Real-time detection system in a smart assembly system for a unidirectional device

Abstract

This invention provides a real-time detection system for a one-way actuator intelligent assembly system. The one-way actuator intelligent assembly system includes an automatic assembly line for a star wheel and output shaft, and an automatic assembly line for a spring seat and snap ring seat. The detection system includes an assembly-time detection device and a post-assembly detection device. The assembly-time detection device is located on the automatic assembly line for the star wheel and output shaft, and the post-assembly detection device is located after the automatic assembly line for the spring seat and snap ring seat. This invention solves the problem of one-way actuators only being inspected after assembly, which leads to defects in early components or assembly issues. It allows for timely detection of any problems in one-way actuator assembly.

Description

Technical Field

[0001] This invention relates to the field of one-way device manufacturing technology, and in particular to a real-time detection system in a one-way device intelligent assembly system. Background Technology

[0002] A one-way clutch, also known as an electric start overrunning clutch, consists of many parts, which need to be assembled after processing. (See [link to documentation]). Figure 1 A one-way valve typically includes an output shaft and a star wheel. One end of the star wheel has a round washer, a half washer, and an outer cover, while the other end of the star wheel has a spring, a spring seat, a circlip seat, and a circlip in sequence.

[0003] Currently, most manufacturers are starting to use a combination of assembly equipment and manual assembly for assembly. For example, Chinese Patent CN112296652B discloses a gear assembly mechanism for a one-way device, which includes a frame and a worktable. The worktable is equipped with a station transport device, a shim feeding device, a gear feeding device, a spinning device, and an output device. The shim feeding device, gear feeding device, and spinning device are arranged counterclockwise on the station transport device. The output device is located on one side of the station transport device opposite to the spinning device. Station sensors are provided around the station transport device corresponding to the shim feeding device, gear feeding device, and spinning device. The station transport device includes a square slide, a base plate at the bottom of the slide, several sliding molds for workpiece assembly arranged in the slide, a toggle assembly that cooperates with the bottom of the sliding mold, a front-back drive assembly and a vertical drive assembly for driving the toggle assembly. The toggle assembly includes a toggle bar and a toggle pin fixed to the toggle bar and inserted into the bottom of the sliding mold.

[0004] For example, Chinese patent CN112296651A discloses an automated assembly mechanism for one-way slip rings and snap rings. The mechanism includes a frame with an indexing turntable. The indexing turntable is arranged clockwise with a conveying device, a slip ring assembly device, a snap ring loading device, and a snap ring pressing device. An output device is located on the other side of the frame opposite the conveying device. The indexing turntable includes a turntable assembly, an indexing assembly, and a rotary cylinder for driving the turntable assembly. The turntable assembly has a first station, a second station, a third station, and a fourth station. The turntable assembly includes an outer turntable, an inner fixed plate, several product molds, and several positioning molds, spaced apart. Position sensors are installed on the inner fixed plate corresponding to the first, second, third, and fourth stations. The indexing assembly can grasp the positioning molds and fit them into the product molds. However, this mechanism can only perform a single-step installation of the snap ring and slip ring.

[0005] This type of equipment generally only performs component assembly, requiring manual inspection or separate testing equipment to carry out the inspection separately. This increases the transfer cycle and reduces production efficiency. Manual inspection of some components is done by visual inspection, such as checking whether spring seats or snap ring seats are installed backwards. Manual visual inspection is prone to fatigue, and when the number of components to be inspected is large, inaccurate inspection is likely to occur.

[0006] Some devices now come with built-in detection functions, such as Chinese Patent CN112246538A, which discloses an oiling mechanism for a one-way sleeve inside a one-way device. The mechanism includes a frame, a worktable and a support mounted on the frame. The worktable is equipped with a conveying device, a detection device, an oiling device, and an output device. The conveying device includes a slide rail fixed to the worktable, a conveying platform slidably fitted within the slide rail, and a conveying cylinder that drives the conveying platform to slide horizontally within the slide rail. The conveying platform has a first detection station, a second oiling station, and a third detection conveying station. The detection device includes a compensator and an imaging system. The imaging system passes through the compensator and is correspondingly positioned to the first detection station. The oiling device includes an oiling frame, a limiting platform mounted on the oiling frame, an oiling gun, a limiting cylinder, and an oiling pump. The limiting platform is located at the bottom of the oiling gun, and the output device is located on the side of the conveying platform opposite to the third conveying station.

[0007] While such equipment can improve testing efficiency and accuracy, the testing and assembly parts are generally integrated. The testing part only works when the assembly part is working, making it suitable only for use within the equipment's own processes. Its versatility is low, and it is not convenient to conduct real-time testing of assembly results between processes. This can easily lead to the discovery of defective parts after assembly is completed, requiring reassembly, rework, or scrapping, resulting in wasted time. Purchasing assembly equipment with testing functions directly would increase the company's costs.

[0008] To solve the above problems, a real-time detection system needs to be developed on a unidirectional shaft automated production line. Summary of the Invention

[0009] To address the shortcomings of existing technologies, this invention provides a real-time detection system in a one-way intelligent assembly system. This system solves the problem that one-way devices are only inspected after assembly, which leads to the defective parts or assembly defects that can only be detected after assembly is complete.

[0010] According to an embodiment of the present invention, a real-time detection system is provided in a one-way intelligent assembly system. The one-way intelligent assembly system includes an automatic assembly line for a star wheel and an output shaft and an automatic assembly line for a spring seat and a snap ring seat. The detection system includes an assembly-time detection device and a post-assembly detection device. The assembly-time detection device is located on the automatic assembly line for the star wheel and the output shaft, and the post-assembly detection device is located after the automatic assembly line for the spring seat and the snap ring seat.

[0011] The technical principle of this invention is as follows: an assembly detection device is installed on the automatic assembly line between the star wheel and the output shaft to detect the star wheel assembly in the early stage, which effectively prevents unqualified products from entering the automatic assembly line between the spring seat and the snap ring seat for further assembly. The post-assembly detection device performs a final finished product inspection on the one-way device to ensure that no defective products can be shipped.

[0012] Compared with the prior art, the present invention has the following beneficial effects: by setting an assembly detection device on the automatic assembly line of the star wheel and the output shaft, it solves the problem that the one-way device is only inspected after assembly, which leads to the technical problem that the unqualified parts or assembly in the early stage can only be found after the assembly is completed. This allows the one-way device to be detected in time once a problem occurs in the assembly.

[0013] Furthermore, the automatic assembly line for the star wheel and the output shaft includes a star wheel feeding line and a circular gasket mounting mechanism, an output shaft feeding line and a half gasket mounting mechanism that are sequentially incorporated along the movement direction of the star wheel feeding line. The end of the star wheel feeding line is also provided with an extended outer cover mounting mechanism.

[0014] The assembly inspection device includes an outer diameter wear detection device, a roller spring missing installation detection device, a size measuring device, a half gasket missing installation detection device, and an outer cover torque detection device.

[0015] The roller spring missing detection device and the size measuring device are set on the star wheel feeding line, the outer diameter missing grinding detection device is set on the output shaft feeding line, and the half gasket missing detection device and the outer cover torque detection device are set on the outer cover mounting mechanism.

[0016] Furthermore, the output shaft feeding line is provided with an output shaft pre-assembly station and an output shaft waiting-to-be-assembled station in sequence. The outer diameter grinding leakage detection device is set between the output shaft pre-assembly station and the output shaft waiting-to-be-assembled station. The outer diameter grinding leakage detection station is located below the outer diameter grinding leakage device, and a defective product storage position is provided between the outer diameter grinding leakage detection station and the output shaft waiting-to-be-assembled station.

[0017] Furthermore, the star wheel feeding line is provided with a star wheel pre-assembly station, an oil injection station, a round gasket installation station, an output shaft installation station, and a half gasket installation station in sequence.

[0018] The roller spring missing component detection device is set between the star wheel pre-assembly station and the oil injection station. The roller spring missing component detection station is provided on the lower side of the roller spring missing component detection device, and a defective product storage position is provided between the roller spring missing component detection station and the oil injection station.

[0019] The dimension measuring device is set between the output shaft assembly station and the half-shim assembly station. A dimension measuring station is provided on the lower side of the dimension measuring device, and a non-conforming product storage position is provided between the dimension measuring station and the half-shim assembly station.

[0020] Furthermore, the outer cover installation mechanism is provided with an outer cover installation station, an outer cover sliding station, and an outer cover tightening station in sequence;

[0021] The half-gasket missing detection device is set in front of the outer cover assembly station. The half-gasket missing detection station is located below the half-gasket missing detection device, and there is a non-conforming product storage location between the half-gasket missing detection station and the outer cover assembly station.

[0022] The outer cover torque detection device is installed after the outer cover tightening station. The outer cover torque detection station is located below the outer cover torque detection device, and a defective product storage position is provided on the side of the outer cover torque detection station away from the outer cover tightening station.

[0023] Furthermore, the post-assembly inspection device includes:

[0024] Snap ring seat detection device: used to detect whether there are multiple or missing snap ring seats in the one-way valve;

[0025] Snap ring detection device: used to detect whether there are extra or missing snap rings in the one-way valve;

[0026] Finished product inspection device: used to check whether the height from the star wheel end face of the one-way valve to the snap ring seat is correct and whether there are any over-installation or under-installation of round and half washers;

[0027] Translational jaws: used to move the finished product one-way device, and the translational jaws are set on one side of the snap ring seat detection device, snap ring detection device and finished product detection device.

[0028] Furthermore, a workstation is provided on one side of the translational chuck, the workstation including a circlip seat inspection workstation, a circlip inspection workstation and a finished product inspection workstation arranged in sequence, and a defective product storage position is provided after the circlip seat inspection workstation, the circlip inspection workstation and the finished product inspection workstation, respectively. The circlip seat inspection workstation, the circlip inspection workstation and the finished product inspection workstation correspond to the circlip seat inspection device, the circlip inspection device and the finished product inspection device in sequence.

[0029] Furthermore, a finished product conveyor belt is provided on the side of the automatic assembly line away from the spring seat and the snap ring seat of the translational claw.

[0030] Furthermore, the translational gripper includes a horizontally arranged pneumatic slide rail and vertically distributed lifting cylinders on the pneumatic slide rail, and a number of movable grippers are arranged in sequence near the work station on the pneumatic slide rail.

[0031] Furthermore, the translational gripper is equipped with a rotating moving gripper motor at one end near the finished product conveyor belt, and the first moving gripper at the one end of the translational gripper near the finished product conveyor belt is mounted on the rotating motor. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of a one-way device according to an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram of the one-way intelligent assembly system according to an embodiment of the present invention.

[0034] Figure 3 This is a schematic diagram of the automatic assembly line for the star wheel and output shaft according to an embodiment of the present invention.

[0035] Figure 4 This is a schematic diagram of the automatic assembly line for the spring seat and the snap ring seat according to an embodiment of the present invention.

[0036] Figure 5 This is a cross-sectional view of the circular gasket mounting mechanism according to an embodiment of the present invention.

[0037] Figure 6 This is a schematic diagram of the structure of the half-waist mounting mechanism according to an embodiment of the present invention.

[0038] Figure 7 This is a schematic diagram of the feeding chuck in an embodiment of the present invention.

[0039] Figure 8 This is a schematic diagram of the pressing device according to an embodiment of the present invention.

[0040] Figure 9 This is a schematic diagram of the spring seat mounting mechanism according to an embodiment of the present invention.

[0041] Figure 10 This is a schematic diagram of the snap ring press machine according to an embodiment of the present invention.

[0042] Figure 11 This is a schematic diagram of the installation and moving mechanism according to an embodiment of the present invention.

[0043] Figure 12 This is a schematic diagram of the clamping mechanism on the installation and moving mechanism of the circular gasket installation mechanism according to an embodiment of the present invention.

[0044] Figure 13 This is a schematic diagram of the clamping mechanism on the installation and moving mechanism of the half-gasket installation mechanism according to an embodiment of the present invention.

[0045] Figure 14 This is a schematic diagram of the clamping mechanism on the installation and moving mechanism of the outer cover installation mechanism according to an embodiment of the present invention.

[0046] Figure 15 This is a schematic diagram of the clamping mechanism on the installation and moving mechanism of the snap ring mounting mechanism according to an embodiment of the present invention.

[0047] Figure 16 This is a schematic diagram of the control structure of the one-way intelligent assembly system according to an embodiment of the present invention.

[0048] Figure 17 This is a schematic diagram of the control structure of the translation control unit in an embodiment of the present invention.

[0049] Figure 18 This is a schematic diagram of the specific control structure of the one-way intelligent assembly system according to an embodiment of the present invention.

[0050] Figure 19 This is a schematic diagram of the control structure of the assembly control unit according to an embodiment of the present invention.

[0051] Figure 20 This is a schematic diagram of the control structure of the assembly control unit of the output shaft feeding line in an embodiment of the present invention.

[0052] Figure 21 This is a schematic diagram of the control structure of the assembly control unit of the outer cover mounting mechanism according to an embodiment of the present invention.

[0053] Figure 22 This is a schematic diagram of the control structure of the detection and control unit in an embodiment of the present invention.

[0054] Figure 23 This is a flowchart of a unidirectional shaft assembly method according to an embodiment of the present invention.

[0055] Figure 24 This is a schematic diagram of the positioning core in use according to an embodiment of the present invention.

[0056] In the above attached diagram: 1. Output shaft; 2. Star wheel; 3. Round washer; 4. Half washer; 5. Outer cover; 6. Spring; 7. Spring seat; 8. Snap ring seat; 9. Snap ring; 10. Positioning core;

[0057] 100. Automated assembly line for star wheel and output shaft; 110. Star wheel loading line; 111. Star wheel rotary table; 112. Star wheel pre-assembly station; 113. Oiling station; 114. Round shim installation station; 115. Output shaft installation station; 116. Half shim installation station; 120. Round shim mounting mechanism; 130. Output shaft loading line; 131. Output shaft rotary table; 132. Output shaft pre-assembly station; 133. Output shaft waiting-to-be-assembled station; 40. Half-shield installation mechanism; 150. Outer cover installation mechanism; 151. Outer cover vibratory feeder; 152. Outer cover pre-assembly station; 153. Outer cover lettering station; 154. Outer cover waiting station; 155. Lettering machine; 156. Outer cover installation station; 157. Outer cover conveying station; 158. Outer cover tightening station; 160. Storage cylinder; 161. Outlet; 170. Push cylinder; 171. Push block; 172. Slot; 180. Oil injector;

[0058] 200. Automated assembly line for spring seats and snap ring seats; 201. Positioning core placement station; 202. Spring installation station; 203. Spring seat installation station; 204. Snap ring seat installation station; 205. Snap ring installation station; 206. Snap ring pre-compression station; 207. Snap ring compression station; 208. Positioning core recovery station; 210. Positioning core circulation line; 211. Circulation track; 212. Pushing device; 220. Spring mounting mechanism; 221. Spring rotary disk; 230. Spring seat mounting mechanism; 240. Snap ring seat mounting mechanism; 250. Snap ring mounting mechanism; 260. Snap ring compression machine; 261. Snap ring compression cylinder; 262. Lower pressure head; 263. Positioning inner ring; 264. Pressing outer ring; 265. Elastic groove;

[0059] 300. Translation gripper; 310. Pneumatic slide rail; 320. Lifting cylinder; 330. Moving gripper; 331. Tilting motor; 340. Hollow round tube;

[0060] 400. Feeding chuck; 410. Horizontal slide rail; 420. Vertical cylinder; 430. Clamping gripper;

[0061] 500. Installation and moving mechanism; 510. Vertical slide rail; 520. Vertical slide rail; 530. Clamping mechanism; 531. Suction cup;

[0062] 600. Clamping device; 610. Shaping mold; 620. Pressing mold;

[0063] 700. Rotating device; 710. Pneumatic gripper; 720. Tightening motor;

[0064] 800. Assembly inspection device; 801. Defective product storage location; 810. Outer diameter grinding omission inspection device; 811. Outer diameter grinding omission inspection station; 820. Roller spring omission inspection device; 821. Roller spring omission inspection station; 830. Dimension measuring device; 831. Dimension measuring station; 840. Half-waist omission inspection device; 841. Half-waist omission inspection station; 850. Outer cover torque inspection device; 851. Outer cover torque inspection station;

[0065] 900. Post-assembly inspection device; 910. Snap ring seat inspection device; 911. Snap ring seat inspection station; 920. Snap ring inspection device; 921. Snap ring inspection station; 930. Finished product inspection device; 931. Finished product inspection station; 940. Finished product conveyor belt. Detailed Implementation

[0066] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0067] A one-way valve typically consists of an output shaft 1, a star wheel 2, and mating washers, connectors, and springs, etc. Figure 1 The one-way device shown includes an output shaft 1 and a star wheel 2. A circular washer 3, a half washer 4, and an outer cover 5 are provided between the output shaft 1 and the star wheel 2 for mating. A spring 6, a spring seat 7, a snap ring seat 8, and a snap ring 9 are arranged in sequence at the end of the star wheel 2 away from the output shaft 1.

[0068] like Figure 2 The one-way intelligent assembly system shown includes an automatic assembly line 100 for the star wheel and output shaft and an automatic assembly line 200 for the spring seat and snap ring seat arranged in sequence.

[0069] like Figure 2 The automatic assembly line 100 for the star wheel and output shaft shown includes a star wheel feeding line 110 and a round gasket mounting mechanism 120, an output shaft feeding line 130, and a half gasket mounting mechanism 140 that are sequentially inserted along the movement direction of the star wheel feeding line 110. The end of the star wheel feeding line 110 is also provided with an extended outer cover mounting mechanism 150 to realize the automatic installation of the round gaskets and half gaskets on the star wheel and the output shaft.

[0070] like Figure 2-3 The output shaft feeding line 130 shown includes an output shaft rotary disk 131 and a translational chuck 300. A feeding chuck 400 for moving the output shaft out of the output shaft rotary disk 131 is provided between the output shaft rotary disk 131 and the translational chuck 300. A mounting and moving mechanism 500 is provided at the end of the translational chuck 300 away from the output shaft rotary disk 131.

[0071] like Figure 3As shown, the output shaft feeding line 130 has several stations on one side of the translational chuck 300. The specific stations include the output shaft pre-assembly station 132 and the output shaft waiting station 133, which are arranged in sequence. The output shaft pre-assembly station 132 is used to receive the output shaft taken out by the feeding chuck 400 from the output shaft rotary disk 131. The output shaft waiting station 133 is used to wait for the installation moving mechanism 500 of the output shaft feeding line 130 to clamp the output shaft onto the star wheel feeding line 110 for assembly. Through the arrangement of the translational chuck 300 and the stations, one installation step can be completed at one station, forming a production line.

[0072] like Figure 3 , 5 The circular gasket mounting mechanism 120 shown includes a storage cylinder 160, a push cylinder 170 disposed on the lower side of the storage cylinder 160, and a mounting moving mechanism 500 disposed between the storage cylinder 160 and the star wheel feeding line 110. The storage cylinder 160 has an inner cavity for storing circular gaskets, and the bottom of the storage cylinder 160 has an outlet 161. The piston rod of the push cylinder 170 is provided with a push block 171, and the push block 171 has a slot 172. The bottommost circular gasket will be stuck in the slot 172. The push block 171 pushes the circular gasket out along the gasket outlet 161 so that the mounting moving mechanism 500 can pick it up.

[0073] like Figure 3 , 6 The half-wafer mounting mechanism 140 shown includes a storage cylinder 160, a push cylinder 170 disposed on the lower side of the storage cylinder 160, and a mounting moving mechanism 500 disposed between the storage cylinder 160 and the star wheel feeding line 110. The storage cylinder 160 has two parallel inner cavities for storing two half-wafers. The bottom of the storage cylinder 160 has two outlets 161. The piston rod of the push cylinder 170 is provided with a push block 171. The push block 171 has two slots 172 corresponding to the two outlets 161 respectively. The two bottom half-wafers will be stuck in the slots 172. The push block 171 pushes the half-wafers out along the wrench outlets 161 so that the mounting moving mechanism 500 can pick them up.

[0074] A large number of round and half gaskets are stored in a storage cylinder 160. Because it is stored vertically, it saves more space and provides more space for the output shaft feeding line 130.

[0075] like Figure 3 The star wheel feeding line 110 shown includes a star wheel rotating disk 111 and a translational chuck 300. A feeding chuck 400 for removing the star wheel from the star wheel rotating disk 111 is provided between the star wheel rotating disk 111 and the translational chuck 300.

[0076] like Figure 3As shown, the translational chuck 300 has several stations on one side, including the star wheel pre-assembly station 112, the oiling station 113, the round gasket installation station 114, the output shaft installation station 115, and the half gasket installation station 116, which are arranged in sequence.

[0077] The star wheel pre-assembly station 112 is used to receive the star wheel taken out by the star wheel rotating disk 111 by the feeding claw 400. The oiling station 113 is equipped with an oiler 180 on one side for oiling. The installation moving mechanism 500 of the round gasket installation mechanism 120 transports the round gasket to the round gasket installation station 114 and installs it on the star wheel. The installation moving mechanism 500 of the output shaft feeding line 130 transports the output shaft to the output shaft installation station 115 and installs it on the star wheel that has been installed with the round gasket. The installation moving mechanism 500 of the half gasket installation mechanism 140 transports two half gaskets to the half gasket installation station 116 and installs them on the star wheel that has been installed with the output shaft. By translating the claw 300 and setting the station, one installation step can be completed at one station, forming an assembly line.

[0078] like Figure 3 , 7 As shown, the loading chuck 400 includes a horizontal slide rail 410 arranged along the moving direction of the translation chuck 300, a vertical cylinder 420 vertically arranged on the horizontal slide rail 410, and a gripping chuck 430 installed on the vertical cylinder 420. The vertical cylinder 420 is moved horizontally by the horizontal slide rail 410, and the gripping chuck 430 is moved vertically by the vertical cylinder 420.

[0079] like Figure 2-3 As shown, the outer cover mounting mechanism 150 includes an outer cover vibratory plate 151 and two translational jaws 300. The two translational jaws 300 are perpendicular to each other, and one translational jaw 300 is parallel to the star wheel feeding line 110. An installation moving mechanism 500 is provided between the two translational jaws 300. Several workstations are provided on one side of each of the two translational jaws 300.

[0080] like Figure 3 As shown, the station on one side of the translational chuck 300 perpendicular to the star wheel feeding line 110 includes an outer cover pre-assembly station 152, an outer cover lettering station 153, and an outer cover waiting station 154 arranged in sequence. The outer cover pre-assembly station 152 is used to receive the outer cover moved out of the outer cover vibrating plate 151. An lettering machine 155 is provided on one side of the outer cover lettering station 153 for lettering text, model trademarks, etc. on the outer cover. The outer cover waiting station 154 is used to wait for the installation moving mechanism 500 of the outer cover installation mechanism 150 to clamp the outer cover and perform lettering processing on the outer cover before installation.

[0081] like Figure 3As shown, the stations on one side of the translational claw 300 parallel to the star wheel feeding line 110 include a cover installation station 156, a cover conveying station 157, and a cover tightening station 158 arranged in sequence; wherein one end of the cover vertical translational claw 300 can reach the half-wafer installation station 116, and the other end of the cover vertical translational claw 300 can reach the cover tightening station 158.

[0082] like Figure 3 , 8 As shown, the installation moving mechanism 500 of the outer cover installation mechanism 150 transports the outer cover to the outer cover installation station 156 and installs it on the star wheel. The outer cover conveying station 157 and the outer cover tightening station 158 are provided with a clamping device 600 on one side. The outer cover tightening station 158 is provided with a rotating device 700 at the bottom. Specifically, the clamping device 600 is a dual-station pneumatic-hydraulic increasing cylinder. The rotating device 700 includes a pneumatic clamping claw 710 and a tightening motor 720 that is connected to the pneumatic clamping claw 710. There is a shaping mold 610 on the dual-station pneumatic-hydraulic increasing cylinder on the outer cover conveying station 157. The outer cover shape is guaranteed to be qualified by pressing down. There is a pressing mold 620 on the dual-station pneumatic-hydraulic increasing cylinder on the outer cover tightening station 158. The rotating device 700 clamps and rotates the star wheel, while the dual-station pneumatic-hydraulic increasing cylinder presses down on the outer cover, so that the outer cover is tightened on the star wheel.

[0083] In another embodiment of this application, such as Figure 2 , 4 The automatic assembly line 200 for the spring seat and snap ring seat shown includes a translational jaw 300 and a positioning core circulation line 210 arranged parallel to one side of the translational jaw 300, as well as a spring mounting mechanism 220, a spring seat mounting mechanism 230, a snap ring seat mounting mechanism 240, and a snap ring mounting mechanism 250 sequentially inserted along the movement direction of the translational jaw 300. An installation moving mechanism 500 is provided between the two ends of the positioning core circulation line 210 and the two ends of the translational jaw 300, so that the translational jaw 300, the positioning core circulation line 210, and the two installation moving mechanisms 500 form a closed loop, thereby achieving automatic cyclic use of the positioning core.

[0084] like Figure 24 As shown, the positioning core 10 is used to assist in the installation of the spring 6, spring seat 7, snap ring seat 8 and snap ring 9, and needs to be removed after use.

[0085] like Figure 4 As shown, the automatic assembly line 200 for spring seats and snap ring seats has a station on one side of the translational jaw 300. The station includes a positioning core placement station 201, a spring installation station 202, a spring seat installation station 203, a snap ring seat installation station 204, a snap ring installation station 205, a snap ring pre-compression station 206, a snap ring compression station 207, and a positioning core recycling station 208, which are arranged in sequence.

[0086] The positioning core placement station 201 and positioning core recycling station 208 correspond to the installation and moving mechanisms 500 at both ends of the positioning core circulation line 210 and the translational claw 300, respectively. The spring installation station 202, spring seat installation station 203, snap ring seat installation station 204, and snap ring installation station 205 correspond to the spring installation mechanism 220, spring seat installation mechanism 230, snap ring seat installation mechanism 240, and snap ring installation mechanism 250, respectively. The snap ring pre-compression station 206 and snap ring pressing station 207 are respectively equipped with snap ring pressing machines 260 on one side. Specifically, at the snap ring installation station 205, the snap ring is sleeved on the positioning core. Then, at the snap ring pre-compression station 206, the snap ring pressing machine 260 presses the snap ring from the positioning core up and down towards the snap ring seat. Finally, at the snap ring pressing station 207, the snap ring pressing machine 260 presses the snap ring onto the snap ring seat.

[0087] like Figure 4 As shown, the positioning core circulation line 210 includes a circulation track 211. A pushing device 212 is provided at one end of the circulation track 211 near the positioning core recycling station 208. The pushing device 212 consists of a cylinder and a push plate mounted on the piston rod of the cylinder. The push plate is set on the circulation track 211. When the cylinder pushes out, it drives the push plate to move, pushing the positioning core into the station 201.

[0088] like Figure 4 As shown, the spring mounting mechanism 220 includes a spring rotating disk 221 and a mounting moving mechanism 500 disposed between the spring rotating disk 221 and the translational pawl 300, so that the spring in the spring rotating disk 221 can be moved by the mounting moving mechanism 500 to the spring mounting station 202.

[0089] like Figure 4 , 9 As shown, the spring seat mounting mechanism 230, the snap ring seat mounting mechanism 240, and the snap ring mounting mechanism 250 all include a storage cylinder 160, a push cylinder 170 disposed on the lower side of the storage cylinder 160, and an installation moving mechanism 500 disposed between the storage cylinder 160 and the translational chuck 300. The storage cylinder 160 has an inner cavity for storing the spring seat, snap ring seat, or snap ring. The bottom of the storage cylinder 160 has an outlet 161. The piston rod of the push cylinder 170 is provided with a push block 171. The push block 171 is provided with a slot 172, which can push out the spring seat, snap ring seat, or snap ring, and then allow the installation moving mechanism 500 to grab the corresponding spring seat mounting station 203, snap ring seat mounting station 204, or snap ring mounting station 205.

[0090] like Figure 10As shown, the snap ring presser 260 includes a snap ring presser cylinder 261 and a pressing head 262 mounted on the piston rod of the snap ring presser cylinder 261. The pressing head 262 includes a positioning inner ring 263 and a pressing outer ring 264. Both the positioning inner ring 263 and the pressing outer ring 264 are circumferentially distributed with elastic grooves 265. The bottom of the positioning inner ring 263 is arc-shaped. The elastic grooves 265 cause the positioning inner ring 263 and the pressing outer ring 264 to deform outward or inward after being pressed. The arc-shaped bottom of the positioning inner ring 263 facilitates the positioning inner ring 263 to engage with the positioning core.

[0091] like Figure 2-4 As shown, the translational gripper 300 includes a horizontally arranged pneumatic slide rail 310 and vertically evenly distributed lifting cylinders 320 on the pneumatic slide rail 310. Several movable grippers 330 are arranged in sequence near the workstation on the pneumatic slide rail 310. The movable grippers 330 can then grab and release the star wheel, output shaft, or one-way valve of the semi-finished product on the workstation. The lifting cylinders 320 control the raising and lowering of the pneumatic slide rail 310. When the pneumatic slide rail 310 is raised, the star wheel, output shaft, or one-way valve of the semi-finished product can be removed from the workstation and then moved by the horizontally arranged pneumatic slide rail 310.

[0092] like Figure 4 As shown, the translational jaw 300 on the automatic assembly line 200 of the spring seat and snap ring seat has a rotating moving jaw 330 on one end near the positioning core placement station 201. The first moving jaw 330 of the translational jaw 300 near the positioning core placement station 201 is mounted on the rotating motor 331. Specifically, the translational jaw 300 on the automatic assembly line 200 of the spring seat and snap ring seat can grip the semi-finished one-way device at the last station on the automatic assembly line 100 of the star wheel and output shaft, and rotate it using the rotating motor 331.

[0093] like Figure 4 As shown, the spring mounting mechanism 220, the spring seat mounting mechanism 230, the snap ring seat mounting mechanism 240, and the mounting moving mechanism 500 on the snap ring mounting mechanism 250 are located on the upper side of the positioning core circulation line 210.

[0094] like Figure 11-15 As shown, the installation and moving mechanism 500 includes a vertical slide rail 510, a vertical slide rail 520 vertically arranged on the vertical slide rail 510, and a clamping mechanism 530 installed on the vertical slide rail 520, so that the vertical slide rail 510 can drive the vertical slide rail to move horizontally, and the vertical slide rail can drive the clamping mechanism to move vertically.

[0095] Specifically, the clamping mechanism 530 of the mounting moving mechanism 500 on the output shaft feeding line 130, outer cover mounting mechanism 150, positioning core circulation line 210, spring mounting mechanism 220, spring seat mounting mechanism 230, snap ring seat mounting mechanism 240, and snap ring mounting mechanism 250 is a clamping jaw 430. The difference is that the clamping jaw 430 on the output shaft feeding line 130 and outer cover mounting mechanism 150 clamps the outer diameter, while the positioning core circulation line 210, spring mounting mechanism 220, and spring seat mounting mechanism 230... The clamping jaws 430 on the mounting moving mechanism 500 of the snap ring mounting mechanism 240 and snap ring mounting mechanism 250 are for clamping the inner diameter. The clamping mechanism 530 of the mounting moving mechanism 500 on the round washer mounting mechanism 120 is a suction cup 531. The clamping mechanism 530 of the mounting moving mechanism 500 on the half washer mounting mechanism 140 is a clamping jaw 430. The two jaws of the clamping jaw 430 are equipped with suction cups 531. The suction cups 531 are respectively connected to air pumps for adsorbing or releasing the round washer or the half washer.

[0096] In another embodiment of this application, such as Figure 2-4 The one-way intelligent assembly system shown also includes a real-time detection system, which includes an assembly-time detection device 800 and a post-assembly detection device 900. The assembly-time detection device 800 is installed on the automatic assembly line 100 of the star wheel and the output shaft, and the post-assembly detection device 900 is installed after the automatic assembly line 200 of the spring seat and the snap ring seat.

[0097] like Figure 3 As shown, the assembly inspection device 800 includes an outer diameter wear detection device 810, a roller spring missing detection device 820, a dimension measuring device 830, a half gasket missing detection device 840, and an outer cover torque detection device 850.

[0098] Specifically, the roller spring missing detection device 820 and the dimension measuring device 830 are set on the star wheel feeding line 110. The roller spring missing detection device 820 is used to detect the roller springs in the star wheel to prevent star wheels with missing roller springs from entering subsequent assembly. The dimension measuring device 830 is used to detect the outer diameter of the output shaft to prevent output shafts with incorrect dimensions from entering subsequent assembly.

[0099] The specific outer diameter grinding detection device 810 is installed on the output shaft feeding line 130 to detect the output shaft before assembly, so as to prevent output shafts that have not undergone outer diameter grinding from entering the subsequent assembly.

[0100] The half-gasket missing detection device 840 and the outer cover torque detection device 850 are installed on the outer cover mounting mechanism 150. The half-gasket missing detection device 840 is used to detect whether the half-gasket of the semi-finished one-way device is missing; the outer cover torque detection device 850 is used to ensure that the tightening force of the outer cover meets the standard.

[0101] like Figure 3 As shown, the outer diameter wear detection device 810 is set between the output shaft pre-assembly station 132 and the output shaft waiting-to-assemble station 133, so that the output shaft is detected before it is assembled with the star wheel, thus avoiding the assembly of the output shaft with outer diameter wear with the star wheel. The outer diameter wear detection device 810 has an outer diameter wear detection station 811 on its lower side, and there is a defective product storage position 801 between the outer diameter wear detection station 811 and the output shaft waiting-to-assemble station 133 for storing the output shaft with outer diameter wear.

[0102] like Figure 3 As shown, the roller spring missing component detection device 820 is set between the star wheel pre-assembly station 112 and the oiling station 113, so that the roller spring missing component detection is performed before the star wheel is oiled, avoiding the star wheel with missing roller springs being oiled, thus avoiding waste; the roller spring missing component detection device 820 has a roller spring missing component detection station 821 on its lower side, and there is a defective product storage position 801 between the roller spring missing component detection station 821 and the oiling station 113 for storing star wheels with missing roller springs.

[0103] like Figure 3 As shown, the dimension measuring device 830 is set between the output shaft assembly station 115 and the half-shim assembly station 116 to prevent output shafts with incorrect outer diameter from entering subsequent assembly. The dimension measuring device 830 has a dimension measuring station 831 on its lower side, and there is a defective product storage position 801 between the dimension measuring station 831 and the half-shim assembly station 116 for storing semi-finished one-way devices with incorrect outer diameter.

[0104] The outer diameter of the output shaft is measured at the above location because the outer cover needs to be assembled later. If the outer diameter of the output shaft is incorrect after the outer cover is assembled, the outer cover needs to be disassembled again, which is quite troublesome.

[0105] like Figure 3 As shown, the half-gasket missing detection device 840 is set before the outer cover assembly station 156 to avoid the discovery that the half-gasket is not assembled after the outer cover is assembled. The half-gasket missing detection device 840 is provided with a half-gasket missing detection station 841 below it, and there is a defective product storage position 801 between the half-gasket missing detection station 841 and the outer cover assembly station 156 for storing the semi-finished one-way device with missing half-gaskets.

[0106] like Figure 3As shown, the outer cover torque detection device 850 is set after the outer cover tightening station 158. Because it needs to enter the automatic assembly line 200 of the spring seat and snap ring seat, the semi-finished one-way device needs to be flipped before entering. If the outer cover tightening force is insufficient at this time, the semi-finished one-way device may fall apart. The outer cover torque detection device 850 is provided with an outer cover torque detection station 851 on the lower side, and the outer cover torque detection station 851 is provided with a defective product storage position 801 on the side away from the outer cover tightening station 158, which is used to store the semi-finished one-way devices with insufficient outer cover tightening force.

[0107] like Figure 4 As shown, the post-assembly testing device 900 includes:

[0108] Snap ring seat detection device 910: Used to detect whether there are multiple or missing snap ring seats in one-way controllers.

[0109] Snap ring detection device 920: Used to detect whether there are multiple or missing snap rings installed in one-way controllers.

[0110] Because the assembly and disassembly of the snap ring holder and the snap ring are relatively simple, the inspection is carried out directly after the automatic assembly line 200 of the spring holder and snap ring holder.

[0111] Finished product inspection device 930: Used to check whether the height from the star wheel end face of the one-way device to the snap ring seat is correct and whether there are any over-installation or under-installation of round and half washers. It is used for the final inspection of the finished product to ensure that the finished one-way device is of qualified quality.

[0112] Translational jaw 300: Used to move the finished one-way device. The translational jaw 300 is located on one side of the snap ring seat detection device 910, snap ring detection device 920 and finished product detection device 930. It serves to sequentially convey the finished one-way device to the positions of the snap ring seat detection device 910, snap ring detection device 920 and finished product detection device 930 for detection.

[0113] A station is provided on one side of the translational gripper 300, including a snap ring seat inspection station 911, a snap ring inspection station 921, and a finished product inspection station 931 arranged in sequence. The snap ring seat inspection station 911, snap ring inspection station 921, and finished product inspection station 931 correspond to the snap ring seat inspection device 910, the snap ring inspection device 920, and the finished product inspection device 931, respectively. After the snap ring seat inspection station 911, the snap ring inspection station 921, and the finished product inspection station 931, there is a defective product storage position 801 for storing their respective defective products. Specifically, a finished product conveyor belt 940 is provided on the side of the translational gripper 300 away from the automatic assembly line 200 of the spring seat and snap ring seat for conveying qualified finished one-way devices for shipment.

[0114] like Figure 4As shown, the translational gripper 300 of the post-assembly inspection device 900 has a rotating moving gripper 330 with a flip motor 331 at one end near the finished product conveyor belt 940. The first moving gripper 330 of the translational gripper 300 near the finished product conveyor belt 940 is mounted on the flip motor 331. Specifically, the moving gripper 330 mounted on the flip motor 331 is used to transfer the qualified one-way device on the finished product inspection station 931 to the finished product conveyor belt 940. The translational gripper 300 on the post-assembly inspection device 900 is the moving gripper 330 closest to the automatic assembly line 200 of the spring seat and snap ring seat, and can clamp the finished one-way device at the last station on the automatic assembly line 200 of the spring seat and snap ring seat.

[0115] like Figure 8 , 10 As shown, each station is equipped with a hollow round tube 340 for fixing the output shaft, star wheel, or semi-finished and finished product one-way shaft. Only the outer cover tightening station 158 is equipped with a rotating device 700.

[0116] In another embodiment of this application, such as Figure 16 The automatic assembly line 100 for star wheel and output shaft and the automatic assembly line 200 for spring seat and snap ring seat shown are equipped with interconnected translation control units and several assembly control units. The real-time detection system is equipped with interconnected translation control units and several detection control units.

[0117] The automatic assembly line 100 for the star wheel and output shaft, the automatic assembly line 200 for the spring seat and snap ring seat, and the translation control unit on the real-time detection system work together.

[0118] Specific examples Figure 2-4 As shown in Figure 17, all translation control units include translation drive modules and several gripping drive modules. All translation drive modules and gripping drive modules are connected to translation control modules. The translation drive modules control the translation claws 300 of the star wheel feeding line 110, the translation claws 300 parallel to the star wheel feeding line 110 in the outer cover mounting mechanism 150, the translation claws 300 on the automatic assembly line 200 of the spring seat and the snap ring seat, and the horizontal slide rails 410 and vertical slide rails 420 on the translation claws 300 in the real-time detection system. The gripping drive modules control the gripping claws 430 on the translation claws 300 one-to-one. The gripping drive module of the gripping claw 430 with the flip motor 331 also controls the corresponding flip motor 331.

[0119] like Figure 2-4As shown in Figure 18, the star wheel rotary disk 111 and its corresponding feeding claw 400, oiler 180, round gasket mounting mechanism 120, output shaft feeding line 130, half gasket mounting mechanism 140, outer cover mounting mechanism 150, spring mounting mechanism 220, spring seat mounting mechanism 230, snap ring seat mounting mechanism 240, snap ring mounting mechanism 250 and positioning core circulation line 210 are all equipped with separate assembly control units.

[0120] like Figure 19 As shown, the assembly control unit includes an assembly control module, a part sensing module, and an assembly drive module. The assembly control module connects and controls the part sensing module and the assembly drive module. The assembly drive module and the part sensing module can feed back information to the assembly control module in real time. The part sensing module senses whether there are parts that need to be assembled. If so, the assembly control module sends a command to the assembly drive module to start working. Then, the assembly drive module drives the corresponding assembly device to perform assembly. The assembly control module and the translation control module are interconnected, so that the translation chuck 300 can be linked with each assembly device. The assembly device refers to the core wheel rotary disk, feeding chuck, oiler, round gasket mounting mechanism, output shaft feeding line, half gasket mounting mechanism, outer cover mounting mechanism, spring mounting mechanism, spring seat mounting mechanism, snap ring seat mounting mechanism, and snap ring mounting.

[0121] like Figure 2-4 As shown in Figure 20, the assembly control unit of the output shaft loading line 130 is equipped with an independent translation control unit for controlling the translation claw 300 on the output shaft loading line 130. The remaining output shaft rotary disk 131 and its corresponding loading claw 400 and the installation moving mechanism 500 on the output shaft loading line 130 are equipped with two corresponding assembly drive modules and two part sensing modules.

[0122] like Figure 2-4 As shown in Figure 21, the assembly control unit of the outer cover mounting mechanism 150 is equipped with an independent translation control unit for controlling the translation chuck 300 perpendicular to the star wheel feeding line 110. It is also equipped with 5 assembly drive modules and 5 part sensing modules to control the outer cover vibratory plate 151, the letterpress machine 155, the mounting moving mechanism 500 on the outer cover mounting mechanism 150, the dual-station pneumatic-hydraulic increasing cylinder, and the rotating device 700, respectively.

[0123] like Figure 2-4 As shown in Figures 16-17, the detection control unit is set on the automatic assembly line 100 of the star wheel and output shaft and the automatic assembly line 200 of the spring seat and snap ring seat. The detection control unit on the automatic assembly line 100 of the star wheel and output shaft is interconnected with the translation control unit of the automatic assembly line 100 of the star wheel and output shaft. The detection control unit after the automatic assembly line 200 of the spring seat and snap ring seat is interconnected with the translation control unit on the real-time detection system.

[0124] like Figure 22 As shown, the detection control unit includes a detection equipment control module and a part sensing module. All detection equipment control modules are connected to the translation control module. Once a defective product is detected, it will pass through the defective product storage position 801 during the movement of the translation gripper 300. At this time, the translation control module will give a release command to the corresponding gripping drive module that grips the defective product, so that the corresponding gripping gripper 430 is released, and the defective product falls into the defective product storage position 801. The part sensing modules are all connected to the corresponding detection equipment control modules to sense whether there are any parts that need to be detected in the current state.

[0125] like Figure 17 , 20 As shown, each of the following devices is equipped with a separate detection control unit: the snap ring seat detection device 910, the snap ring detection device 920, the finished product detection device 930, the outer diameter grinding defect detection device 810, the roller spring missing installation detection device 820, the dimension measuring device 830, the half gasket missing installation detection device 840, and the outer cover torque detection device 850. The detection equipment control module of the outer diameter grinding defect detection device 810 is connected to a separate translation control unit on the output shaft feeding line 130.

[0126] All of the above control and drive modules are control chips, while the component sensing modules are infrared sensors.

[0127] In another embodiment of this application, such as Figure 23 The assembly method of the one-way intelligent assembly system shown includes:

[0128] S1. Assembly of Star Wheel and Output Shaft: First, check whether the roller spring inside the star wheel is missing. If it passes the inspection, add oil and install the round shim. Then, insert the output shaft into the star wheel and fix it in place, and install the half shim. Before fixing the output shaft into the star wheel, check whether the outer diameter of the output shaft is ground. Only if it passes the inspection can it be assembled with the star wheel. After the output shaft is installed, check the outer diameter of the output shaft. After the half shim is installed, check whether the half shim is missing. Finally, tighten the outer cover onto the star wheel and check the tightening force of the outer cover. This completes the assembly of the star wheel and the output shaft, forming a semi-finished one-way valve.

[0129] S2, Flip Assembly: Flip the semi-finished one-way device that has completed step S1, then insert the positioning core into the center of the star wheel, and then install the spring, spring seat, snap ring seat and snap ring in sequence on the other end of the star wheel. Remove the positioning core to obtain the finished one-way device. Then, check whether the snap ring seat is over-installed or under-installed, check whether the snap ring is over-installed or under-installed, check the height from the end face of the star wheel to the snap ring seat, and check whether the round washer and half washer are over-installed or under-installed.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A real-time detection system in a one-way intelligent assembly system, characterized in that: The one-way intelligent assembly system includes an automatic assembly line for star wheel and output shaft and an automatic assembly line for spring seat and snap ring seat. The detection system includes an assembly detection device and a post-assembly detection device. The assembly detection device is set on the automatic assembly line for star wheel and output shaft, and the post-assembly detection device is set after the automatic assembly line for spring seat and snap ring seat. The automatic assembly line for the star wheel and the output shaft includes a star wheel feeding line and a circular gasket mounting mechanism, an output shaft feeding line and a half gasket mounting mechanism that are sequentially inserted along the movement direction of the star wheel feeding line. The end of the star wheel feeding line is also provided with an extended outer cover mounting mechanism. The assembly inspection device includes an outer diameter wear detection device, a roller spring missing installation detection device, a size measuring device, a half gasket missing installation detection device, and an outer cover torque detection device. The roller spring missing detection device and the size measuring device are set on the star wheel feeding line, the outer diameter missing grinding detection device is set on the output shaft feeding line, and the half gasket missing detection device and the outer cover torque detection device are set on the outer cover mounting mechanism. The star wheel feeding line is sequentially equipped with a star wheel pre-assembly station, an oil injection station, a round washer installation station, an output shaft installation station, and a half washer installation station. The roller spring missing component detection device is set between the star wheel pre-assembly station and the oil injection station. The roller spring missing component detection station is provided on the lower side of the roller spring missing component detection device, and a defective product storage position is provided between the roller spring missing component detection station and the oil injection station. The dimension measuring device is set between the output shaft assembly station and the half-shim assembly station. A dimension measuring station is provided on the lower side of the dimension measuring device, and a non-conforming product storage position is provided between the dimension measuring station and the half-shim assembly station. The outer cover installation mechanism is provided with an outer cover installation station, an outer cover sliding station, and an outer cover tightening station in sequence. The half-gasket missing detection device is set in front of the outer cover assembly station. The half-gasket missing detection station is located below the half-gasket missing detection device, and there is a non-conforming product storage location between the half-gasket missing detection station and the outer cover assembly station. The outer cover torque detection device is set after the outer cover tightening station. The outer cover torque detection station is provided on the lower side of the outer cover torque detection device, and a defective product storage position is provided on the side of the outer cover torque detection station away from the outer cover tightening station. The post-assembly testing device includes: Snap ring seat detection device: used to detect whether there are multiple or missing snap ring seats in the one-way valve; Snap ring detection device: used to detect whether there are extra or missing snap rings in the one-way valve; Finished product inspection device: used to check whether the height from the star wheel end face of the one-way valve to the snap ring seat is correct and whether there are any over-installation or under-installation of round and half washers; Translational jaws: used to move the finished product one-way device, and the translational jaws are set on one side of the snap ring seat detection device, snap ring detection device and finished product detection device.

2. The real-time detection system in a one-way intelligent assembly system as described in claim 1, characterized in that: The output shaft feeding line is provided with an output shaft pre-assembly station and an output shaft waiting station in sequence. The outer diameter grinding leakage detection device is set between the output shaft pre-assembly station and the output shaft waiting station. The outer diameter grinding leakage detection station is located below the outer diameter grinding leakage detection device, and a defective product storage position is provided between the outer diameter grinding leakage detection station and the output shaft waiting station.

3. The real-time detection system in a one-way intelligent assembly system as described in claim 1, characterized in that: The translational chuck has a station on one side, which includes a circlip seat inspection station, a circlip inspection station, and a finished product inspection station arranged in sequence. Each of the circlip seat inspection station, circlip inspection station, and finished product inspection station has a non-conforming product storage space behind it. The circlip seat inspection station, circlip inspection station, and finished product inspection station correspond to the circlip seat inspection device, circlip inspection device, and finished product inspection device, respectively.

4. The real-time detection system in a one-way intelligent assembly system as described in claim 3, characterized in that: The translational chuck is located on the side of the automatic assembly line away from the spring seat and the snap ring seat, where a finished product conveyor belt is provided.

5. The real-time detection system in a one-way intelligent assembly system as described in claim 4, characterized in that: The translation gripper includes a horizontally arranged pneumatic slide rail and vertically distributed lifting cylinders on the pneumatic slide rail. Several movable grippers are arranged in sequence near the workstation on the pneumatic slide rail.

6. The real-time detection system in a one-way intelligent assembly system as described in claim 5, characterized in that: The translational gripper is equipped with a rotating and moving gripper motor at one end near the finished product conveyor belt, and the first moving gripper at the other end of the translational gripper near the finished product conveyor belt is mounted on the rotating motor.

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