453. The two guide structures 457 correspond one-to-one with the gear shaft vibration feeding mechanism 44 (for guiding gear shafts 0124 of different lengths). Two horizontal transfer structures 454 are provided and located on opposite sides of the support frame 453. The gear shaft positioning block 455 is stepped and includes a first positioning part and a second positioning part. One transfer plate 4541 is located above the first positioning part, and the other transfer plate 4541 is located above the second positioning part. With this arrangement, the gear shaft positioning block 455 is stepped, the two horizontal transfer structures 454 operate bidirectionally, and the two transfer plates 4541 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.

[0078] Below the first rotating turntable 41 corresponding to the pin insertion mechanism 45, there is a lifting mechanism 48 for lifting the lower mounting bracket 0121 on the lower mounting bracket positioning fixture 411 to assist in the insertion of the gear shaft 0124. (It has an adsorption channel for adsorbing and fixing the lower mounting bracket 0121 to prevent the lower mounting bracket 0121 from moving during the lifting process.) The pin pressing structure 456 includes a pressing drive 4561 and a mounting block 4562 connected to the power unit of the pressing drive 4561 and vertically slidably mounted on the support frame. The mounting block 4562 is provided with a pin 4563 and a floating push rod assembly 4564. The floating push rod assembly 4564 includes an elastic element and a push rod. The elastic element is used to provide an elastic force that makes the push rod tend to move towards the lower mounting bracket 0121. When inserting the gear shaft 0124, the lifting mechanism 48 first lifts the lower mounting bracket 0121 from the lower mounting bracket positioning fixture 411, so that it enters the clearance opening on the mounting table 452 and abuts against the bottom surface of the gear shaft positioning block 455 (the mounting holes on the lower mounting bracket 0121 correspond one-to-one with the guide positioning through holes); then the pressing drive 4561 in the ejector pin pressing structure 456 is activated, and the ejector pin 4563 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 4564 abuts against the lower mounting bracket 0121 (the elastic element in the floating ejector rod assembly 4564 is compressed). After the insertion is completed, the lifting mechanism 48 descends. At this time, the floating ejector rod assembly 4564 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 455 and prevents material from being carried along.

[0079] The lower mounting frame module assembly device 4 also includes a gear shaft installation detection mechanism 49 for detecting whether the gear shaft 0124 is installed in place, and a cavity detection mechanism for detecting whether the lower mounting frame module 012 on the lower mounting frame positioning fixture 411 has been successfully removed. Along the rotation direction of the first turntable 41, the lower mounting frame module unloading and conveying mechanism 46 is located downstream of the gear shaft installation detection mechanism 49 and upstream of the cavity detection mechanism. The gear shaft installation detection mechanism 49 includes a vertical cylinder 491, a connecting frame 492 mounted on the moving part of the vertical cylinder 491, multiple floating trigger rods 493 vertically slidably mounted on the connecting frame 492, and multiple photoelectric detection devices 494 mounted on the connecting frame 492 and corresponding to the floating trigger rods 493. The number of floating trigger rods 493 corresponds to the number of gear shafts 0124. The structure and principle of the cavity detection mechanism are similar to those of the motor placement detection device 31, and will not be described in detail here.

[0080] The lower mounting frame module assembly device 4 also includes a linear vibrating feeder 47 for buffering and conveying the lower mounting frame module 012; the lower mounting frame module unloading and conveying mechanism 46 is used to absorb and convey the qualified lower mounting frame module 012 from the lower mounting frame positioning fixture 411 to the linear vibrating feeder 47 for easy material handling and assembly by the testing device 5. In addition, the lower mounting frame module assembly device 4 also includes a waste recycling device for storing unqualified lower mounting frame modules 012 and a qualified product collection device. When the lower mounting frame module assembly device 4 is used as a standalone unit, the lower mounting frame module unloading and conveying mechanism 46 can absorb and convey qualified lower mounting frame modules 012 to the qualified product collection device. With this configuration, the lower mounting frame module assembly device 4 can function as a standalone unit for pin insertion operations, or it can be integrated with other equipment to complete the assembly after pin insertion, thus improving its versatility.

[0081] The material handling and assembly testing device 5 includes a lower mounting frame module transport mechanism 51 for transporting and assembling the lower mounting frame module 012 onto the motor module 011, a first engaging mechanism 52 for radially pushing the hooks (first hooks 0122) on the lower mounting frame 0121 into the slots (first slots 0112) on the motor 0111, and a first engaging detection mechanism 53 for detecting whether the first hooks 0122 are properly engaged in the first slots 0112. The lower mounting frame module transport mechanism 51 has a similar structure and working principle to the lower mounting frame module unloading and transport mechanism 46, and will not be described in detail here. The first engagement mechanism 52 includes a first bracket 521, a first lifting drive 522 mounted on the first bracket 521, and a first multi-jaw chuck 523 mounted on the drive portion of the first lifting drive 522. A first mounting bracket 524 is provided on the jaws of the first multi-jaw chuck 523. A pushing assembly 525 (including a push rod and a component sleeved on the push rod, one end of which abuts against the first mounting bracket 524, and the other end of which abuts against the stepped surface of the push rod) is radially slidably mounted on the first mounting bracket 524. The first engagement detection mechanism 53 includes a second bracket, a second lifting drive 522 mounted on the second bracket, and a second multi-jaw chuck 531 mounted on the drive portion of the second lifting drive 521. A second mounting bracket 532 is provided on the jaws of the second multi-jaw chuck 531. A photoelectric detection assembly 533 is provided on the second mounting bracket 532. The photoelectric detection assembly 533 includes a floating trigger push rod radially slidably mounted on the second mounting bracket 532 and a photoelectric sensor adapted to the floating trigger push rod.

[0082] The following is a brief description of the working process based on the structure of the lower mounting frame module assembly equipment:

[0083] The first rotating turntable 41 drives the lower mounting frame positioning fixture 411 to rotate (counterclockwise). When it reaches the upper mounting frame loading station, the lower mounting frame adsorption and conveying mechanism 43 adsorbs and conveys the lower mounting frame 0121 positioned on the lower mounting frame positioning mechanism in the lower mounting frame vibration loading mechanism 42 to the lower mounting frame positioning fixture 411. When the lower mounting frame positioning fixture 411 carrying the lower mounting frame 0121 continues to move to the pin insertion station, the lifting mechanism 48 lifts the lower mounting frame 0121 in the lower mounting frame positioning fixture 411 until it abuts against the bottom surface of the gear shaft positioning block 455; the pin insertion mechanism 45 operates to simultaneously insert multiple gear shafts 0124 supplied by the gear shaft vibration loading mechanism 44 into the lower mounting frame 0121 to form the lower mounting frame module 012. When the lower mounting bracket positioning fixture 411 carrying the lower mounting bracket module 012 continues to flow to the gear shaft installation inspection station, the gear shaft installation inspection mechanism 49 checks whether the gear shaft 0124 is installed correctly; the lower mounting bracket module unloading and conveying mechanism 46 picks up and transports the qualified lower mounting bracket module 012 to the linear vibrating feeder 47; the void detection mechanism located downstream of the lower mounting bracket module unloading and conveying mechanism 46 performs void detection on the lower mounting bracket positioning fixture 411.

[0084] The lower mounting frame module transport mechanism 51 in the material handling assembly and testing device 5 transports the lower mounting frame module 012, which has been delivered by the linear vibrating feeder 47, to the transfer device 21 and onto the transfer fixture 1, which carries the motor module 011. When the transfer fixture 1 continues to transfer to the first engagement station, the first lifting drive component 522 in the first engagement mechanism 52 descends into place, and the jaws of the first multi-jaw chuck 523 move radially toward the first hook 0122. The pushing component 525 radially pushes the first hook 0122 on the lower mounting frame 0121. 22. Engage it with the first slot 0112 on the motor 0111; after engagement, the transfer fixture 1 carrying the semi-finished product continues to transfer to the first engagement detection station. The second lifting drive component in the first engagement detection mechanism 53 descends into place, and the claws on the second multi-jaw chuck 531 move radially. The photoelectric detection component 533 detects whether the first hook 0122 is engaged in place. If the engagement is not in place, manual adjustment is made. If the engagement is in place, the transfer fixture 1 proceeds to the next station; the entire assembly of the lower mounting frame module 012 is completed.

[0085] In another specific embodiment, by Figure 8 , Figure 15As shown, the gear assembly equipment 6 includes a first transmission gear assembly device 61, a second transmission gear assembly device 62, a first oiling device 63 for applying lubricating oil to the gear meshing points, an output gear assembly device 64, a third transmission gear assembly device 65, and a second oiling device 66 for applying lubricating oil to the gear meshing points, arranged sequentially along the flow direction of the transfer tooling 1. The first transmission gear assembly device 61, the second transmission gear assembly device 62, the output gear assembly device 64, and the third transmission gear assembly device 65 all include a gear vibration feeding mechanism and a gear adsorption and conveying mechanism. The gear vibration feeding mechanism is roughly the same in principle and structure as the motor gear vibration feeding mechanism 321, and the gear adsorption and conveying mechanism is roughly the same in principle and structure as the motor gear adsorption and conveying mechanism 322, and will not be described in detail here. The first oiling device 63 and the second oiling device 66 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.

[0086] During gear installation, the tooling positioning device 22 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.

[0087] In another specific embodiment, by Figure 16 As shown, the upper mounting frame module assembly equipment 7 includes an upper mounting frame feeder 71, an upper mounting frame adsorption and conveying device 72, a second engagement mechanism 73 for radially pushing the hooks (second hooks 0152) on the upper mounting frame 0151 to engage with the slots (second slots 0123) on the lower mounting frame 0121, a second engagement detection mechanism 74 for detecting whether the second hooks 0152 on the upper mounting frame 0151 are engaged in the second slots 0123, a laser detection device 75 for installing and inspecting the output gear 014, and a gear assembly device 76. The structures and principles of the upper mounting frame feeder 71, the lower mounting frame vibration feeding mechanism 42, the upper mounting frame adsorption and conveying device 72, and the lower mounting frame adsorption and conveying mechanism 43 are largely the same and will not be described in detail here. The second locking mechanism 73 and the first locking mechanism 52, the first locking position detection mechanism 53 and the second locking position detection mechanism 74 are the same in principle and have basically the same structure. The difference is that the number of jaws of the multi-jaw chuck is different; it will not be elaborated here.

[0088] The laser detection device 75 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 22 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 does not rotate smoothly, the laser displacement sensor detects irregular numerical fluctuations and sends a feedback to the system indicating assembly failure. If there are no such problems, the system reports that the assembly is successful, and the assembly continues to the next station.

[0089] The gear assembly device 76 includes a gear shaft vibration feeding mechanism, a pin insertion mechanism, a gear shaft installation 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.

[0090] The following is a brief description of the working process of the upper mounting frame module assembly equipment 7 based on its structure:

[0091] When the transfer fixture 1 is transferred to the upper mounting frame station, the upper mounting frame adsorption and conveying device 72 transports the upper mounting frame 0151, which has been conveyed to the position by the upper mounting frame feeder 71, to the lower mounting frame module 012. Then, under the drive of the conveying device 21, the transfer fixture 1 continues to transfer to the second engagement station. The second engagement mechanism 73 radially pushes the second hook 0152 on the upper mounting frame 0151 to engage with the second slot 0123 on the lower mounting frame 0121. After engagement, the transfer fixture 1 carries the semi-finished product with the lower mounting frame 0121 installed to the second engagement station. After the transfer is completed, the second engagement detection mechanism 74 checks whether the second hook 0152 on the upper mounting frame 0151 is engaged in the second slot 0123. If the detection is qualified, the transfer fixture 1 continues to transfer to the next station. If the detection is unqualified, manual adjustment is performed.

[0092] When the transfer fixture 1 moves to the laser inspection station, the transfer fixture 1 and the fixture positioning device 22 work together to power the motor 0111. The motor 0111 rotates, and the laser inspection device 75 checks for missing teeth and unstable motor operation. If the inspection is qualified, the transfer fixture 1 continues to move to the next station; if the inspection is unqualified, manual adjustments are made.

[0093] When the transfer fixture 1 continues to the gear shaft installation station, the gear shaft vibration feeding mechanism feeds the gear shaft, and the pin insertion mechanism inserts the gear shaft into the upper mounting bracket 0151; then, the transfer fixture 1 flows to the inspection station, and the gear shaft installation inspection mechanism inspects the installed gear shaft. If the inspection is qualified, the transfer fixture 1 continues to flow to the next station; if the inspection is unqualified, manual adjustment is performed.

[0094] When the transfer fixture 1 continues to the gear installation station, the gear adsorption and handling assembly mechanism assembles the rack and pinion conveyed by the gear vibration feeding mechanism onto the gear shaft; thus completing the entire assembly of the upper mounting frame module 015.

[0095] In another specific embodiment, by Figures 17 to 19 As shown in the figure, the ratchet and pawl module assembly equipment 8 includes a ratchet assembly device 81, a ratchet assembly handling and rotating assembly device 82, and a pawl rotating assembly device 83.

[0096] The ratchet assembly device 81 includes a second rotary table 811 for driving the positioning fixture 8111, a transition gear feeder 812, a transition gear transport mechanism 813, a ratchet feeder 814, a ratchet transport mechanism 815, and a void detection mechanism 816. The transition gear transport mechanism 813 transports the transition gear 01612 supplied by the transition gear feeder 812 onto the positioning fixture 8111 on the second rotary table 811. The ratchet transport mechanism 815 transports the internal gear ratchet 01611 supplied by the ratchet feeder 814 onto the positioning fixture 8111 carrying the transition gear 01612, and inserts the eccentric shaft at the bottom of the internal gear ratchet 01611 into the center hole of the transition gear 01612. Pre-assembling the ratchet assembly 0161 can prevent the transition gear 01612 from being missing.

[0097] The principle and structure of the transition gear feeder 812 and ratchet feeder 814 are the same as those of the motor gear vibration feeder 321, and will not be described in detail here. Similarly, the principle and structure of the transition gear conveying mechanism 813 and ratchet conveying mechanism 815 are the same as those of the motor gear adsorption conveying mechanism 322, and will not be described in detail here.

[0098] The ratchet assembly transfer and rotation device 82 is used to clamp and transport the ratchet assembly 0161 assembled on the positioning fixture 8111 to the top of the transfer fixture 1 (i.e., above the upper mounting frame module 015), adjust the angle of the ratchet assembly 0161, and then mount it onto the connecting shaft of the output gear 014; the pawl rotation assembly device 83 includes a pawl vibrating feeder 831 and a pawl transfer and rotation assembly mechanism 832; the pawl transfer and rotation assembly mechanism 832 is used to clamp and transport the pawl 0162 supplied by the pawl vibrating feeder 831 to the top of the transfer fixture 1 (i.e., above the ratchet assembly 0161), adjust the angle of the pawl 0162, and then mount it onto the connecting shaft inside the internal gear ratchet 01611. Specifically, the ratchet assembly handling and rotating assembly device 82 includes a horizontal drive mechanism 821, a vertical drive mechanism 822 disposed at the drive end of the horizontal drive mechanism 821, a rotating drive mechanism 823 disposed at the drive end of the vertical drive mechanism 822, and a clamping mechanism 824 disposed on the rotating drive mechanism 823; the pawl handling and rotating assembly mechanism 832 has a similar structure to the ratchet assembly handling and rotating assembly device 82, including a horizontal drive module, a vertical drive module, a rotating drive module, and a clamping module, which will not be elaborated here.

[0099] In addition, the ratchet and pawl module assembly equipment 8 also includes a third oiling device 87 for applying grease to the ratchet assembly 0161; along the flow direction of the transfer tooling 1 on the conveyor 21, the third oiling device 87 is downstream of the ratchet assembly transport and rotation assembly device 82 and upstream of the pawl transport and rotation assembly mechanism 832.

[0100] The horizontal drive mechanism 821 of the ratchet assembly transport and rotary assembly device 82 is equipped with a first upper CCD camera 825, and the horizontal drive module of the pawl transport and rotary assembly mechanism 832 is equipped with a second upper CCD camera 85. Both the first upper CCD camera 825 and the second upper CCD camera 85 are used to detect the state of the output gear 014 on the transport tooling 1 after it has been transferred to the correct position. The ratchet and pawl module assembly equipment 8 also includes a first lower CCD camera 84 and a second lower CCD camera 86. The first lower CCD camera 84 is used to detect the state of the ratchet assembly 0161 held by the ratchet assembly transport and rotary assembly device 82; the second lower CCD camera 86 is used to detect the state of the pawl 0162 held by the pawl transport and rotary assembly mechanism 832. The first upper CCD camera 825 and the first lower CCD camera 84 work together to determine the rotation angle of the rotary drive mechanism 823 in the ratchet assembly transport mechanism 82, thereby adjusting the angle of the ratchet assembly 0161 to ensure precise meshing between the transition gear 01612 and the second external gear ring of the output gear 014. The second upper CCD camera 85 and the second lower CCD camera 86 work together to determine the rotation angle of the rotary drive module in the pawl transport mechanism 832, thereby adjusting the angle of the ratchet assembly 0161 to ensure that the square hole in the center of the pawl 0162 corresponds to the square structure on the connecting shaft of the output gear 014.

[0101] The following is a brief description of the working process based on the structure of the ratchet and pawl module assembly equipment:

[0102] The second rotating turntable 811 drives the positioning fixture 8111 to rotate counterclockwise. The transition gear feeder 812 vibrates to feed the transition gear 01612. The transition gear transport mechanism 813 transports the transition gear 01612 to the positioning fixture 8111, which has been moved to the transition gear feeding station. The positioning fixture 8111 carrying the transition gear 01612 continues to move to the ratchet feeding station. The ratchet transport mechanism 815 transports the internal tooth ratchet 01611, which has been provided in advance by the ratchet feeder 814, to the positioning fixture 8111 carrying the transition gear 01612 and inserts the eccentric shaft at the bottom of the internal tooth ratchet 01611 into the center hole of the transition gear 01612, thus completing the assembly of the ratchet assembly 0161.

[0103] In the ratchet assembly transport and rotation device 82, the horizontal drive mechanism 821 and the vertical drive mechanism 822 work together to clamp and transport the ratchet assembly 0161 on the positioning fixture 8111 to the top of the transfer fixture 1 in place. The first upper CCD camera 825 and the first lower CCD camera 84 cooperate to determine the rotation angle of the rotation drive mechanism 823. The rotation drive mechanism 823 drives the clamped ratchet assembly 0161 to rotate a certain angle. Then, the vertical drive mechanism 822 descends and installs the ratchet assembly 0161 onto the connecting shaft of the output gear 014. At this time, the transition gear 01612 meshes with the second external gear ring of the output gear 014.

[0104] The transfer fixture 1, carrying the semi-finished ratchet assembly 0161, continues to the oiling station. After reaching the station, the third oiling device 87 applies lubricating oil to the ratchet assembly 0161. The transfer fixture 1 then continues its transfer. When it reaches the pawl installation station, the horizontal and vertical drive modules in the pawl transport and rotation assembly mechanism 832 operate simultaneously, clamping and transporting the pawl 0162 supplied by the pawl vibrating feeder 831 above the transferred fixture 1. The second upper CCD camera 85 and the second lower CCD camera 86 work together to determine the rotation angle of the rotation drive module. The rotation drive module in the pawl transport and rotation assembly mechanism 832 drives the clamped pawl 0162 to rotate a certain angle. Then, the vertical drive module descends, installing the pawl 0162 onto the connecting shaft of the output gear 014 and fixing it circumferentially. This completes the entire assembly of the ratchet and pawl module 016.

[0105] In another specific embodiment, by Figure 20 and Figure 21 As shown in the diagram, the assembly line also includes a valve drive unit unloading device 9; the valve drive unit unloading device 9 includes a pawl preload detection device 91 for applying downward pressure to the pawl 0162 and taking photographic inspection, a positioning detection device 92 for detecting the installation position of the transition gear 01612 and the gear in the gear assembly 0153, and an unloading robot 93 (four-axis robot); the unloading robot 93 is equipped with an anti-snagging detection mechanism 94 for detecting whether the wires on the motor 0111 are tangled or snagged, and the anti-snagging detection mechanism 94 is equipped with a product clamping mechanism 95.

[0106] The pawl preload detection device 91 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 design not only improves the reliability of the pawl 0162 installation but also detects any missing pawl 0162 installations and checks for damage after assembly of the pawl 0162 and the internal ratchet 01611. The positioning detection device 92 operates on the same principle as the motor positioning detection device 31, and its structure is also largely similar, so it will not be described in detail here.

[0107] The anti-snagging detection mechanism 94 includes a fixed base 941. The top of the fixed base 941 has a connecting flange for connection with the unloading robot 93. A slide block 942 is slidably mounted on the bottom of the fixed base 941. A trigger plate 943 is mounted on the slide block 942. A photoelectric sensor 944 adapted to the trigger plate 943 is mounted on the fixed base 941. A product clamping mechanism 95 is located at the bottom of the slide block 942. When the motor wire is tangled or snagged, during the movement of the anti-snagging detection mechanism 94 by the unloading robot 93, the valve drive unit is pulled by the motor wire, causing relative sliding between the slide block 942 and the fixed base 941. The trigger plate 943 will also move to the detection area of ​​the photoelectric sensor 944, triggering an alarm in the system.

[0108] In short, this invention assembles motor gears onto a motor 0111 supported by a transfer fixture 1 using a motor module assembly equipment 3 to form a motor module 011; multiple gear shafts 0124 are synchronously inserted into a lower mounting frame 0121 using a lower mounting frame module assembly device 4 in the lower mounting frame module assembly equipment to form a lower mounting frame module 012; the lower mounting frame module 012 is assembled onto the motor module 011 using a material handling assembly and detection device 5 in the lower mounting frame module assembly equipment, causing the motor gears to extend out of the lower mounting frame 0121; multiple transmission gears 013 and one output gear 014 are sequentially assembled onto the corresponding gear shafts 0124 using a gear assembly equipment 6; and the upper mounting frame module assembly equipment 7... The upper mounting bracket 0151 is assembled onto the lower mounting bracket 0121, with the second external gear ring and connecting shaft of the output gear 014 extending out of the upper mounting bracket 0151. The gear assembly 0153 is also assembled onto the upper mounting bracket 0151 to form the upper mounting bracket module 015. The internal gear ratchet 01611 and the transition gear 01612 are assembled into a ratchet assembly 0161 using the ratchet and pawl module assembly equipment 8. The ratchet assembly 0161 is then assembled onto the connecting shaft, with the transition gear 01612 meshing with the second external gear ring. Finally, the pawl 0162 is assembled into the internal gear ratchet 01611 and circumferentially fixed to the connecting shaft. Finally, the assembled valve drive unit 01 is removed from the transfer fixture 1 using the valve drive unit unloading equipment 9.

[0109] 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.

[0110] In summary, compared with the prior art, the valve drive unit assembly production line of the present invention connects and coordinates the various assembly equipment to replace manual operation, realizes the automated assembly of valve drive units, improves the assembly efficiency and pass rate of valve drive units, and meets the actual production needs of valve drive units.

[0111] 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. A valve drive unit assembly line, characterized in that, The assembly production line includes, in order of at least the following processes: Motor module assembly equipment is used to assemble motor gears onto a motor carried by a transfer fixture to form a motor module; The lower mounting bracket module assembly equipment is used to synchronously insert multiple gear shafts onto the lower mounting bracket to form a lower mounting bracket module, and is also used to assemble the lower mounting bracket module onto the motor module, wherein the motor gear extends out of the lower mounting bracket; A gear assembly device for assembling multiple transmission gears and one output gear one by one onto the corresponding gear shaft; The upper mounting bracket module assembly equipment is used to assemble the upper mounting bracket onto the lower mounting bracket, wherein the second external gear ring portion and the connecting shaft portion of the output gear extend beyond the upper mounting bracket; it is also used to assemble the gear assembly onto the upper mounting bracket to form an upper mounting bracket module; A ratchet and pawl module assembly device is used to assemble an internal ratchet and a transition gear into a ratchet assembly, to assemble the ratchet assembly onto the connecting shaft, wherein the transition gear meshes with the second external gear ring, and to assemble the pawl into the internal ratchet and fix it circumferentially to the connecting shaft. The transfer fixture includes a platform, on which a motor mounting base and an energizing electrode are provided. The motor mounting base is provided with a motor energizing device electrically connected to the battery cell on the energizing electrode and a magnetic positioning structure for magnetic attraction and positioning of the motor. The motor energizing device abuts against the power supply terminal of the motor. The assembly production line also includes a conveying device, which includes a conveying device for moving the transfer tooling between various assembly equipment or workstations and a plurality of tooling positioning devices disposed below the conveying device and corresponding to each workstation; the tooling positioning device includes a frame, on which a front lifting mechanism, a rear lifting mechanism and an energized ejector pin lifting mechanism are provided.

2. The valve drive unit assembly line according to claim 1, characterized in that, The motor module assembly equipment includes a motor placement detection device, a motor gear feeding and handling assembly device, and a motor gear installation detection device, which are arranged sequentially along the flow direction of the transfer tooling. The motor placement detection device is used to detect whether the motor is placed in the correct position on the transfer fixture; The motor gear feeding, handling, and assembly device includes a motor gear vibration feeding mechanism and a motor gear adsorption and handling mechanism for adsorbing and transporting the motor gear supplied by the motor gear vibration feeding mechanism onto the motor; the motor gear installation in place detection device is used to detect whether the motor gear is installed in place.

3. The valve drive unit assembly line according to claim 1, characterized in that, The lower mounting frame module assembly equipment includes a lower mounting frame module assembly device and a material handling assembly and testing device; The lower mounting frame module assembly device includes a first turntable, a lower mounting frame vibration feeding mechanism for supplying the lower mounting frame, a lower mounting frame adsorption and transport mechanism for adsorbing and transporting the lower mounting frame onto the lower mounting frame positioning fixture on the first turntable, a gear shaft vibration feeding mechanism, a pin insertion mechanism for synchronously inserting multiple gear shafts supplied by the gear shaft vibration feeding mechanism into the lower mounting frame, and a lower mounting frame module unloading and transport mechanism; the material picking and assembly detection device is used to assemble the lower mounting frame module onto the motor module and detect whether the assembly is in place.

4. The valve drive unit assembly production line according to claim 3, 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.

5. The valve drive unit assembly line according to claim 3, characterized in that, The material handling assembly and testing device includes a lower mounting frame module transport mechanism for transporting and assembling the lower mounting frame module onto the motor module, a first engagement mechanism for radially pushing the hooks on the lower mounting frame to engage with the slots on the motor, and a first engagement detection mechanism for detecting whether the hooks are engaged in the slots.

6. The valve drive unit assembly production line according to claim 1, characterized in that, The gear assembly equipment includes a first transmission gear assembly device, a second transmission gear assembly device, a first oiling device for applying grease to the gear meshing area, an output gear assembly device, a third transmission gear assembly device, and a second oiling device for applying grease to the gear meshing area, arranged sequentially along the flow direction of the transfer tooling. The first transmission gear assembly device, the second transmission gear conversion device, the output gear assembly device, and the third transmission gear assembly device all include a gear vibration feeder and a gear adsorption and conveying mechanism.

7. The valve drive unit assembly line according to claim 1, characterized in that, The upper mounting frame module assembly equipment includes an upper mounting frame feeder, an upper mounting frame adsorption and conveying device, a second engagement mechanism for radially pushing the hooks on the upper mounting frame to engage with the slots on the lower mounting frame, a second engagement detection mechanism for detecting whether the hooks on the upper mounting frame are engaged in the slots, a laser detection device for installing and detecting the output gear, and a gear assembly device.

8. The valve drive unit assembly production line according to claim 1, characterized in that, The ratchet and pawl module assembly equipment includes a ratchet assembly device, a ratchet assembly handling and rotating assembly device, and a pawl rotating assembly device. The ratchet assembly device includes a second rotary table, a transition gear feeder, a transition gear transport mechanism, a ratchet feeder, and a ratchet transport mechanism. The transition gear transport mechanism is used to transport the transition gear supplied by the transition gear feeder to a positioning fixture on the second rotary table. The ratchet transport mechanism is used to transport the internal tooth ratchet supplied by the ratchet feeder to the positioning fixture carrying the transition gear and to insert the eccentric shaft at the bottom end of the internal tooth ratchet into the central hole of the transition gear. The ratchet assembly transport and rotation device is used to clamp and transport the ratchet assembly assembled on the positioning fixture to the upper mounting frame module, adjust the angle of the ratchet assembly, and then fit it onto the connecting shaft. The pawl rotary assembly device includes a pawl vibrating feeder and a pawl transport rotary assembly mechanism; the pawl transport rotary assembly mechanism is used to clamp and transport the pawl supplied by the pawl vibrating feeder to the top of the ratchet assembly, adjust the angle of the pawl, and then install it onto the connecting shaft inside the internal tooth ratchet.

9. The valve drive unit assembly line according to claim 1, characterized in that, The assembly line also includes a valve drive unit unloading device; the valve drive unit unloading device includes a pawl pre-pressure detection device for applying downward pressure to the pawl and taking pictures for detection, a positioning detection device for detecting the installation position of the transition gear and the gear assembly, and an unloading robot; the unloading robot is equipped with an anti-snagging detection mechanism for detecting whether the wires on the motor are tangled or snagged, and the anti-snagging detection mechanism is equipped with a product clamping mechanism.

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