A fully automatic rudder engine assembly line

Abstract

The application relates to a full-automatic rudder engine assembly line, which comprises a shell loading device, a circuit board assembling device, a bottom cover assembling device, a potential rod assembling device, a gear assembling device, an upper cover assembling device, a laser marking unloading device and a conveying device. A plurality of carriers are driven by the conveying device to sequentially pass through the shell loading device, the circuit board assembling device, the bottom cover assembling device, the potential rod assembling device, the gear assembling device, the upper cover assembling device and the laser marking unloading device. The shell loading device is used for placing the shell on the carrier, the circuit board assembling device is used for mounting the circuit board on the shell, and the bottom cover assembling device is used for covering the bottom cover on the circuit board. The potential rod assembling device is used for inserting the potential rod into the shell, the gear assembling device is used for mounting the gear on the potential rod, and the upper cover assembling device is used for covering the upper cover on the shell. The full-automatic assembly of the rudder engine is realized by the application, the work efficiency is greatly improved, and the production cost is reduced.

Description

Technical Field

[0001] This invention relates to the technical field of servo motor assembly equipment, specifically a fully automated servo motor assembly line. Background Technology

[0002] In recent years, with the development of technology, highly flexible mechanisms such as robots have been widely used in teaching or industrial automation production. Due to the good stability and high control precision of servo motors, they are usually used as the power source for drive mechanisms.

[0003] like Figure 1 As shown, the existing servo motor 10 includes a housing 101, a circuit board 102, a bottom cover 103, two sets of potentiometer rods 104, a primary gear 105, a secondary gear 106, a tertiary gear 107, a quaternary gear 108, and a top cover. The circuit board 102 is located at the bottom of the housing 101, and the bottom cover 103 covers the bottom of the housing 101. The potentiometer rods 104 are slidably inserted into the shaft holes inside the housing 101. The primary gear 105 and the tertiary gear 107 are respectively inserted into the potentiometer rods 104. The first-stage gear 106 and the fourth-stage gear 108 are respectively inserted into another potentiometer 104. The first-stage gear 105 meshes with the second-stage gear 106, the second-stage gear 106 meshes with the third-stage gear 107, the third-stage gear 107 meshes with the fourth-stage gear 108, and the first-stage gear 105 meshes with the drive gear on the housing 101, so that the drive gear moves in conjunction with the fourth-stage gear 108. The top cover is placed on the top of the housing 101 and is fixedly connected to the housing 101 by screws.

[0004] Currently, most servo motor assembly work is done manually or semi-automatically. However, servo motors have many parts, requiring a large amount of manpower for assembly. This results in low per capita productivity and low production efficiency, which will bring a significant cost burden to enterprises. Furthermore, manual or semi-automatic methods cannot meet the needs of large-scale assembly. Summary of the Invention

[0005] The problem to be solved by the embodiments of the present invention is to provide a fully automated servo motor assembly line, which realizes the fully automated assembly of servo motors, greatly improves work efficiency, and reduces production costs.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An automatic rudder assembly line, comprising a shell loading device, a circuit board assembly device, a bottom cover assembly device, a potential rod assembly device, a gear set assembly device, an upper cover assembly device, a finished product testing device, a laser marking unloading device, and a conveying device, wherein the conveying device is provided with a plurality of carriers for receiving the rudder, and the carriers are sequentially driven by the conveying device to pass through the shell loading device, the circuit board assembly device, the bottom cover assembly device, the potential rod assembly device, the gear set assembly device, the upper cover assembly device, the finished product testing device, and the laser marking unloading device.

[0008] The conveying device is sequentially provided with a plurality of liftable jacking plates along the conveying direction of the carriers, the jacking plates are respectively provided with jacking pins at opposite corners, the bottom surface of the carrier is respectively provided with limiting holes at opposite corners, and when the jacking plates are raised, the jacking pins of the jacking plates are respectively slidably inserted into the limiting holes of the carrier, and the carrier is jacked up by the jacking plates.

[0009] The shell loading device is used to place the shell of the rudder on the carrier, the circuit board assembly device is used to install the circuit board on the shell received by the carrier, and the bottom cover assembly device is used to cover the bottom cover on the circuit board of the shell.

[0010] The potential rod assembly device comprises a turnover mechanism, a feeding mechanism, a circular tube rotating mechanism, and a potential rod manipulator, the circular tube rotating mechanism is used to suck the potential rod output by the feeding mechanism and turn over the potential rod to a vertical state, the turnover mechanism is used to turn over the shell on the carrier so that the shaft hole of the shell faces upward, so that the potential rod manipulator grasps the potential rod on the circular tube rotating mechanism and moves to above the carrier, and inserts the potential rod into the shaft hole of the shell.

[0011] The gear set assembly device comprises a first gear assembly device, a second gear assembly device, a third gear assembly device, and a fourth gear assembly device, the first gear assembly device, the second gear assembly device, the third gear assembly device, and the fourth gear assembly device sequentially insert the gears into the potential rod, and cover the upper cover on the shell by the upper cover assembly device.

[0012] The finished product testing device comprises a loading and unloading mechanism and a testing mechanism, the loading and unloading mechanism is used to clamp the rudder assembled on the carrier and place the rudder on the testing mechanism.

[0013] The test mechanism comprises a test panel frame, a test carrier, a plurality of probe assemblies and a plurality of pressing plate assemblies, the test carrier is arranged on the test panel frame, the test carrier is provided with a plurality of accommodation positions for accommodating the rudders output by the feeding and discharging mechanism, the probe assemblies are connected with the wiring ports of the rudders in the accommodation positions, and the plurality of pressing plate assemblies press the rudders in the accommodation positions respectively, so that the test machine tests the angular velocity and acceleration of the rudders through the probe assemblies.

[0014] The radium engraving and discharging device comprises a radium engraving mechanism, a disc separating mechanism, a discharging manipulator and a radium engraving and carrying mechanism.

[0015] Further, the first gear assembling device comprises a hopper, a gear vibrating disc, a gear visual module and a gear manipulator, a gear conveying belt is arranged below the hopper and is used for conveying the first-level gears falling from the hopper to the gear vibrating disc, the gear visual module is arranged above the gear vibrating disc and is used for positioning the angle of the first-level gears on the gear vibrating disc, the gear manipulator is provided with a clamping and rotating mechanism, the clamping and rotating mechanism is driven by the gear manipulator to move above the gear vibrating disc, the clamping and rotating mechanism clamps the first-level gears on the gear vibrating disc, and the clamping and rotating mechanism rotates and adjusts the first-level gears to a specified angle according to the angle obtained by the gear visual module.

[0016] The second gear assembling device, the third gear assembling device and the fourth gear assembling device have the same structure as the first gear assembling device.

[0017] Further, the plurality of probe assemblies each comprise a connecting plate slidingly arranged on the test panel frame, connecting blocks respectively arranged at two ends of the connecting plate and probes respectively arranged on the connecting blocks, the probes are connected with the wiring ports of the circuit boards of the rudders by a probe cylinder.

[0018] The plurality of pressing plate assemblies each comprise a pressing plate and a mounting plate, the pressing plate is arranged above the mounting plate in a lifting manner, an intermediate fixed plate is fixedly arranged below the test panel frame, and the mounting plate is slidingly arranged on the intermediate fixed plate, the rudders in the accommodation positions are pressed by the pressing plate.

[0019] Further, the bottom of the test panel frame is provided with a rotating shaft mounting plate, a rotating shaft is rotatably arranged on the rotating shaft mounting plate, the bottom of the test panel frame has through holes respectively penetrating the accommodation positions, the upper part of the rotating shaft is inserted on the output shaft of the steering engine through the through holes, the bottom of the rotating shaft is fixedly provided with a magnet, and the middle fixed plate is respectively provided with a gyroscopic sensing unit corresponding to the rotating shaft, which is used for detecting the angular velocity and acceleration of the steering engine.

[0020] Further, the feeding mechanism comprises a vibrating disc and a circular tube track, the circular tube track is arranged between the vibrating disc and the circular tube rotating mechanism, and is used for receiving the potential rods output by the vibrating disc and moving the lower potential rods to the circular tube rotating mechanism in sequence through a linear vibrator;

[0021] The circular tube rotating mechanism comprises a rotating shaft and a rotating driving device, the rotating driving device is arranged on one side of the circular tube track, the rotating shaft is provided with a socket corresponding to the circular tube track, the potential rods on the circular tube track are sequentially input into the socket, and the other end of the socket is connected with an air source, which is used for sucking the potential rods in the socket and rotating the rotating shaft through the rotating driving device to make the potential rods on the rotating shaft overturn upward.

[0022] Further, the overturning mechanism comprises an overturning frame and an overturning block, the overturning frame is arranged on the conveying device, the overturning block is rotatably arranged at two ends of the overturning frame, and a pair of pneumatic fingers is symmetrically arranged on the overturning block, the rudder engine on the carrier is clamped by the pneumatic fingers, and the overturning block is rotated through an overturning driving device to overturn the rudder engine.

[0023] Further, the shell feeding device comprises a first tray, a second tray, a tray conveying mechanism and a feeding manipulator, the first tray and the second tray are respectively arranged below the tray conveying mechanism in a liftable manner, the first tray and the second tray are respectively used for stacking finished product trays, and the feeding manipulator is used for grabbing the shell of the finished product tray on the first tray and placing the shell on the carrier.

[0024] The tray conveying mechanism comprises a tray separating mounting frame, a tray separating plate, a suction plate mounting plate and a plurality of suction plates, the tray separating plate is slidably arranged on the tray separating mounting frame, the suction plate driving device is fixedly arranged on the tray separating plate and used for driving the suction plate mounting plate to lift, the plurality of suction plates are respectively arranged on the suction plate mounting plate and used for sucking the finished product tray on the first tray, and the tray separating plate is driven by a tray conveying driving device to move horizontally along the tray separating mounting frame to move and place the finished product tray on the second tray.

[0025] The circuit board assembling device has the same structure as the shell feeding device.

[0026] Further, the screw assembling device comprises a rotating platform, a plurality of screw machines and a screw manipulator, the rotating platform is provided with a plurality of fixed carriers in the circumferential direction, the plurality of screw machines are arranged outside the rotating platform, the rudder machine clamp on the carrier is placed on the fixed carrier of the rotating platform by the screw manipulator, the rotating platform drives the fixed carrier to pass through the screw machines in turn, and the screw machines screw the screws into the bottom cover of the rudder machine respectively, so that the bottom cover of the rudder machine is fixedly connected with the shell.

[0027] Further, the conveying device comprises a plurality of first conveying mechanisms and a plurality of second conveying mechanisms, the plurality of first conveying mechanisms and the plurality of second conveying mechanisms are arranged in parallel and side by side respectively, and the first conveying mechanism and the second conveying mechanism are connected at the two ends.

[0028] The first conveying mechanism comprises a first side plate, a second side plate and a conveying belt arranged on the first side plate and the second side plate respectively, and the upper parts of the first side plate and the second side plate are respectively provided with a supporting strip for supporting the conveying belt, the carrier is arranged between the conveying belts, the carrier is driven to move horizontally by the conveying belt, and position detection modules are arranged on the first side plate and the second side plate respectively to detect whether the carrier reaches a specified position.

[0029] The second conveying mechanism has the same structure as the first conveying mechanism.

[0030] Further, the conveying device is provided with a first reversing mechanism and a second reversing mechanism at the two ends respectively, the first reversing mechanism comprises a reversing frame and a transition conveying belt arranged on the inner side wall of the reversing frame, the reversing frame is slidably arranged between the first conveying mechanism and the second conveying mechanism, and is used for switching the carrier to the first conveying mechanism or the second conveying mechanism.

[0031] Compared with the prior art, the present application has the following advantages:

[0032] (1) The full-automatic assembly of the rudder machine is realized through each station, the production efficiency is greatly improved, the labor cost is reduced, and the large-scale assembly demand can be met. (2) The gear assembling device realizes the automatic adjustment of the gear angle by using the visual cooperation with the manipulator, so that the meshing precision between the gears is more accurate. (3) The test mechanism can automatically test each rudder machine, and detect whether the rudder machine is qualified, so as to greatly guarantee the quality and the qualified rate of the rudder machine. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is the overall structure schematic view of the steering engine in the embodiment;

[0034] Figure 2 It is the overall structure schematic view of the application;

[0035] Figure 3 It is the overall structure schematic view of the shell loading device;

[0036] Figure 4 It is the overall structure schematic view of the tray feeding mechanism;

[0037] Figure 5 It is the overall structure schematic view of the first and second conveying mechanisms;

[0038] Figure 6 It is the overall structure schematic view of the shell clamping mechanism;

[0039] Figure 7 It is the overall structure schematic view of the circuit board assembling device;

[0040] Figure 8 It is the overall structure schematic view of the clamping mechanism;

[0041] Figure 9 It is the overall structure schematic view of the pressing mechanism;

[0042] Figure 10 It is the overall structure schematic view of the bottom cover assembling device;

[0043] Figure 11 It is the overall structure schematic view of the potential rod assembling device;

[0044] Figure 12 It is the overall structure schematic view of the round pipe rotating mechanism;

[0045] Figure 13 It is the overall structure schematic view of the turnover mechanism;

[0046] Figure 14 It is the overall structure schematic view of the turnover block;

[0047] Figure 15 It is the overall structure schematic view of the first gear assembling device;

[0048] Figure 16 It is the overall structure schematic view of the clamping rotating mechanism;

[0049] Figure 17 It is the overall structure schematic view of the finished product testing device;

[0050] Figure 18 It is the overall structure schematic view of the testing mechanism;

[0051] Figure 19The overall structure of the testing mechanism is shown in the half sectional view;

[0052] Figure 20 The overall structure of the radium marking blanking device is shown in the schematic view;

[0053] Figure 21 The overall structure of the radium marking mechanism is shown in the schematic view;

[0054] Figure 22 The overall structure of the jacking plate is shown in the schematic view. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0056] In addition, the elements in the present application are referred to as "fixed to" or "disposed on" another element, which can be directly on another element or can have a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or can have a middle element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0057] Referring to Figure 1 As shown, the existing steering gear 10 includes a shell 101, a circuit board 102, a bottom cover 103, two groups of potential rods 104, a primary gear 105, a secondary gear 106, a tertiary gear 107, a quaternary gear 108, and an upper cover. The circuit board 102 is arranged at the bottom of the shell 101, and the bottom cover 103 is arranged at the bottom of the shell 101. The potential rods 104 are respectively slidingly inserted into the shaft holes in the shell 101. The primary gear 105 and the tertiary gear 107 are respectively inserted into the potential rods 104. The secondary gear 106 and the quaternary gear 108 are respectively inserted into the other potential rods 104. Among them, the primary gear 105 is engaged with the secondary gear 106, the secondary gear 106 is engaged with the tertiary gear 107, the tertiary gear 107 is engaged with the quaternary gear 108, and the primary gear 105 is engaged with the drive gear on the shell 101, so that the drive gear drives the quaternary gear 108 to move. The upper cover is arranged at the top of the shell 101 and is fixedly connected with the shell 101 by screws. The upper cover has a circular hole, and the output shaft of the quaternary gear 108 extends out of the circular hole of the upper cover, thereby realizing the assembly of the steering gear 10.

[0058] Referring to Figure 1As shown, a fully automated servo motor assembly line includes a housing loading device 1, a circuit board assembly device 2, a bottom cover assembly device 3, a potentiometer assembly device 4, a gear assembly device 5, a top cover assembly device 6, a screw assembly device 7, a finished product testing device 8, a laser engraving unloading device 9, a conveyor device 20, and a frame. The housing loading device 1, circuit board assembly device 2, bottom cover assembly device 3, potentiometer assembly device 4, gear assembly device 5, top cover assembly device 6, screw assembly device 7, finished product testing device 8, and laser engraving unloading device 9 are sequentially arranged on the frame.

[0059] Reference Figure 2 , Figure 3 As shown, the conveying device 20 is equipped with several carriers 201 for receiving the servo motor 10. The conveying device 20 drives these carriers 201 sequentially through the outer casing loading device 1, circuit board assembly device 2, bottom cover assembly device 3, potentiometer assembly device 4, gear assembly device 5, top cover assembly device 6, screw assembly device 7, finished product testing device 8, and laser etching unloading device 9. The conveying device 20 includes several first conveying mechanisms 202 and second conveying mechanisms 203, which are respectively mounted on the frame corresponding to the outer casing loading device 1, circuit board assembly device 2, bottom cover assembly device 3, potentiometer assembly device 4, gear assembly device 5, top cover assembly device 6, screw assembly device 7, finished product testing device 8, and laser etching unloading device 9.

[0060] Combination Figure 5 As shown, several first conveying mechanisms 202 and several second conveying mechanisms 203 are arranged in parallel, with their ends connected to each other. Each first conveying mechanism 202 includes a first side plate 2021, a second side plate 2022, and a conveyor belt 2023 respectively disposed on the first side plate 2021 and the second side plate 2022. The upper parts of the first side plate 2021 and the second side plate 2022 are respectively provided with support strips 2024 to support the lower surface of the conveyor belt 2023, thereby preventing the conveyor belt 2023 from sagging and failing to properly transport the carrier 201, ensuring the stability of the conveyor belt 2023's operation. The structure of the second conveying mechanism 203 is the same as that of the first conveying mechanism 202, but the conveying direction of the second conveying mechanism 203 is opposite to that of the first conveying mechanism 202.

[0061] The carrier 201 is placed between the conveying belts 2023, the carrier 201 is horizontally moved by the conveying belts 2023, and the two sides of the carrier 201 are respectively provided with guide wheels which roll along the inner walls of the first side plate 2021 and the second side plate 2022 respectively, so as to ensure that the carrier 201 always keeps flush during the conveying process. The first side plate 2021 and the second side plate 2022 are respectively provided with a position detection module 2025, and a plurality of blocking cylinders 205 are respectively and equidistantly arranged in the first conveying mechanism 202 and the second conveying mechanism 203. In the embodiment, the position detection module 2025 preferably adopts a proximity sensor. When the position detection module 2025 detects the carrier 201, the conveying belts 2023 stop at the same time, and the extension end of the blocking cylinder 205 rises to limit the cooperation with the front end of the carrier 201, so as to block the carrier 201 from continuing to move, thereby ensuring that the carrier 201 can accurately reach the specified position and ensuring the accuracy of subsequent assembly.

[0062] A plurality of liftable jacking plates 208 are arranged on the conveying device 20 and are spaced apart along the conveying direction of the carrier 201. A plurality of jacking cylinders 206 are respectively and equidistantly arranged in the first conveying mechanism 202 and the second conveying mechanism 203. The jacking plates 208 are fixedly connected to the extension ends of the jacking cylinders 206. Top pins 209 are respectively arranged at opposite corners of the jacking plates 208. Limiting holes 2011 are respectively arranged at opposite corners of the bottom surface of the carrier 201. When the carrier 201 stops, the jacking cylinders 206 drive the jacking plates 208 to rise. The top pins 2081 of the jacking plates 208 are respectively and slidingly inserted into the limiting holes 2011 of the carrier 201, and the carrier 201 is jacked up by the jacking plates 208, so as to avoid the rudder motor 10 on the carrier 201 from sinking under pressure during the assembly process due to the flexibility of the conveying belts 2023. At the same time, the top pins 2081 limit the carrier 201, so as to prevent the carrier 201 from moving, ensure the positioning of the carrier 201 to be more accurate, and effectively improve the assembly efficiency of the rudder motor.

[0063] Referring to Figure 1 , Figure 3 , Figure 20 It is shown that the first reversing mechanism 204 and the second reversing mechanism 205 are respectively arranged at the two ends of the conveying device 20. The first reversing mechanism 204 comprises a reversing frame 2041 and a transition conveying belt 2042 which is respectively arranged on the inner side walls of the reversing frame 2041. The reversing frame 2041 is slidingly arranged on a rack. A reversing driving device 2043 is arranged on the rack. In the embodiment, the reversing driving device 2043 preferably adopts a cylinder, the extension end of which is fixedly connected to the reversing frame 2041. The reversing driving device 2043 drives the reversing frame 2041 to move between the first conveying mechanism 202 and the second conveying mechanism 203. The structure of the second reversing mechanism 205 is the same as that of the first reversing mechanism 204.

[0064] Combination Figure 5 As shown, specifically, the reversing drive device 2043 of the first reversing mechanism 204 drives the reversing frame 2041 to dock with the second conveying mechanism 203, so that the second conveying mechanism 203 inputs the carrier 201 onto the transition conveyor belt 2042 of the first reversing frame 2041. Then, the reversing drive device 2043 drives the reversing frame 2041 to move towards the first conveying mechanism 202, so that the reversing frame 2041 docks with the first conveying mechanism 202. The empty carrier 201 is input onto the conveyor belt 2023 of the first conveying mechanism 202 through the transition conveyor belt 2042, so that the first conveying mechanism 202 continues to drive the carrier 201 to carry the various parts of the servo motor 10. When the carrier 201 reaches the laser engraving unloading device 9, the second reversing mechanism 205 transfers the carrier 201 onto the second conveying mechanism 203, thereby realizing the cyclic transport of the carrier 201.

[0065] Reference Figure 4 As shown, the shell loading device 1 includes a first tray 11, a second tray 12, a tray feeding mechanism 13, and a loading robot 14. The first tray 11 and the second tray 12 are respectively vertically mounted below the tray feeding mechanism 13. The frame is provided with lifting drive devices 15 corresponding to the first and second trays 11 and 12. In this embodiment, the lifting drive device 15 is preferably a ball screw. The lifting drive device 15 drives the first and second trays 11 and 12 to rise and fall respectively. Several finished product trays are stacked on the first tray 11, and several shells 101 are placed on the finished product trays. The second tray 12 is used to stack empty finished product trays.

[0066] The tray feeding mechanism 13 includes a tray mounting frame 131, a tray plate 132, a suction cup mounting plate 133, and a plurality of suction cups 134. The tray mounting frame 131 is fixedly mounted on the frame, and the tray plate 132 is slidably mounted on the tray mounting frame 131. A suction cup driving device 135 is fixedly mounted on the tray plate 132. In this embodiment, the suction cup driving device 135 is preferably a cylinder, which is used to drive the suction cup mounting plate 133 to rise and fall. A plurality of suction cups 134 are respectively mounted on the suction cup mounting plate 133, and the plurality of suction cups are respectively connected to an air source for sucking up the finished product trays on the first tray 11. A horizontal driving device is fixedly mounted on the tray mounting frame. In this embodiment, the horizontal driving device is preferably a rodless cylinder, which drives the plurality of suction cups to move the finished product trays on the first tray 11 to the second tray 12.

[0067] Combination Figure 6As shown in the figure, the material clamping mechanism 141 is arranged on the feeding manipulator 14, which comprises a clamping seat 1411 and a clamping jaw mechanism 1412 arranged at the bottom of the clamping seat respectively. In this embodiment, the feeding manipulator 14 is a four-axis industrial robot. Since the four-axis industrial robot is prior art, it is not repeated here. The clamping seat 1411 is rotationally connected with the lead screw of the feeding manipulator 14. A pair of clamping jaw lifting driving devices 1413 are fixedly installed at the bottom of the clamping seat 1411 respectively. A pair of longitudinal sliding rails are also arranged at the bottom of the clamping seat 1411 respectively. The top of the clamping jaw mechanism 1412 is provided with a sliding seat 1414 which is slidingly matched with the longitudinal sliding rails. In this embodiment, the clamping jaw lifting driving device 1413 preferably adopts a pneumatic cylinder, the extension end of which is fixedly connected with the sliding seat 1414. The clamping jaw mechanism 1412 preferably adopts a four-jaw pneumatic cylinder. The material clamping mechanism is moved to the second tray 12 by the feeding manipulator 14 and is driven to move downward, so that the clamping jaw mechanism clamps the outer shell 101 of the finished product tray respectively. The material clamping mechanism 141 is moved to the upper side of the carrier 201 by the feeding manipulator 14. The outer shell 101 is placed on the carrier 201 by the material clamping mechanism 141, so as to realize automatic feeding. When the outer shell 101 in the finished product tray on the uppermost layer of the first tray 11 is clamped empty, a plurality of suction cups are driven to suck the empty finished product tray by the horizontal driving device, and the finished product tray is transferred to the second tray 12. Then the first tray 11 is driven to ascend one layer upward by the lifting driving device 15, and the second tray 12 is driven to descend one layer downward by the lifting driving device 15, so as to realize automatic feeding and stacking of the finished product tray.

[0068] Referring to Figure 2 , Figure 7 As shown in the figure, the structure of the circuit board assembly device 2 is the same as that of the shell feeding device 1. The difference between the two is that the finished product tray in the circuit board assembly device 2 is used to supply the circuit board 102, and the first conveying mechanism 202 of the corresponding circuit board assembly device 2 is respectively provided with a shell clamping mechanism 21 and a circuit board pressing mechanism 22.

[0069] In combination with Figure 8 , Figure 9As shown, the shell clamping mechanism 21 comprises a positioning frame 211, a clamping jaw driving device 212, and a pair of door-shaped clamping jaws 213. The positioning frame 211 is arranged on the first conveying mechanism 202. The clamping jaw driving device 212 is fixedly provided with a driving sliding block 215. The upper portion of the positioning frame 211 is provided with a positioning lifting driving device 2111, which is provided with a driving sliding rail in sliding cooperation with the driving sliding block 215. In the embodiment, the clamping jaw lifting driving device 2111 preferably adopts a pneumatic cylinder, the extension end of which is fixedly connected with the driving sliding block 215, so as to drive the clamping jaw driving device 212 to lift. The clamping jaw driving device 212 preferably adopts a clamping jaw pneumatic cylinder, which is driven by the clamping jaw driving device 212 to move close to or away from each other.

[0070] When the carrier 201 on the shell feeding device 1 is conveyed to the circuit board assembling device 2, the feeding manipulator of the circuit board assembling device 2 sucks the circuit board 102 on the finished product tray and installs the circuit board 102 on the bottom of the shell 1. At the same time, the positioning lifting driving device 2111 drives the door-shaped clamping jaws 213 to descend, and the clamping jaw driving device 212 drives the door-shaped clamping jaws 213 to move close to each other, so that the door-shaped clamping jaws 213 clamp the shells 101 carried on the carrier 201, respectively, thereby realizing automatic assembly of the circuit board 102 and avoiding shaking of the shells 101 during assembly, which greatly improves the assembly precision of the rudder machine.

[0071] The circuit board pressing mechanism 22 comprises a pair of pressing driving devices 221, a pair of pressing blocks 222, and a pressing seat 223. The pressing seat 223 is fixedly installed on the positioning frame 211. The pressing driving devices 221 are fixedly arranged on the pressing seat 223, respectively. The pressing blocks 222 are arranged below the pressing seat 223 in a lifting manner. In the embodiment, the pressing driving devices 221 preferably adopt pneumatic cylinders, the extension ends of which are fixedly connected with the pressing blocks 222. When the circuit board 102 is installed in the shell 101 and conveyed to below the circuit board pressing mechanism 22 by the conveying device 20, the pressing driving devices 221 drive the pressing blocks 222 to press the circuit board 102 on the shell 101, so that the assembly of the circuit board 102 and the shell 101 is more firm.

[0072] Referring to Figure 10 As shown, the bottom cover assembling device 3 comprises a feeding conveying belt 31, a bottom cover vibrating disc 32, a bottom cover vision module 33, a bottom cover manipulator 34, a bottom cover clamping mechanism 35, and a bottom cover pressing mechanism 36.

[0073] The feeding conveyor belt 31 is fixedly installed on the rack, the bottom cover vibration disc 32 is arranged below the end of the feeding conveyor belt 31, and the bottom cover diffusion plate 38 is arranged above the bottom cover vibration disc 32. The feeding conveyor belt 31 is used for receiving the bottom cover output by the feeding device 37 and conveying the bottom cover to the bottom cover vibration disc 32 in sequence. The bottom cover is uniformly dispersed under the vibration of the bottom cover vibration disc 32, and the bottom cover diffusion plate 38 irradiates on the bottom cover vibration disc 32, so that the brightness of the bottom cover on the bottom cover vibration disc is improved, which is beneficial to the image processing effect, highlights the measurement feature, overcomes the environmental light interference, ensures the image stability, and the bottom cover vision module 33 in the embodiment preferably adopts an industrial camera. The angle of the bottom cover on the bottom cover vibration disc 32 is acquired by the bottom cover vision module 33 and is fed back to the bottom cover mechanical hand 34. After the bottom cover mechanical hand 34 sucks the bottom cover, the bottom cover is adjusted to be flush with the shell according to the angle acquired by the bottom cover vision module 33, and then the bottom cover 103 is arranged on the circuit board 102 of the rudder 10, so that the automatic assembly of the rudder 10 and the bottom cover 103 is realized.

[0074] The structure of the bottom cover clamping mechanism 35 and the bottom cover pressing mechanism 36 is the same as that of the shell clamping mechanism 21 and the circuit board pressing mechanism 22. In the embodiment, the shell 101 received on the carrier 201 is clamped by the bottom cover clamping mechanism 35, so that the shell 101 does not shake when the circuit board 102 is assembled with the bottom cover 103. The bottom cover pressing mechanism 36 is used for pressing the bottom cover 103 on the shell 101, so that the installation of the bottom cover 103 is more firm.

[0075] Referring to Figure 11 The potential rod assembly device 4 includes a turnover mechanism 41, a feeding mechanism 42, a round pipe rotating mechanism 43, a potential rod mechanical hand 44, a potential rod clamping mechanism 45 and a potential rod pressing mechanism 46. The turnover mechanism 41 is used for turning over the rudder 10 on the carrier 201. The round pipe rotating mechanism 43 is used for grabbing the potential rod 104 output by the feeding mechanism 42 and turning over the potential rod 104 to a vertical state. The potential rod clamping mechanism 45 is driven by the potential rod mechanical hand 44 to grab the potential rod 104 on the round pipe rotating mechanism 43 and transfer the potential rod to above the carrier 201, so that the potential rod clamping mechanism 45 inserts and assembles the potential rod 104 into the shell 101 of the rudder 10.

[0076] Referring to Figure 12As shown, specifically, the feeding mechanism 42 comprises a vibrating disc 421, a circular tube track 422 arranged between the vibrating disc 421 and a circular tube rotating mechanism 43, a plurality of potential rods 104 are placed in the vibrating disc, the circular tube track 422 is provided with a pair of circular grooves 424, and a linear vibrator 423 is fixedly installed on the rack, the circular tube track 422 is arranged on the linear vibrator 423, the vibrating disc 421 sequentially inputs the circular tubes into the circular grooves 424 of the circular tube track 422, and the potential rods 104 are arranged in a linear type under the vibration of the linear vibrator 423 and sequentially move towards the circular tube rotating mechanism 43.

[0077] The circular tube rotating mechanism 43 comprises a rotating shaft 431 and a rotating driving device 432, the rotating driving device 432 is erected on one side of the circular tube track 422, and the rotating driving device 432 preferably adopts a rotating air cylinder in the embodiment, the peripheral surface of the rotating shaft 431 is correspondingly provided with a plurality of insertion holes 433 corresponding to the circular grooves 424 of the circular tube track 422, so that the potential rods 104 output from the circular tube track 422 are input into the insertion holes 433, and the other end of the insertion hole 433 is connected with an air source, by opening the air source, the insertion hole 433 sucks the potential rod 104, then the rotating driving device 432 drives the rotating shaft 431 to rotate by 90°, so that the rotating shaft 431 drives the potential rod 104 to overturn upwards, and waits for the potential rod manipulator to clamp.

[0078] Further combined Figure 13 , Figure 14 As shown, the overturning mechanism 41 comprises an overturning frame 411 and overturning blocks 412, the two ends of the overturning blocks 412 are respectively rotationally arranged on the overturning frame 411, and a pair of pneumatic fingers 413 are symmetrically arranged on the overturning blocks 412, an overturning mounting frame 415 is erected on the first conveying mechanism 202, an overturning sliding table 416 is horizontally slidably arranged on the overturning mounting frame 415, a lifting linear module 417 is fixedly installed on the overturning sliding table 416, and the upper part of the overturning frame 411 is slidably arranged on the lifting linear module 417, and the lifting linear module 417 preferably adopts a screw-nut linear module in the embodiment, the overturning frame 411 is driven to lift by the lifting linear module 417, and a rodless air cylinder 418 is fixedly installed on the overturning mounting frame 415, the overturning frame 411 is driven to horizontally move along the overturning mounting frame 415 by the rodless air cylinder 418.

[0079] When the carrier 201 reaches below the overturning mechanism 41 under the conveying of the first conveying mechanism 202, the rudder 10 on the carrier 201 is clamped by the pneumatic fingers 413 respectively, the overturning blocks 412 are driven to rotate by 180° by the overturning driving device 414, the overturning blocks 412 overturn the rudder 10 from top to bottom and place the rudder 10 on the original carrier 201, then the potential rod manipulator 45 clamps the potential rods 104 on the rotating shaft 431 respectively, and inserts the potential rods 104 into the shell 101 of the rudder 10 respectively, so as to realize the automatic assembly of the potential rods.

[0080] The potential rod assembling device further comprises a potential rod clamping mechanism 45 and a potential rod pressing mechanism 46, which have the same structure as the shell clamping mechanism 21 and the circuit board pressing mechanism 22. In this embodiment, the potential rod clamping mechanism 45 clamps the shell 101 received on the carrier 201, so as to avoid the shell 101 from shaking when the potential rod 104 is assembled with the shell 101. The potential rod pressing mechanism 46 is used to press the potential rod 104 on the shell 101, so that the assembly of the potential rod 104 and the shell 101 is more firm.

[0081] Referring to Figure 1 , Figure 15 , the gear assembling device 5 comprises a first gear assembling device 51, a second gear assembling device 52, a third gear assembling device 53 and a fourth gear assembling device 54, which sequentially insert the first gear 105, the second gear 106, the third gear 107 and the fourth gear 108 on the potential rod 104 of the steering engine 10.

[0082] Specifically, the first gear assembling device 51 comprises a hopper 511, a gear vibration disc 512, a gear visual module 513 and a gear mechanical hand 514. The hopper 511 is provided below with a gear conveying belt 515 fixedly installed on a rack. The hopper 511 stores a plurality of first gears 105. The first end of the gear conveying belt 515 is provided above with a hopper. The first gears 105 in the hopper 511 are respectively guided into the gear conveying belt 515 through the hopper. The gear vibration disc 512 is arranged below the tail end of the gear conveying belt 515, so that the gear conveying belt 515 conveys the first gears 105 dropped from the hopper 511 to the gear vibration disc 512. The first gears are uniformly dispersed under the vibration of the gear vibration disc 512. The gear visual module 513 is arranged above the gear vibration disc 512. In this embodiment, the gear visual module 513 preferably adopts an industrial camera, which is used to acquire the angle of the first gears 105 on the gear vibration disc 512.

[0083] In combination with Figure 16As shown, the gear manipulator 514 is provided with a clamping rotating mechanism 516, which includes a clamping frame 5161 and a pair of rotating clamping jaws 5162 arranged below the clamping frame 5161. In this embodiment, the gear manipulator preferably adopts a four-axis industrial robot. The clamping frame 5161 is fixedly connected with the lead screw of the gear manipulator 514. A pair of telescopic cylinders 5163 are fixedly arranged on the clamping frame 5161, and the telescopic rods thereof are fixedly connected with the rotating clamping jaws 5162. The clamping rotating mechanism 516 is driven by the gear manipulator 514 to move above the gear vibration disc 512. The telescopic cylinders 5163 drive the rotating clamping jaws 5162 to descend, so that the rotating clamping jaws 5162 clamp the primary gear 105 on the gear vibration disc 512. In this embodiment, the rotating clamping jaws 5162 preferably adopt rotating clamping jaw cylinders. Therefore, the rotating clamping jaws 5162 rotate and adjust the primary gear 105 to a specified angle according to the angle collected by the gear vision module 513, so as to facilitate the assembly of the subsequent gears. The structures of the second gear assembly device 52, the third gear assembly device 53 and the fourth gear assembly device 54 are the same as that of the first gear assembly device 51, and will not be repeated here.

[0084] After the primary gear 105 is inserted into the potential rod 104 of the rudder 10, the conveying device 20 continues to drive the carrier 201 to pass through the second gear assembly device 52, the third gear assembly device 53 and the fourth gear assembly device 54 in turn, so that the second gear assembly device 52, the third gear assembly device 53 and the fourth gear assembly device 54 respectively insert the secondary gear 106, the tertiary gear 107 and the quaternary gear 108 into the potential rod 104 of the rudder 10. Since the angles of the gears are automatically adjusted between the first gear assembly device 51, the second gear assembly device 52, the third gear assembly device 53 and the fourth gear assembly device 54, the gears can be precisely engaged with each other, which greatly improves the assembly precision of the gears and realizes the automatic assembly of the gears.

[0085] The first gear assembly device 51 / second gear assembly device 52 / third gear assembly device 53 / fourth gear assembly device 54 further includes a gear clamping mechanism 517 and a gear pressing mechanism 518. The structures of the gear clamping mechanism 517 and the gear pressing mechanism 518 are the same as those of the shell clamping mechanism 21 and the circuit board pressing mechanism 22. In this embodiment, the gear clamping mechanism 517 clamps the shell 101 received on the carrier 201, so as to avoid the shell 101 from shaking when the primary gear 105 / secondary gear 106 / tertiary gear 107 / quaternary gear 108 is assembled with the shell 101. The gear pressing mechanism 518 is used to press the primary gear 105 / secondary gear 106 / tertiary gear 107 / quaternary gear 108 on the shell 101, so that the assembly of the primary gear 105 / secondary gear 106 / tertiary gear 107 / quaternary gear 108 with the shell 101 is more firm.

[0086] Referring to Figure 2 As shown in the figure, the structure of the upper cover assembling device 3 is the same as that of the bottom cover assembling device 6, which is not repeated here. The upper cover is set on the housing 101 of the steering gear 10 by the upper cover assembling device 3, so as to realize the automatic assembly of the upper cover.

[0087] Referring to Figure 2 As shown in the figure, the screw assembling device 7 (not shown in the figure) comprises a rotating platform, a plurality of screw machines and a screw mechanical hand. The rotating platform is provided with a plurality of fixed carriers in the circumferential direction. The plurality of screw machines are respectively arranged on the outer side of the rotating platform. In the present embodiment, the screw machines are preferably four groups. After the upper cover 109 is set on the housing 101 of the steering gear 10, the carrier 201 is conveyed to the work station of the screw assembling device 7 by the conveying device 20. The steering gear 10 on the carrier 201 is clamped and placed on the fixed carrier of the rotating platform by the screw mechanical hand. The rotating platform drives the fixed carrier to pass through the screw machines in turn, so that the screw machines respectively screw the screws into the upper cover of the steering gear 10 at the opposite corners, so as to fix and connect the upper cover 109 of the steering gear 10 and the housing 101 by screws. Finally, the fixed steering gear 10 is clamped and placed on the carrier 201 by the screw mechanical hand, so as to complete the overall assembly of the steering gear.

[0088] Referring to Figure 1 , Figure 17 As shown in the figure, the finished product testing device 8 comprises a feeding and discharging mechanism 81, a testing mechanism 82 and a material box 83. The feeding and discharging mechanism 81 is arranged on the rack. The testing mechanism 82 is arranged below the feeding and discharging mechanism 81. The material box 83 is arranged above the second conveying mechanism 203. In the present embodiment, the feeding and discharging mechanism 81 preferably adopts a two-axis door type mechanical hand. The steering gear 10 assembled on the carrier 201 is respectively clamped and taken by the feeding and discharging mechanism 81, and placed on the testing mechanism 82.

[0089] In combination with Figure 18 , Figure 19As shown in the figure, the testing mechanism 82 comprises a testing panel frame 821, a testing carrier 822, a plurality of probe assemblies 823 and a plurality of pressing plate assemblies 824, the testing carrier 822 is arranged on the testing panel frame 821, and the testing carrier 822 has a containing position 8221 for placing the rudder 10, each of the pressing plate assemblies 824 comprises a pressing plate 8241 and a mounting plate 8242, the pressing plate 8241 is arranged above the mounting plate 8242 in a lifting manner, the mounting plate 8242 is fixedly installed with a pressing plate cylinder, the telescopic end of the pressing plate cylinder is fixedly connected with the pressing plate 8241, the testing panel frame 821 is fixedly provided with an intermediate fixed plate 825 below, the mounting plate 8242 is slidingly arranged on the intermediate fixed plate 825, the testing panel frame 821 is fixedly installed with a driving cylinder, the telescopic end of the driving cylinder is fixedly connected with the mounting plate 8242, the driving cylinder drives the mounting plate 8242 to move towards the rudder 10, then the pressing plate cylinder drives the pressing plate 8241 to press the rudder 10 on the containing position 8221, so as to prevent the rudder 10 in the containing position 8221 from being displaced, and ensure the testing accuracy of the rudder.

[0090] Each of the probe assemblies 823 comprises a connecting plate 8231 slidingly arranged on the testing panel frame 821, a connecting block 8232 arranged at each end of the connecting plate 8231, and a probe 8233 arranged on the connecting block 8232, a probe cylinder 8234 drives the probe 8233 to move towards the containing position 8221, so that the probe 8233 is connected with the wiring port on the circuit board 102 of the rudder 10, and then the circuit board 102 can be connected with the testing machine through the wiring port, and the circuit board parameters can be tested through signal transmission.

[0091] The bottom of the test panel frame 821 is provided with a rotating shaft mounting plate 8211, and a rotating shaft 8212 is rotatably arranged on the rotating shaft mounting plate 8211. The bottom of the test panel frame 821 has through holes 8222 penetrating the accommodation positions 8221 respectively, so that the upper part of the rotating shaft 8212 is inserted into the gear (i.e. the fourth gear 108 in the embodiment) of the steering engine 10 through the through holes 8222. The bottom of the rotating shaft 8212 is fixedly provided with a magnet 8213, and the middle fixed plate 825 is provided with a gyro sensor unit 8251 corresponding to the rotating shaft 8212. In the embodiment, the gyro sensor unit 8251 preferably adopts a gyro sensor. When the circuit board 102 of the steering engine 10 is connected to the testing machine, the testing machine transmits signals to make the circuit board 102 control the output shaft of the steering engine 10 to rotate, so that the driving gear drives the fourth gear 108 to rotate, thereby driving the magnet 8213 on the rotating shaft to rotate, and then the gyro sensor unit 8251 detects the angular velocity and acceleration of the steering engine 10 according to the rotation of the magnet. If the testing mechanism 82 detects that the steering engine 10 is unqualified, the feeding and discharging mechanism 81 puts the unqualified steering engine into the magazine 83. If the testing mechanism 82 detects that the steering engine 10 is qualified, the feeding and discharging mechanism 81 puts the qualified steering engine 10 on the carrier 201, so that the conveying device 20 conveys the qualified steering engine 10 to the laser engraving mechanism 91 for engraving marks, thereby realizing automatic testing of the steering engine 10 and greatly improving the qualification rate of the product.

[0092] Referring to Figure 20 , Figure 21 As shown in the figure, the laser engraving and discharging device 9 includes a laser engraving mechanism 91, a disc separating mechanism 92, a discharging manipulator 93, and a laser engraving conveying mechanism 94. The laser engraving mechanism 91 includes a laser engraving head 911 and a horizontal driving module 912. In the embodiment, the horizontal driving module 912 preferably adopts a ball screw linear module, which can adjust the distance between the laser engraving head 911 and the steering engine, so that different intensity laser engraving can be performed according to the distance between the two.

[0093] The laser engraving conveying mechanism 94 includes a pair of profiling clamping jaws 941, a conveying support frame 942, a longitudinal movement driving device 943, and a transverse movement driving device 944. The conveying support frame 942 is arranged on the first conveying mechanism 202. The longitudinal movement driving device 943 is slidingly arranged on the conveying support frame 942. The transverse movement driving device 944 is fixedly installed on one side of the conveying support frame 942. In the embodiment, the transverse movement driving device 944 preferably adopts a pneumatic cylinder, which drives the longitudinal movement driving device 943 to move transversely. The longitudinal movement driving device 943 has a longitudinal movement sliding rail. In the embodiment, the longitudinal movement driving device 943 preferably adopts a pneumatic cylinder, the extension end of which is fixedly connected with a longitudinal movement sliding seat which slidingly cooperates with the longitudinal movement sliding rail. The profiling clamping jaws 941 are slidingly arranged on the longitudinal movement sliding seat. A fine adjustment pneumatic cylinder 945 is fixedly installed on the longitudinal movement sliding rail and has its extension end fixedly connected with the profiling clamping jaws 941.

[0094] The top surface of the profiling gripper 941 is provided with a suction nozzle mounting hole from top to bottom, and a suction nozzle is fixedly arranged in the suction nozzle mounting hole. The rudder 10 after testing is conveyed to the lower side of the laser engraving conveying mechanism 94 by the first conveying mechanism 20, the profiling gripper 941 is driven to move to the upper side of the carrier 201 by the transverse driving device 944, then the longitudinal driving device 943 drives the profiling gripper 941 to descend, at the same time, the air source is opened, the bottom surface of the profiling gripper 941 sucks the rudder 10 on the carrier 201, and the shape of the bottom surface of the profiling gripper 941 matches the shape of the top surface of the rudder 10, so that the rudder is kept neat when being sucked up, and the position of the rudder can be adjusted more accurately through the fine adjustment cylinder, so that the laser engraving precision of the rudder is greatly improved.

[0095] It will be obvious to a person skilled in the art that, without departing from the spirit or essential characteristics of the application, the present application can be implemented in other specific forms. The present examples are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the specification as such. Any reference signs in the claims should not be construed as limiting the scope of the claims.

[0096] Furthermore, it should be understood that, although the present specification is described in terms of embodiments, not every implementation embodies only one independent technical solution, and the present specification is described in this way only for the sake of clarity, and a person skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by a person skilled in the art.

Claims

1. A fully automatic rudder assembly assembly line, characterized by, The application relates to a rudder production line, which comprises a shell feeding device (1), a circuit board assembling device (2), a bottom cover assembling device (3), a potential rod assembling device (4), a gear set assembling device (5), an upper cover assembling device (6), a finished product testing device (8), a laser marking discharging device (9) and a conveying device (20), wherein the conveying device (20) is provided with a plurality of carriers (201) for accommodating rudders (10), the carriers (201) are driven by the conveying device (20) to pass through the shell feeding device (1), the circuit board assembling device (2), the bottom cover assembling device (3), the potential rod assembling device (4), the gear set assembling device (5), the upper cover assembling device (6), the finished product testing device (8) and the laser marking discharging device (9) in sequence. A plurality of liftable jacking plates (208) are sequentially arranged on the conveying device (20) along the conveying direction of the carriers (201), the jacking plates (208) are provided with jacking pins (2081) at opposite corners, the carriers (201) are provided with limiting holes (2011) at opposite corners of the bottom surface, when the jacking plates (208) are lifted, the jacking pins (2081) of the jacking plates (208) are respectively slidably inserted into the limiting holes (2011) of the carriers (201), and the carriers (201) are jacked up by the jacking plates (208). The shell feeding device (1) is used for placing the shell (101) of the rudder (10) on the carrier (201), the circuit board assembling device (2) is used for mounting the circuit board (102) on the shell (101) accommodated by the carrier, and the bottom cover assembling device (3) is used for covering the bottom cover (103) on the circuit board (102) of the shell (101). The potential rod assembling device (4) comprises a turnover mechanism (41), a feeding mechanism (42), a circular tube rotating mechanism (43) and a potential rod mechanical arm (44), the circular tube rotating mechanism (43) is used for grabbing the potential rod (104) output by the feeding mechanism (42) and turning over the potential rod (104) to a vertical state, the turnover mechanism (41) is used for turning over the shell (101) on the carrier (201) so that the shaft hole of the shell (101) faces upwards, so that the potential rod mechanical arm (44) grabs the potential rod (104) on the circular tube rotating mechanism (43) and moves to the top of the carrier (201), and the potential rod (104) is inserted into the shaft hole of the shell (101); The gear set assembling device (5) comprises a first gear assembling device (51), a second gear assembling device (52), a third gear assembling device (53) and a fourth gear assembling device (54), the first gear assembling device (51), the second gear assembling device (52), the third gear assembling device (53) and the fourth gear assembling device (54) sequentially insert gears on the potential rod (104), and the upper cover is covered on the shell (101) by the upper cover assembling device (6). The finished product testing device (8) comprises a feeding and discharging mechanism (81) and a testing mechanism (82), the feeding and discharging mechanism (81) is used for clamping the rudder machine (10) assembled on the carrier (201) and placing the rudder machine (10) on the testing mechanism (82); The testing mechanism (82) comprises a testing panel rack (821), a testing carrier (822), a plurality of probe assemblies (823) and a plurality of pressing plate assemblies (824), the testing carrier (822) is arranged on the testing panel rack (821), the testing carrier (822) is provided with a plurality of accommodation positions (8221) for accommodating the rudder machine (10) output by the feeding and discharging mechanism, the probe assemblies (823) are connected with the wiring ports of the rudder machine (10) in the accommodation positions (8221), and the plurality of pressing plate assemblies are used for pressing the rudder machine (10) in the accommodation positions (8221) respectively, so that the testing machine tests the angular velocity and acceleration of the rudder machine through the probe assemblies (823); The laser engraving and discharging device (9) comprises a laser engraving mechanism (91), a disc separating mechanism (92), a discharging manipulator (93) and a laser engraving carrying mechanism (94), the laser engraving mechanism (91) cooperates with the laser engraving carrying mechanism (94) to engrave the qualified rudder machine (10) on the carrier (201), and then the discharging manipulator (93) takes away the rudder machine (10) on the carrier and places the rudder machine (10) on the disc separating mechanism (92) in sequence.

2. The fully automatic rudder assembly assembly line according to claim 1, characterized in that, The first gear assembling device (51) comprises a hopper (511), a gear vibrating disc (512), a gear visual module (513) and a gear manipulator (514), a gear conveying belt (515) is arranged below the hopper (511) and is used for conveying the primary gear (105) falling from the hopper (511) to the gear vibrating disc (512), the gear visual module (513) is arranged above the gear vibrating disc (512) and is used for positioning the angle of the primary gear (105) on the gear vibrating disc (512), the gear manipulator (514) is provided with a clamping and rotating mechanism (516), the clamping and rotating mechanism (516) is moved to above the gear vibrating disc (512) by the gear manipulator (514), the clamping and rotating mechanism (516) clamps the primary gear (105) on the gear vibrating disc (512), and the primary gear (105) is rotated and adjusted to a specified angle according to the angle obtained by the gear visual module (513); The second gear assembling device (52), the third gear assembling device (53) and the fourth gear assembling device (54) have the same structure as the first gear assembling device (51).

3. The fully automatic rudder assembly assembly line according to claim 1, wherein, The plurality of probe assemblies (823) each include a connecting plate (8231) slidingly arranged on the test panel rack (821), connecting blocks (8232) respectively arranged at two ends of the connecting plate (8231), and probes (8233) respectively arranged on the connecting blocks (8232), the probes (8233) are driven to be connected with the wiring ports of the circuit board (102) of the rudder (10) by a probe cylinder (8234); The plurality of pressing plate assemblies (824) each include a pressing plate (8241) and a mounting plate (8242), the pressing plate (8241) is arranged above the mounting plate (8242) in a lifting manner, an intermediate fixed plate (825) is fixedly arranged below the test panel rack (821), and the mounting plate (8242) is slidingly arranged on the intermediate fixed plate (825), the rudder (10) in the accommodation position (8221) is pressed by the pressing plate (8241) in a downward pressing manner.

4. The fully automatic rudder assembly assembly line according to claim 3, characterized in that, The bottom of the test panel rack (821) is provided with a rotating shaft mounting plate (8211), a rotating shaft (8212) is rotatably arranged on the rotating shaft mounting plate (8211), the bottom of the test panel rack (821) is provided with through holes (8222) penetrating through the accommodation positions (8221), the upper portion of the rotating shaft (8212) is inserted into the gear of the rudder (10) through the through holes (8222), a magnet (8213) is fixedly arranged at the bottom of the rotating shaft (8212), and a gyroscopic sensing unit (8251) is arranged on the intermediate fixed plate (825) corresponding to the rotating shaft (8212) for detecting the angular velocity and acceleration of the rudder (10).

5. The fully automatic rudder assembly assembly line according to claim 1, wherein, The feeding mechanism (42) includes a vibrating disc (421) and a circular tube track (422), the circular tube track (422) is arranged between the vibrating disc (421) and the circular tube rotating mechanism (43), the circular tube track (422) is used for receiving the potential rods (104) output by the vibrating disc (421), and the lower potential rods (104) are sequentially moved towards the circular tube rotating mechanism (43) by a linear vibrator (423); The circular tube rotating mechanism (43) includes a rotating shaft (431) and a rotating driving device (432), the rotating driving device (432) is arranged on one side of the circular tube track (422), the outer periphery of the rotating shaft (431) is provided with a socket (433) corresponding to the circular tube track (422), the potential rods (104) on the circular tube track (422) are sequentially input into the socket (433), one end of the socket (433) is connected with an air source, the potential rods (104) in the socket (433) are sucked by the air source, and the rotating shaft (431) is rotated by the rotating driving device (432), so that the potential rods (104) on the rotating shaft (431) are flipped upwards.

6. The fully automatic rudder assembly assembly line according to claim 1, wherein, The turnover mechanism (41) comprises a turnover frame (411) and a turnover block (412), the turnover frame (411) is arranged on the conveying device (20), both ends of the turnover block (412) are rotationally arranged on the turnover frame (411), a pair of pneumatic fingers (413) are symmetrically arranged on the turnover block (412), the rudder (10) on the carrier (201) is clamped by the pneumatic fingers (413) respectively, and the turnover block (412) is driven to rotate by a turnover driving device (414), so that the turnover block (412) turns over the rudder (10).

7. The fully automatic rudder assembly assembly line according to claim 1, wherein, The shell loading device (1) comprises a first tray (11), a second tray (12), a tray conveying mechanism (13) and a loading manipulator (14), the first tray (11) and the second tray (12) are respectively arranged below the tray conveying mechanism (13) in a lifting manner, the first tray (11) and the second tray (12) are respectively used for stacking finished product trays, and the loading manipulator (14) is used for grabbing the shell (101) of the finished product tray on the first tray (11) and placing the shell (101) on the carrier (201); The tray conveying mechanism (13) comprises a tray separating mounting frame (131), a tray separating plate (132), a suction cup mounting plate (133) and a plurality of suction cups (134), the tray separating plate (132) is slidingly arranged on the tray separating mounting frame (131), the suction cup driving device (135) is fixedly arranged on the tray separating plate (132) and used for driving the suction cup mounting plate (133) to lift, and the plurality of suction cups (134) are arranged on the suction cup mounting plate (133) and used for sucking the finished product tray on the first tray (11), the finished product tray is moved and placed on the second tray (12) by horizontally driving the tray separating plate (132) to move along the tray separating mounting frame (131). The structure of the circuit board assembling device (2) is the same as that of the shell loading device (1).

8. The fully automatic rudder assembly assembly line according to claim 1, wherein, The screw assembling device (7) comprises a rotating platform, a plurality of screw machines and a screw manipulator, the rotating platform is provided with a plurality of fixed carriers in the circumferential direction, the plurality of screw machines are arranged outside the rotating platform, the rudder (10) on the carrier (201) is clamped and placed on the fixed carrier of the rotating platform by the screw manipulator, the rotating platform drives the fixed carrier to pass through the screw machines in sequence, the screw machines respectively screw screws into the bottom cover (103) of the rudder (10), and the bottom cover (103) of the rudder (10) is fixedly connected with the shell (101).

9. The fully automatic rudder assembly assembly line according to claim 1, wherein, The conveying device (20) comprises a plurality of first conveying mechanisms (202) and second conveying mechanisms (203), the plurality of first conveying mechanisms (202) and the plurality of second conveying mechanisms (203) are respectively arranged in parallel, and the first conveying mechanisms (202) and the second conveying mechanisms (203) are connected in series. The first conveying mechanism (202) comprises a first side plate (2021), a second side plate (2022) and conveying belts (2023) arranged on the first side plate (2021) and the second side plate (2022) respectively, and upper portions of the first side plate (2021) and the second side plate (2022) are respectively provided with supporting strips (2024) for supporting the conveying belts (2023), the carriers (201) are arranged between the conveying belts (2023), the carriers (201) are driven to move horizontally by the conveying belts (2023), and position detection modules (2025) are arranged on the first side plate (2021) and the second side plate (2022) respectively for detecting whether the carriers (201) reach designated positions. The second conveying mechanism (203) has the same structure as the first conveying mechanism (202).

10. The fully automatic rudder assembly assembly line according to claim 9, wherein, First and second reversing mechanisms (204 and 205) are arranged at opposite ends of the conveying device (20), the first reversing mechanism (204) comprises a reversing frame (2041) and transition conveying belts (2042) arranged on inner side walls of the reversing frame (2041) respectively, and the reversing frame (2041) is slidably arranged between the first conveying mechanism (202) and the second conveying mechanism (203) for switching the carriers (201) to the first conveying mechanism (202) or the second conveying mechanism (203).

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