Relay semi-finished product assembling machine

Abstract

The relay semi-finished product assembly machine disclosed in this invention includes a first feeding device, a second feeding device, and a third feeding device arranged sequentially on the left side, a conveyor line arranged on the right side, a turntable with carriers evenly distributed, a riveting device disposed between the third feeding device and the turntable, and a unloading device disposed between the riveting device and the conveyor line. The turntable has a first station, a second station, and a third station along the rotation direction. The riveting device has a pre-assembly table and a riveting table. The first feeding device places two yoke clamps on the carrier at the first station each time. The second feeding device is used to magnetize the magnets and assembles two magnets onto the two yoke clamps on the carrier each time. The third feeding device travels back and forth between the third station and the pre-assembly table to place the upper shell on the pre-assembly table and pre-assembles the yoke clamps with magnets into the upper shell. The unloading device moves the pre-assembled yoke clamps and the upper shell to the riveting table for riveting into a semi-finished product and then moves the semi-finished product to the conveyor line for unloading.

Description

Technical Field

[0001] This invention relates to relay assembly equipment, and more particularly to a relay semi-finished product assembly machine for assembling relay components to form a semi-finished product. Background Technology

[0002] A relay is an electronic control device that plays a role in circuits, including automatic adjustment, safety protection, and circuit switching. In recent years, with the rapid development of new energy vehicles, charging piles, and energy storage industries, the application of relays has become increasingly widespread. A relay is mostly composed of components such as a bracket, housing, coil, iron core, and contacts. The assembly and production process of the entire relay product is relatively complex. To improve production efficiency, relays are often disassembled into several independent unit components, which are then assembled together after production. For example, in actual production, it is necessary to assemble... Figure 1 The two magnets 201, two yoke clamps 202, and an upper housing 203 shown are assembled together to form a relay semi-finished product 200. In the existing technology, workers mainly rely on manually connecting the two magnets 201 to the two yoke clamps 202, and then manually fitting the upper housing 203 onto the outside of the two yoke clamps 202, and then pressing the upper housing 203 into place. This assembly method has low production efficiency and the assembly quality is difficult to guarantee, which cannot meet the needs of modern production and is prone to generating waste.

[0003] Furthermore, although the magnets used in general relays have already acquired a certain amount of magnetism through preliminary magnetization, they have not yet reached the required magnetism for use and need to be magnetized again. However, most existing magnetization technologies still rely heavily on manual operation, which is labor-intensive and inefficient. In particular, the process of placing and removing magnets from the magnetization device can be harmful to the human body. Moreover, after magnetization, the magnets are still manually transferred when they are loaded to be assembled with other components of the relay, which affects the efficiency of subsequent assembly and cannot effectively meet the production requirements of automated production lines.

[0004] Therefore, a relay semi-finished product assembly machine with simple structure, high assembly accuracy, and high efficiency is needed to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a relay semi-finished product assembly machine with simple structure, high assembly accuracy and high efficiency.

[0006] To achieve the above objectives, the present invention provides a relay semi-finished product assembly machine for assembling the yoke clamp, magnet, and upper housing of a relay. It includes a first feeding device, a second feeding device, and a third feeding device arranged sequentially on the left side of the machine platform; a conveyor line arranged on the right side of the machine platform; a turntable with multiple carriers evenly distributed circumferentially between the second feeding device and the conveyor line; a riveting device between the third feeding device and the turntable; and a unloading device erected between the riveting device and the conveyor line. The turntable has a first station, a second station, and a third station along the rotation direction. The riveting device has a pre-assembly platform and a riveting attachment arranged side-by-side. The system consists of a first feeding device that aligns and places two yoke clamps onto the carrier at the first workstation each time; a second feeding device that magnetizes the magnets and aligns and assembles the two magnets onto the two yoke clamps on the carrier at the second workstation each time; a third feeding device that travels between the third workstation and the pre-assembly platform to place the upper shell onto the pre-assembly platform and initially assembles the yoke clamps with magnets into the upper shell; and an unloading device that travels between the pre-assembly platform, the riveting platform, and the conveyor line to move the initially assembled yoke clamps and the upper shell to the riveting platform for riveting into a semi-finished product, and then moving the semi-finished product onto the conveyor line for unloading.

[0007] Preferably, an alignment platform is provided between the first feeding device and the turntable for aligning and adjusting the two yoke clamps.

[0008] Preferably, the carrier includes a base plate, movable plates, and positioning platforms. The base plate overlaps the edge of the turntable. The two movable plates are symmetrically slidably mounted on the base plate, and each movable plate has a follower portion protruding below the base plate. The two positioning platforms are symmetrically arranged at the opposite ends of the two movable plates, and each positioning platform has a locking position for mounting the yoke clamp.

[0009] Preferably, the positioning platform has an upwardly protruding front stop at the center near the rear sidewall, and the positioning platform has upwardly protruding "L"-shaped side stops at both ends of the rear sidewall, forming the locking position between the two side stops and the front stop.

[0010] Preferably, both the first and third feeding devices are fed by a pallet feeding mechanism. The pallet feeding mechanism includes a full pallet bin and an empty pallet bin arranged side by side. Each of the full and empty pallet bins has a carrying mechanism that can slide in and out of the bin. The two carrying mechanisms are used for stacking and loading of material pallets and stacking and unloading of empty pallets, respectively. Each of the full and empty pallet bins also has a lifting mechanism that drives the pallets in the corresponding bin to rise and fall. The top end of the full pallet bin also has a positioning mechanism that is retractably arranged relative to the top pallet. A robotic arm that moves back and forth between the full and empty pallet bins is also mounted above them to move the empty top pallet after the full pallet bin has been filled to the empty pallet bin.

[0011] Preferably, the first feeding device further includes two first grippers and a first drive mechanism that drives the two first grippers to move and rotate along three axes, and the third feeding device further includes two third grippers and a third drive mechanism that drives the two third grippers to move and rotate along three axes.

[0012] Preferably, the second feeding device includes a magnetizing box, a reversing mechanism located on the opposite right side of the magnetizing box, a second driving mechanism mounted between the reversing mechanism and the turntable, and two second grippers connected to the output end of the second driving mechanism. The magnetizing box magnetizes multiple stacked magnets together each time and pushes the magnetized magnets one by one onto the reversing mechanism. The reversing mechanism rotates the magnets to a position that facilitates the two second grippers to pick up the magnets. The two second grippers move under the drive of the second driving mechanism to pick up and feed the magnets.

[0013] Preferably, the second feeding device further includes a quick-change mechanism and a receiving mechanism located on opposite upper and lower sides of the magnetizing box, and a separation mechanism located on the opposite left side of the magnetizing box. The quick-change mechanism sequentially pushes multiple hoppers, each containing several magnets, to the inlet of the magnetizing box for feeding. The separation mechanism has a support plate arranged between the outlet of the magnetizing box and the receiving mechanism. The receiving mechanism has a vertically movable receiving rod. The receiving rod moves upward to pass through the through hole of the support plate and the outlet of the magnetizing box, and then receives the magnets in the hoppers at the inlet of the magnetizing box. It then lifts the magnets downward into the magnetizing box for magnetization and continues to lift the magnets down onto the support plate. The separation mechanism also uses a left-right moving pusher to push the magnets on the support plate one by one onto the reversing mechanism.

[0014] Preferably, the pre-assembly platform includes an assembly platform with a mounting slot, a clamping assembly movably arranged at the edge of the mounting slot, and a positioning claw arranged vertically and horizontally on the lower side of the assembly platform. The clamping assembly is used to position the upper outer shell of the mounting slot from the outside, and the positioning claw is used to pass upward through the through hole on the assembly platform and the through hole on the bottom wall of the upper outer shell to open the upper outer shell from the inside out.

[0015] Preferably, the unloading device includes a left unloading jaw, a right unloading jaw, and an unloading and conveying mechanism that drives the left unloading jaw and the right unloading jaw to move linearly in the left-right direction and the up-down direction.

[0016] Compared with the prior art, the relay semi-finished product assembly machine provided by the present invention has a first feeding device, a second feeding device, and a third feeding device for automatically feeding the yoke clamp, magnet, and upper housing in sequence on the left side of the machine. A conveyor line for docking with other equipment on the production line is arranged on the right side of the machine. A rotating disk for assembling the yoke clamp and magnet is arranged between the second feeding device and the conveyor line. A riveting device for riveting the yoke clamp with magnet to the upper housing is arranged between the third feeding device and the conveyor line. A feeding device for unloading is mounted between the riveting device and the conveyor line. The overall layout of the machine is reasonable, effectively shortening the travel distance between each device, thereby improving assembly efficiency. The invention improves assembly efficiency and precision by assembling and transferring the magnet and yoke clamp only on the turntable, separating the riveting process to effectively balance the production line. Furthermore, the magnetization and subsequent transfer assembly of the magnet by a second feeding device further enhances assembly efficiency and precision. Moreover, the riveting device features a pre-assembly table and a riveting table arranged side-by-side, allowing the unloading device to move between the pre-assembly table, riveting table, and conveyor line. This allows the yoke clamp and upper housing, initially assembled on the pre-assembly table, to be transferred to the riveting table for riveting to form a semi-finished product, which is then transferred to the conveyor line for transport to the next assembly equipment on the production line. The relay semi-finished product assembly machine provided by this invention has a simple structure, reasonable layout, high assembly precision, and high efficiency. Attached Figure Description

[0017] Figure 1 This is a perspective view of the relay semi-finished product of the present invention.

[0018] Figure 2 This is an exploded view of the relay semi-finished product of the present invention.

[0019] Figure 3 This is a perspective view of the relay semi-finished product assembly machine of the present invention.

[0020] Figure 4 This is a plan view of the relay semi-finished product assembly machine of the present invention.

[0021] Figure 5 This is a perspective view of the first feeding device of the present invention.

[0022] Figure 6 This is an exploded view of the first feeding device of the present invention.

[0023] Figure 7 This is a perspective view of the first driving mechanism of the present invention.

[0024] Figure 8 This is a plan view of the turntable of the present invention.

[0025] Figure 9 This is a perspective view of the vehicle of the present invention.

[0026] Figure 10 This is a perspective view of the second feeding device of the present invention.

[0027] Figure 11 This is a perspective view of the third driving mechanism of the present invention.

[0028] Figure 12 This is a side view of the pre-assembly stage of the present invention.

[0029] Figure 13 This is an exploded view of the pre-assembly stage of the present invention.

[0030] Figure 14 This is a perspective view of the riveting table of the present invention.

[0031] Figure 15 This is a perspective view of the feeding device of the present invention. Detailed Implementation

[0032] To illustrate the technical content, structural features, objectives, and effects of the present invention in detail, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0033] Please see Figures 1 to 4The present invention provides a relay semi-finished product assembly machine 100 for assembling the magnet 201, yoke clamp 202 and upper shell 203 of a relay. Specifically, two magnets 201, two yoke clamps 202 and one upper shell 203 are assembled into a relay semi-finished product 200 (hereinafter referred to as semi-finished product 200). The yoke clamp 202 is roughly U-shaped, the magnet 201 is roughly square, and the upper shell 203 is roughly square. Overall, the relay semi-finished product assembly machine 100 provided in the preferred embodiment of the present invention includes a machine base 101, a first feeding device 10, a second feeding device 20 and a third feeding device 30 arranged sequentially on the left side of the machine base 101, and a conveyor line 40 arranged on the right side of the machine base 101, a turntable 50 disposed between the second feeding device 20 and the conveyor line 40 and having a plurality of carriers 51 evenly distributed around its circumference, a riveting device 60 disposed between the third feeding device 30 and the turntable 50, and a unloading device 70 mounted between the riveting device 60 and the conveyor line 40; the turntable 50 is provided with a first station 50a, a second station 50b and a third station 50c along the rotation direction, and the riveting device 60 has a pre-assembly table 61 and a riveting table 62 arranged side by side. The first feeding device 10 aligns and places the two yoke clamps 202 on the carrier 51 at the first station 50a each time. The second feeding device 20 is used to magnetize the magnets 201 and aligns and assembles the two magnets 201 onto the two yoke clamps 202 on the carrier 51 at the second station 50b each time. The third feeding device 30 travels back and forth between the third station 50c and the pre-assembly table 61 to place the upper shell 203 on the pre-assembly table 61 and initially assembles the yoke clamps 202 with the magnets 201 into the upper shell 203. The unloading device 70 travels back and forth between the pre-assembly table 61, the riveting table 62 and the conveyor line 40 to transfer the initially assembled yoke clamps 202 and the upper shell 203 to the riveting table 62 for riveting into a semi-finished product 200, and then transfers the semi-finished product 200 to the conveyor line 40 for unloading.

[0034] like Figure 3 and Figure 4 As shown, specifically, in some embodiments, an alignment platform 80 is provided between the first feeding device 10 and the turntable 50, which is used to adjust the alignment of the two yoke iron clamps 202 transferred by the first feeding device 10, thereby further improving the accuracy of feeding.

[0035] Of course, the relay semi-finished product assembly machine 100 of the present invention also includes a control system. The control system is electrically connected to the first feeding device 10, the second feeding device 20, the third feeding device 30, the conveyor line 40, the turntable 50, the riveting device 60, the unloading device 70, and the alignment table 80, respectively, and is used to control the coordinated actions between the devices. It should be noted that the specific structure and control principle of the control system are well known in the art and will not be described here. In addition, for ease of explanation, the relay semi-finished product assembly machine 100 of the present invention also conceals a housing that covers the above-mentioned devices and has an inlet and outlet. The touch screen and control buttons of the control system are located on the housing, while the controller and other electrical control components of the control system are housed inside the housing and located at the bottom of the machine base 101. The housing is also provided with indicator lights for displaying the working status of the equipment and connection terminals for electrically connecting external monitoring equipment and / or power supply. The following describes the components of the machine in detail according to the working process, with reference to the accompanying drawings:

[0036] See Figures 5 to 7 The first feeding device 10 feeds materials through the pallet feeding mechanism 11, and uses two first grippers 121 and a first drive mechanism 12 to move and rotate the two first grippers 121 along three axes to pick up and feed the yoke clamps 202 on the pallet 300. The pallet 300 has multiple slots to hold multiple yoke clamps 202, and the pallet 300 is easy to stack, allowing for a larger quantity of materials to be fed. The pallet feeding mechanism 11 includes a full pallet bin 11a and an empty pallet bin 11b arranged side-by-side. Pallets 300 filled with yoke clamps 202 are stacked layer by layer in the full pallet bin 11a for sequential feeding. Empty pallets 300 are stacked in the empty pallet bin 11b for easy removal. The first drive mechanism 12 can be a four-axis or six-axis robot to achieve high-speed and stable picking and feeding operations.

[0037] To facilitate the loading of full pallets 300 and the removal of empty pallets 300, each of the full pallet bins 11a and empty pallet bins 11b is equipped with a carrying mechanism 111 that can slide in and out of its respective bin. Specifically, the carrying mechanism 111 includes a base 1111 and a cylinder 1112 connected to the base 1111 to drive the base 1111 to move linearly in the left and right direction to enter and exit the bin. The base 1111 is roughly U-shaped and is located at a certain distance from the bottom of the bin. The base 1111 also has upwardly extending baffles 1113 protruding from its periphery to guide and limit the stacking and loading of pallets 300, achieving initial positioning. In addition, the bottom of the full pallet bins 11a and empty pallet bins 11b is provided with linear guide rails 1114 arranged in the left and right directions, making the stacking and loading of full pallets 300 and the stacking and unloading of empty pallets 300 after unloading more stable and smooth.

[0038] In order to achieve layer-by-layer feeding and empty tray recovery, the full tray 11a and the empty tray 11b are respectively equipped with lifting mechanisms 112 that drive the pallets 300 in the corresponding silos to rise and fall. The top side of the full tray 11a is also equipped with a positioning mechanism 113 that can be telescopically arranged relative to the top pallet 300. A robotic arm 114 that moves back and forth between the full tray 11a and the empty tray 11b is also mounted above them.

[0039] The lifting mechanism 112 is located in the silo body at the opposite end of the carrying mechanism 111. It includes a lifting motor 1121 and a pallet 1122 connected to the output end of the lifting motor 1121. The pallet 1122 is opposite to the open end of the bottom support 1111, and its width is smaller than the width of the open end. When the positioning sensor detects that the carrying mechanism 111 has moved into position in the full pallet silo 11a with the stacked full pallets 300, the pallet 1122 is driven by the lifting motor 1121 to lift and move upward from the initial position below the bottom support 1111, thereby lifting each pallet 300 stacked on the bottom support 1111 upward, and thus delivering them layer by layer to the positioning mechanism 113 at the top of the silo body. The positioning mechanism 113 uses the extension and retraction of the output of the clamping cylinder 1131 to push the pallet 300 in place for secondary positioning, effectively improving the accuracy of subsequent material handling. After adjustment, the pallet 300 is stably fixed at the top material handling position by the cooperation of the spring-loaded locking parts 1132 on the periphery. The positioning mechanism 113 clamps and fixes the top pallet 300, and can also cooperate with the lifting mechanism 112 to move the other pallets 300 downwards, realizing the separation of the top pallet 300 from the other pallets 300. The transfer component 1141 of the robot arm 114 moves along the front-back direction and the up-down direction under the drive of the transfer module 1142 connected to it, so as to transfer the empty pallet 300 after material handling to the empty pallet bin 11b for stacking and recycling. The lifting mechanism 112 then pushes a full pallet 300 upwards. The transfer component 1141 can be a vacuum suction cup and / or a gripper. A positioning mechanism 113 can also be arranged on the top of the empty pallet 11b to achieve neat stacking of empty pallets 300. Alternatively, the lifting mechanism 112 can directly receive the empty pallets 300 on the top of the empty pallet 11b and move them down layer by layer to achieve stacking of empty pallets 300. Then, the corresponding carrying mechanism 111 can move the stacked empty pallets 300 to the outside of the empty pallet 11b for removal.

[0040] To further improve the accuracy of material transfer, a CCD camera 122 is also arranged at the output end of the first drive mechanism 12. The CCD camera 122 is connected to the output end of the first drive mechanism 12 at a distance from the clamping cylinder 123 that drives the first gripper 121 to perform clamping action. Thus, when picking up material at the pallet feeding mechanism 11, the position coordinates of the yoke clamp 202 on the pallet 200 are identified and fed back. When the clamped yoke clamp 202 is transferred to the turntable 50 for placement, the position coordinates of the carrier 51 rotated to the first station 50a are identified and fed back. This allows the control system to issue instructions based on the feedback information, thereby achieving accurate material picking and placing. Furthermore, the first gripper 121 and the gripping cylinder 123 are arranged in a one-to-one correspondence. The two gripping cylinders 123 are also symmetrically connected to the output end of a variable pitch cylinder 124. The variable pitch cylinder 124 and the CCD camera 122 are connected to the output end of the first drive mechanism 12 at intervals, thereby adjusting the distance between the two first grippers 121 to facilitate material handling.

[0041] See Figure 8 and Figure 9 Specifically, the turntable 50 is connected to the output shaft of the cam divider located at its bottom. The cam divider is also connected to the output shaft of the drive motor 52, thus rotating under the drive of the drive motor 52 and the cam divider. The carrier 51 includes a base plate 511, movable plates 512, and positioning platforms 513. The base plate 511 overlaps the edge of the turntable 50. The two movable plates 512 are symmetrically slidably mounted on the base plate 511, and each movable plate 512 has a follower portion 5121 protruding below the base plate 511. The two positioning platforms 513 are symmetrically arranged at the opposite ends of the two movable plates 512, and each positioning platform 513 has a locking position 51a for placing the yoke clamps 202. The two yoke clamps 202 on the two positioning platforms 513 are arranged opposite each other, that is, their two side arms are close to each other, so that the two magnets 201 can be connected one-to-one to the opposite positions of the two yoke clamps 202, that is, their two side arms.

[0042] Specifically, the positioning platform 513 has an upwardly protruding front stop 5131 at the center near the rear side wall. The positioning platform 513 has upwardly protruding "L"-shaped side stops 5132 at both ends of the rear side wall, and a locking position 51a is formed between the side stops 5132 and the front stop 5131. This allows for the limiting and fixing of the yoke clamp 202 through the misalignment gap between the side stops 5132 and the front stop 5131. Furthermore, to facilitate material loading and improve adaptability, the bottom of the turntable 50 is equipped with a drive mechanism that propels two follower parts 5121 of the carrier 51 to move in opposite directions or in opposite directions. Specifically, the driving component is a roller that is vertically and vertically arranged at the center of the two follower parts 5121. The two follower parts 5121 have abutting inclined surfaces or arc surfaces that slide with the rollers, so that they move closer or further apart under the drive of the rollers, so that the two first grippers 121 can release the material, and are suitable for placing yoke clamps 202 of different sizes.

[0043] See Figure 4 and Figure 10 The second feeding device 20 includes a magnetizing box 21, a reversing mechanism 22 located on the right side of the magnetizing box 21, a second driving mechanism 23 mounted between the reversing mechanism 22 and the turntable 50, and two second grippers 231 connected to the output end of the second driving mechanism 23. The magnetizing box 21 magnetizes multiple stacked magnets 201 together each time and pushes the magnetized magnets 201 one by one onto the reversing mechanism 22. The reversing mechanism 22 rotates the magnets 201 to a position that is convenient for the two second grippers 231 to pick up the material. The two second grippers 231 move under the drive of the second driving mechanism 23 to pick up and feed the magnets 201. The magnetizing box 21 has a magnetizing channel that runs vertically through the box, and an inlet and an outlet are formed at the upper and lower ends of the box. The magnet 201 to be magnetized enters the magnetizing box 21 through the inlet and leaves the magnetizing box 21 through the outlet after magnetization. The magnetizing box 21 is also equipped with magnetizing coils and circuits inside the box, and is equipped with a power connection port and a magnetic field adjustment component outside the box. Its magnetization principle is well known in the art and will not be described in detail here.

[0044] Specifically, the second feeding device 20 also includes a quick-change mechanism 24 and a receiving mechanism 25 located on the upper and lower opposite sides of the magnetizing box 21, and a separation mechanism 26 located on the opposite left side of the magnetizing box 21. The quick-change mechanism 24 sequentially pushes multiple hoppers 241, each containing a number of magnets 201, to the inlet of the magnetizing box 21 for feeding. The separation mechanism 26 has a material support plate 261 arranged between the discharge port of the magnetizing box 21 and the receiving mechanism 25. The receiving mechanism 25 has a receiving rod 251 that moves up and down. The receiving rod 251 moves upward to pass through the through hole of the material support plate 261 and the discharge port of the magnetizing box 21, and then receives the magnet 201 in the hopper 241 at the inlet of the magnetizing box 21. It then lifts the magnet 201 downward into the magnetizing box 21 for magnetization. After magnetization, it continues to lift the magnet 201 downward onto the material support plate 261. The separation mechanism 26 also pushes the magnet 201 on the material support plate 261 one by one onto the reversing mechanism 22 by a push rod that moves left and right. The cross-sectional dimension of the through hole on the material support plate 261 is larger than that of the receiving rod 251 but smaller than that of the magnet 201. Driven by the lifting motor 252 connected to it, the receiving rod 251 smoothly passes through the through hole and the outlet of the material support plate 261 to enter the magnetizing box 21 to receive materials. When it exits the magnetizing box 21 and the material support plate 261 downwards, it places a stack of magnetized magnets 201 on the material support plate 261. Only the bottom layer of magnets 201 remain on the material support plate 261, while the rest remain in the magnetizing box 21.

[0045] The reversing mechanism 22 rotates the received magnet 201 90° each time to an upright position, facilitating the downward movement of the top second gripper 231 to pick up the material. Furthermore, the reversing mechanism 22 and the second station 50b are arranged in a straight line in the left-right direction, allowing the second gripper 231 to feed the material simply by moving horizontally. To simplify the process and ensure product quality, a gaussmeter for detecting polarity and magnetic flux is also provided at the output end of the separating mechanism 26 or the input end of the reversing mechanism 22. The second drive mechanism 23 then drives the two second grippers 231 to feed the material separately. Qualified products are transferred to be assembled with the yoke clamp 202, while unqualified products are transferred to the non-conforming product collection box 27 (see [link]). Figure 1 The second drive mechanism 23 can specifically adopt a three-axis linear module. Furthermore, a pressing mechanism 28 is also provided above the quick-change mechanism 24. The pressing rod 281 of the pressing mechanism 28 is driven by the pressing cylinder 282 connected to it to pass downward through the hopper 241 and enter the magnetizing box 21 through the feed port, so as to abut against the magnet 201 on the top layer, to prevent the magnet 201 from shaking during the magnetization process and effectively improve the magnetization effect.

[0046] See Figure 3 , Figure 4 and Figure 11The third feeding device 30 feeds material through the pallet feeding mechanism 31, and transfers the upper outer shell 203 on the pallet 300 via two third grippers 321 and a third drive mechanism 32 that drives the two third grippers 321 to move and rotate along three axes. It then aligns and inserts the yoke clamp 202 carrying the magnet 201 into the upper outer shell 203. Only the pallet 300 differs depending on the material it carries; the pallet feeding mechanism 31 and pallet feeding mechanism 11 have the same specific structure and working principle, which will not be described further here. Furthermore, the third drive mechanism 32 employs a four-axis or six-axis robot to achieve high-speed and stable transfer operations. One of the two third grippers 321 picks up the upper outer shell 203 from the tray 300 and places it onto the pre-assembly table 61. The gripping cylinder 322 that drives the third gripper 321 to perform the gripping action is also connected to the third drive mechanism 32 by a lifting cylinder 323. The other of the two third grippers 321 is used to pick up the yoke clamp 202 with magnets 201 attached to the turntable 50 and align it into the upper outer shell 203 located on the pre-assembly table 61. The gripping cylinder 322 that drives the third gripper 321 to perform the gripping action is directly connected to the output end of the third drive mechanism 32 and is arranged at a distance from the lifting cylinder 323.

[0047] See Figure 12 and Figure 13 The pre-assembly platform 61 includes an assembly platform 611 with a mounting slot 61a, a clamping assembly 612 movably arranged at the edge of the mounting slot 61a, and a positioning claw 613 arranged on the lower side of the assembly platform 611 that can be raised, lowered, and opened and closed. The clamping assembly 612 is used to clamp and position the upper outer shell 203 in the mounting slot 61a from the outside. The positioning claw 613 is used to pass upward through the assembly platform 611 and extend into the upper outer shell 203 to open the upper outer shell 203 from the inside out, thereby facilitating the insertion of the yoke clamp 202. Specifically, the clamping assembly 612 includes two clamping blocks 6121 arranged on the front and rear opposite sides of the mounting slot 61a, and two clamping cylinders 6122 connected to the two clamping blocks 6121 in a one-to-one correspondence. The two clamping cylinders 6122 are used to drive the two clamping blocks 6121 to move towards each other or away from each other, so as to clamp and fix or release the clamping fixation of the upper housing 203. The shapes of the two clamping blocks 6121 may be different. The two gripper heads 6131 of the positioning gripper 613 are symmetrically connected to the output end of the tensioning cylinder 614. The tensioning cylinder 614 is also connected to the output end of the lifting cylinder 615, so that the two gripper heads 6131 move upward under the drive of the lifting cylinder 615 until they pass through the through hole on the assembly platform 611 and the through hole on the bottom wall of the upper housing 203 to extend into the upper housing 203. Under the drive of the tensioning cylinder 614, they move away from each other and open up to push the upper housing 203 open from the inside out. In addition, the assembly platform 611 is also equipped with a positioning sensor 616, which is used to sense whether the upper housing 203 is in position. Specifically, a through-beam sensor is used.

[0048] See Figure 14 The riveting table 62 includes a riveting platform 621 mounted on the machine base 101, a riveting cylinder 622 located on the upper side of the riveting platform 621, and a riveting head 623 connected to the output end of the riveting cylinder 622. The riveting platform 621 has a riveting position 62a facing the riveting head 623, and a positioning sensor 624 is also provided on the riveting platform 621. The riveting head 623 is driven by the riveting cylinder 622 to press vertically downwards to rivet the yoke clamp 202 carrying the magnet 201 to the upper outer shell 203 into a semi-finished product 200.

[0049] See Figure 3 , Figure 4 and Figure 15 The unloading device 70 includes a left unloading gripper 711, a right unloading gripper 712, and an unloading transfer mechanism 713 that drives the left unloading gripper 711 and the right unloading gripper 712 to move linearly in the left-right and up-down directions. The unloading transfer mechanism 713 is mounted on a support frame 714, which is fixed on the machine base 101. The unloading transfer mechanism 713 includes a translation module 7131 arranged on the support frame 714 and two vertical translation modules 7132 that are spaced apart and connected to the output ends of the translation module 7131. Two clamping cylinders 715 are connected to the output ends of the two vertical translation modules 7132 in a corresponding manner. The left unloading gripper 711 and the right unloading gripper 712 are connected to the output ends of the two clamping cylinders 715, so that they can move synchronously in the left-right direction and operate independently in the up-down direction.

[0050] Review Figure 3 and Figure 4The conveyor line 40 of this invention adopts a belt conveyor structure, specifically feeding is performed by a belt conveyor mechanism 41 arranged in the front-to-back direction. In actual production, when other components of the relay flow into the machine through the fixture 42, the belt conveyor mechanism 41 conveys them towards the unloading device 70. While waiting to receive the semi-finished product 200 at this station, the first loading device 10, the second loading device 20, the third loading device 30, the turntable 50, and the riveting device 60 operate accordingly. First, the first loading device 10 places the two yoke iron clamps 202 into the carrier 51 located at the first station 50a. The carrier 51 with the two yoke iron clamps 202 rotates with the turntable 50 to the second station 50b. At this station, the second loading device 20 aligns and connects the two magnetized magnets 201 to the two yoke iron clamps 202. Subsequently, the carrier 51 rotates with the turntable... When the device rotates to the third station 50c, the third feeding device 30 first places the upper outer shell 203 on the pre-assembly table 61 for positioning. Then, it takes the yoke clamp 202 with the magnet 201 attached from the carrier 51 and aligns it into the upper outer shell 203 on the pre-assembly table 61 to achieve preliminary assembly. After that, the unloading device 70 operates. Each time, it picks up the upper outer shell 203 with the yoke clamp 202 attached from the pre-assembly table 61 and sends it to the riveting table 62 for riveting. At the same time, it also picks up the riveted semi-finished product 200 from the riveting table 62 and sends it to the carrier 42 of the belt conveyor mechanism 41, so that it flows out of the machine. By continuously repeating the above operation, the assembly of the relay semi-finished product 200 can be realized in an automated production line.

[0051] It should be noted that, in order to cooperate with the automated production line, the conveyor line 40 also has a return conveyor mechanism 43 arranged side by side with the belt conveyor mechanism 41 for the return conveying of the empty fixture 42.

[0052] Compared with the prior art, in the relay semi-finished product assembly machine 100 provided by the present invention, the first feeding device 10, the second feeding device 20, and the third feeding device 30 for automatically feeding the yoke clamp 202, the magnet 201, and the upper housing 203 are arranged sequentially on the left side of the machine base 101, the conveyor line 40 for docking with other equipment on the production line is arranged on the right side of the machine base 101, and the rotating disk 50 for assembling the yoke clamp 202 and the magnet 201 is arranged between the second feeding device 20 and the conveyor line 40. The riveting device 60, which rivets the yoke clamp 202 of 01 to the upper shell 203, is arranged between the third feeding device 30 and the conveyor line 40. The unloading device 70, which is used for unloading, is set between the riveting device 60 and the conveyor line 40. The overall layout of the machine is reasonable, which effectively shortens the movement stroke between each device, thereby improving assembly efficiency and assembly accuracy. In addition, the assembly and transfer of the magnet 201 and the yoke clamp 202 are completed only on the turntable 50. The riveting process is set outside the turntable 50, which effectively balances the production line and further improves assembly efficiency and assembly accuracy. Furthermore, the magnet 201 is magnetized by the second feeding device 20, and then transferred and assembled after magnetization, eliminating the need for manual handling and thus improving assembly efficiency and accuracy. Moreover, the riveting device 60 has a pre-assembly platform 61 and a riveting platform 62 arranged side-by-side. Combined with the unloading device 70 moving back and forth between the pre-assembly platform 61, the riveting platform 62, and the conveyor line 40, the yoke clamp 202 and the upper outer shell 203, initially assembled on the pre-assembly platform 61, can be transferred to the riveting platform 62 for riveting to form a semi-finished product 200. The semi-finished product 200 is then transferred to the conveyor line 40 for transport to the next assembly equipment on the production line. The relay semi-finished product assembly machine 100 provided by this invention has a simple structure, reasonable layout, high assembly accuracy, and high efficiency.

[0053] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A relay semi-finished product assembly machine, used for assembling the yoke clamp, magnet, and upper housing of a relay, characterized in that, The system includes a first feeding device, a second feeding device, and a third feeding device arranged sequentially on the left side of the machine platform; a conveyor line arranged on the right side of the machine platform; a turntable with multiple carriers evenly distributed circumferentially between the second feeding device and the conveyor line; a riveting device between the third feeding device and the turntable; and a unloading device erected between the riveting device and the conveyor line. The turntable has a first station, a second station, and a third station along its rotation direction. The riveting device has a pre-assembly platform and a riveting platform arranged side-by-side. The first feeding device aligns and places two yoke clamps onto the riveting platform each time. On the carrier at the first station, the second feeding device is used to magnetize the magnets and aligns two magnets at the second station to the two yoke clamps on the carrier each time. The third feeding device travels back and forth between the third station and the pre-assembly table to place the upper shell on the pre-assembly table and initially assemble the yoke clamps with magnets into the upper shell. The unloading device travels back and forth between the pre-assembly table, the riveting table and the conveyor line to move the initially assembled yoke clamps and the upper shell to the riveting table for riveting into a semi-finished product, and then moves the semi-finished product to the conveyor line for unloading. The second feeding device includes a magnetizing box, a reversing mechanism located on the opposite right side of the magnetizing box, a second driving mechanism mounted between the reversing mechanism and the turntable, two second grippers connected to the output end of the second driving mechanism, a quick-change mechanism and a receiving mechanism located on the upper and lower opposite sides of the magnetizing box, and a separation mechanism located on the opposite left side of the magnetizing box. The magnetizing box magnetizes multiple stacked magnets together each time and pushes the magnetized magnets one by one onto the reversing mechanism. The reversing mechanism rotates the magnets to a position that facilitates the two second grippers to pick up the magnets. The two second grippers move under the drive of the second driving mechanism to pick up and deliver the magnets. The quick-change mechanism sequentially pushes multiple hoppers, each containing several magnets, to the inlet of the magnetizing box for feeding. The separation mechanism has a support plate arranged between the outlet of the magnetizing box and the receiving mechanism. The receiving mechanism has a vertically movable receiving rod. The receiving rod moves upward to pass through the through hole of the support plate and the outlet of the magnetizing box, and then receives the magnets in the hoppers at the inlet of the magnetizing box. It then lifts the magnets downward into the magnetizing box for magnetization and continues to lift the magnets down onto the support plate. The separation mechanism also uses a left-right moving pusher to push the magnets on the support plate one by one onto the reversing mechanism.

2. The relay semi-finished product assembly machine as described in claim 1, characterized in that, An alignment platform is also provided between the first feeding device and the turntable for aligning and adjusting the two yoke clamps.

3. The relay semi-finished product assembly machine as described in claim 1, characterized in that, The carrier includes a base plate, movable plates, and positioning platforms. The base plate overlaps the edge of the turntable. The two movable plates are symmetrically slidably on the base plate, and each movable plate has a follower portion protruding below the base plate. The two positioning platforms are symmetrically arranged at the opposite ends of the two movable plates, and each positioning platform has a locking position for the yoke clamp to be placed.

4. The relay semi-finished product assembly machine as described in claim 3, characterized in that, The positioning platform has an upwardly protruding front edge at the center near the rear sidewall. The positioning platform has upwardly protruding "L"-shaped side edges at both ends of the rear sidewall, and the locking position is formed between the two side edges and the front edge.

5. The relay semi-finished product assembly machine as described in claim 1, characterized in that, Both the first and third feeding devices are fed by a pallet feeding mechanism. The pallet feeding mechanism includes a full pallet bin and an empty pallet bin arranged side by side. The full pallet bin and the empty pallet bin are respectively equipped with a carrying mechanism that can slide in and out of the bin. The two carrying mechanisms are respectively used for stacking and loading of material pallets and stacking and unloading of empty pallets. The full pallet bin and the empty pallet bin are also respectively equipped with a lifting mechanism that drives the pallets in the corresponding bin to rise and fall. The top side of the full pallet bin is also equipped with a positioning mechanism that is retractably arranged relative to the top pallet. A robotic arm is also mounted above the full pallet bin and the empty pallet bin and moves back and forth between them to transfer the empty top pallet after the full pallet bin is loaded with material to the empty pallet bin.

6. The relay semi-finished product assembly machine as described in claim 1, characterized in that, The first feeding device further includes two first grippers and a first drive mechanism that drives the two first grippers to move and rotate along three axes. The third feeding device further includes two third grippers and a third drive mechanism that drives the two third grippers to move and rotate along three axes.

7. The relay semi-finished product assembly machine as described in claim 1, characterized in that, The pre-assembly platform includes an assembly platform with a mounting slot, a clamping assembly movably arranged at the edge of the mounting slot, and a positioning claw arranged on the lower side of the assembly platform that can be raised, lowered, and opened / closed. The clamping assembly is used to position the upper outer shell of the mounting slot from the outside, and the positioning claw is used to pass upward through the through hole on the assembly platform and the through hole on the bottom wall of the upper outer shell to open the upper outer shell from the inside out.

8. The relay semi-finished product assembly machine as described in claim 1, characterized in that, The unloading device includes a left unloading jaw, a right unloading jaw, and an unloading and conveying mechanism that drives the left unloading jaw and the right unloading jaw to move linearly in the left-right and up-down directions.

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