Automatic assembling process for hydraulic torque converter

Abstract

The invention discloses an automatic assembly process for a hydraulic torque converter, and relates to the technical field of mechanical assembly, the automatic assembly process comprises a feeding step, a clamping oil control step, a mobile caching step, a square key adjustment step, a scanning clamping step and an assembly step, the hydraulic torque converter is placed on a tray with a shaft head facing downwards, and the tray drives the hydraulic torque converter to run to a feeding station; a transfer manipulator clamping jaw is controlled to clamp the hydraulic torque converter to the position above an oil receiving disc, and the hydraulic torque converter is rotated by 180 degrees for oil control; the hydraulic torque converter is placed on the tray in the mode that the shaft head direction of the hydraulic torque converter is downward and is consistent with the incoming material packaging direction of the hydraulic torque converter, manual turning over of the hydraulic torque converter is avoided, the labor intensity of operators is reduced, the oil receiving disc prevents oil from dripping to the ground, meanwhile, the oil receiving disc can collect, filter and reuse oil, the cost of gearbox oil is reduced, and the gearbox oil quality is improved. The tray is adopted for wire feeding of the hydraulic torque converter, the shaft head direction is downward, the oil port direction is upward, the situation that oil drips downwards in the traditional oil port assembling direction is avoided, and potential safety hazards are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical assembly, and in particular to an automatic assembly process for a hydraulic torque converter. Background Art

[0002] The torque converter consists of a pump impeller, turbine, one-way clutch and stator, as well as a torque converter housing that contains all of these components inside the vehicle. The torque converter contains automatic transmission oil supplied by the oil pump, and the rotation of the engine and pump impeller causes the fluid in the fluid to flow out of the pump impeller, causing the turbine to rotate.

[0003] However, in the incoming packaging of the torque converter, the shaft head of the torque converter is facing downward, while in the gearbox the shaft head is facing upward, which are opposite directions. The torque converter needs to be manually flipped 180°, that is, the shaft head is facing upward, to facilitate the assembly of the torque converter after it is put into operation. However, the weight of the torque converter is close to 20kg, and the labor intensity is high. At the same time, oil will drip to the ground during the assembly process, and the operator is at risk of slipping, posing a safety hazard.

[0004] Currently, no assembly process that can solve the above problems has been found. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an automatic assembly process for a hydraulic torque converter in view of the above shortcomings, thereby overcoming the existing defects of high labor intensity and potential safety hazards, and achieving the purpose of reducing labor intensity and potential safety hazards.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: an automatic assembly process for a hydraulic torque converter, including a loading step, a clamping and oil control step, a moving cache step, a square key adjustment step, a scanning and clamping step and an assembly step: The loading steps include: Place the torque converter shaft head downward on the pallet, and the pallet drives the torque converter to the loading station; The steps of pinching and oil control include: After the loading step, the transfer robot gripper is controlled to clamp the torque converter to the top of the oil receiving pan and rotate the torque converter 180° to control the oil; The mobile cache steps include: Transfer the hydraulic torque converter after oil control to the first alignment device; The steps for adjusting the square key include: Controlling the second alignment device to align the square key position of the gearbox; The scanning and clamping steps include: Scan the QR code of the torque converter on the first alignment device. After scanning the code, the rotating assembly manipulator clamps the torque converter on the first alignment device. The assembly steps include: After the scanning and clamping steps, the rotating assembly robot drives the first spline, second spline and square key of the torque converter to dock and assemble them into place. The assembled gearbox and torque converter are transported to the designated qualified product position along the gearbox conveyor line.

[0007] Furthermore, the mobile cache step includes: After the oil control of the torque converter is completed, it is detected whether there is a torque converter on the first alignment device. If not, the transfer manipulator gripper places the torque converter on the first alignment device; Otherwise, the transfer robot gripper places the torque converter on the buffer table, and when it is detected that there is no torque converter on the first alignment device, the torque converter on the buffer table is transferred to the first alignment device.

[0008] Furthermore, the square key adjustment step includes: The gearbox is placed on the gearbox conveyor line body, and the gearbox is conveyed to the bottom of the second alignment device. The first lifting device drives the second alignment device to move downward, and the second alignment device aligns the square key position of the gearbox. After alignment, the first lifting device drives the second alignment device to move upward and return to its original position.

[0009] Furthermore, the scanning and clamping step includes: The adjusted gearbox moves to the assembly position along with the gearbox conveyor line. The lateral movement device drives the rotary assembly manipulator to move toward the first alignment device. After reaching the top of the first alignment device, the barcode scanner on the rotary assembly manipulator automatically scans the QR code of the torque converter on the first alignment device. After the code is successfully scanned, the rotary assembly manipulator moves downward, clamps the torque converter on the first alignment device, and enters the assembly step. If the code scanning is unsuccessful, the transverse movement device drives the rotary assembly robot to return to the assembly position, the transfer robot jaws open, clamp the torque converter that has not been successfully scanned, and move it to the top of the oil receiving pan. The transfer robot jaws rotate the torque converter 180°, place the torque converter on the unqualified material channel, and then re-clamp the torque converter from the buffer table and move it to the first alignment device for scanning again.

[0010] Further, the assembling step comprises: After the scanning and clamping step, the transverse movement device drives the rotary assembly manipulator and the torque converter to move toward the adjusted gearbox, and the rotary assembly manipulator drives the torque converter to move downward and rotate, docking with the first spline of the gearbox, and docking with the second spline of the gearbox after docking in place, and docking with the square key of the gearbox after successful docking, until the first spline, second spline and square key of the gearbox and the torque converter are all assembled in place, and the assembled gearbox and torque converter are transported to the designated qualified product position along the gearbox conveyor line, and the rotary assembly manipulator moves upward to the original position; If the square key or any spline is not assembled in place, the rotary assembly robot moves upward to its original position, and the gearbox and torque converter are transported to the designated defective product position along the gearbox conveyor line.

[0011] The present invention adopts the above technical solution, and has the following advantages compared with the prior art: the present invention places the torque converter shaft head on the pallet with the direction downward, which is consistent with the packaging direction of the torque converter incoming materials, avoiding manual flipping of the torque converter, and only needs to manually load the torque converter to the pallet, which greatly reduces the labor intensity of the operator; A transfer robot gripper and an oil receiving pan are provided. The transfer robot gripper grips the torque converter to control the oil, which can reduce the workload caused by manual oil control. The oil receiving pan prevents the oil from dripping onto the ground. At the same time, the oil receiving pan can collect and filter the oil for reuse, thus reducing the cost of the gearbox oil. The torque converter is installed on a tray, with the shaft head facing downward and the oil port facing upward, which avoids the situation of oil dripping downward in the traditional assembly and reduces safety hazards. The delivery and assembly of the torque converter are carried out simultaneously, which improves the production efficiency; The tray is equipped with a detachable quick-change head. When the torque converter needs to be replaced, only the quick-change head needs to be replaced, and the model change is fast. The transfer robot gripper grasps the outer periphery of the torque converter, replacing the traditional gripper that grips the shaft head. This makes it compatible with more types of torque converters and avoids changes in the torque converter shaft head structure and size, which results in frequent replacement of grippers and increases the cost of gripper manufacturing. It also increases the time it takes to replace the grippers, resulting in waste of production capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of an automatic assembly process of a hydraulic torque converter in an embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the enlarged structure at A in the middle; Figure 3 This is a schematic diagram of the structure of a tray in an embodiment of the present invention; Figure 4 It is a schematic diagram of the structure of a tray and a hydraulic torque converter in an embodiment of the present invention; Figure 5 It is a structural schematic diagram of a cache station in an embodiment of the present invention; Figure 6 It is a structural schematic diagram of a rotary assembly manipulator in an embodiment of the present invention; Figure 7 It is a schematic diagram of the structure of the manipulator gripper in an embodiment of the present invention; Figure 8 A top view of the manipulator gripper in an embodiment of the present invention; Fig. 9 It is a schematic diagram of the assembly structure of the hydraulic torque converter and the gearbox in an embodiment of the present invention; Fig.10 The figure is a flow chart of the automatic assembly process of the torque converter in the embodiment of the present invention.

[0013] In the figure: 1-first alignment device, 2-second alignment device, 3-rotating assembly manipulator, 4-first frame, 5-caching table, 6-first lifting device, 7-torque converter conveyor line, 8-tray, 9-transverse device, 10-groove, 11-support column, 12-base, 13-quick change head, 14-torque converter, 15-first bracket, 16-oil receiving box, 17-first connecting rod, 19-rubber pad, 20-second connecting rod, 21-positioning seat, 22-first photoelectric switch, 23-second bracket, 24-clamping plate, 25-oil receiving tray, 26-gearbox, 27-servo reduction motor, 28-first switch bracket, 29- The second switch bracket, 32-the first sensing block, 33-the second sensing block, 34-the lifting cylinder, 35-the anti-rotation block, 36-the rotating belt, 37-the first connecting plate, 38-the rotating assembly robot gripper, 40-the transfer robot gripper, 41-the sensing plate, 42-the air claw, 43-the second photoelectric switch, 44-the fourth switch bracket, 45-the proximity switch, 46-the mounting plate, 47-the second connecting plate, 50-the gearbox conveyor line body, 51-the second frame, 52-the second lifting device, 53-the detection switch, 54-the unqualified material channel, 55-the driving pulley, 56-the driven pulley, 58-the first spline, 59-the second spline, 60-the square key. DETAILED DESCRIPTION

[0014] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0015] Examples, such as Figure 1-10As shown, the automatic assembly process of the torque converter includes a torque converter conveyor line body 7, a gearbox conveyor line body 50 and a rotary assembly robot 3. The torque converter conveyor line body 7 is arranged in parallel with the gearbox conveyor line body 50. The torque converter conveyor line body 7 is used to convey the torque converter 14, and the gearbox conveyor line body 50 is used to convey the gearbox 26. A tray 8 is arranged on the torque converter conveyor line body 7. A transfer robot gripper 40, a first alignment device 1 and a plurality of buffer tables 5 are arranged between the torque converter conveyor line body 7 and the gearbox conveyor line body 50. There are six buffer tables 5 in this example. An oil receiving pan 25 is arranged below the buffer table 5. The first alignment device 1 is close to the side of the gearbox conveyor line body 50. A sensor (not shown in the figure) is arranged on the first alignment device 1 for detecting whether there is a torque converter 14 on the first alignment device 1. An unqualified material channel 54 is arranged between the torque converter conveyor line body 7 and the buffer table 5.

[0016] The first alignment device 1 is used to perform preliminary alignment on the spline to prevent skewing. The first alignment device 1 is a prior art and will not be described in detail here.

[0017] A first frame 4 is provided at one end of the gearbox conveyor line body 50, a transverse movement device 9 is provided on the first frame 4, a second lifting device 52 is provided on the transverse movement device 9, and the rotary assembly robot 3 is arranged on the second lifting device 52. The transverse movement device 9 drives the rotary assembly robot 3 to move horizontally, and the second lifting device 52 drives the rotary assembly robot 3 to move longitudinally.

[0018] A second frame 51 is also provided on the gearbox conveyor line body 50, and a first lifting device 6 is provided on the second frame 51. A second alignment device 2 is provided on the first lifting device 6. The second alignment device 2 performs preliminary alignment on the square key to prevent skewing. The second alignment device 2 is a prior art and will not be described in detail here.

[0019] The tray 8 includes a base 12, on which a quick-change head 13 is detachably provided. A plurality of support columns 11 are evenly provided on the periphery of the quick-change head 13, four in this case, and the support columns 11 are used to support a torque converter 14. A groove 10 is provided on the quick-change head 13, and the groove 10 is engaged with the torque converter 14. The tray 8 is used to fix the torque converter 14 and transport the torque converter 14 to a designated position through the torque converter conveying line 7.

[0020] The cache table 5 includes a first bracket 15, and an oil receiving box 16 is provided at the top of the first bracket 15. One end of the oil receiving box 16 is open, so that the oil flowing out of the torque converter 14 flows through the oil receiving box 16 to the oil receiving pan 25 arranged below the cache table 5. A positioning seat 21 is provided on the first bracket 15, and the positioning seat 21 penetrates the oil receiving box 16 to position and cache the torque converter 14. A rubber pad 19 is also provided between the first bracket 15 and the positioning seat 21. A first connecting rod 17 is vertically provided on the upper part of the first bracket 15, and a second connecting rod 20 is vertically provided on the other end of the first connecting rod 17. A first photoelectric switch 22 is fixedly provided on the upper end of the second connecting rod 20. The first photoelectric switch 22 is used to detect whether the torque converter 14 has been placed on the cache table 5.

[0021] The buffer station 5 can be arranged in a variety of ways and can be located within the operating range of the transfer robot gripper 40.

[0022] The rotary assembly robot 3 includes a second bracket 23, on which a servo reduction motor 27, a lifting cylinder 34, an anti-rotation block 35, a first switch bracket 28 and a second switch bracket 29 are arranged. A second connecting plate 47 is arranged below the lifting cylinder 34, and the lifting cylinder 34 drives the second connecting plate 47 to move up and down. A first sensing block 32 is arranged on the first switch bracket 28, and the first sensing block 32 is used to sense whether the first spline 58 is assembled in place. A second sensing block 33 is arranged on the second switch bracket 29, and the second sensing block 33 is used to sense whether the second spline 59 is assembled in place.

[0023] A driving pulley 55 and a driven pulley 56 are arranged below the first switch bracket 28. The driving pulley 55 and the driven pulley 56 are connected to the servo reduction motor 27. The driving pulley 55 and the driven pulley 56 are connected for transmission via a rotating belt 36. A first connecting plate 37 is arranged below the driving pulley 55. A detection switch 53 is arranged on the first connecting plate 37. A rotating assembly robot gripper 38 is arranged below the first connecting plate 37. The rotating assembly robot gripper 38 is used to grab the torque converter 14. The detection switch 53 is used to detect whether the rotating assembly robot gripper 38 grabs the torque converter 14.

[0024] The rotary assembly robot 3 is provided with a barcode scanner (not shown in the figure) for scanning the two-dimensional code of the torque converter 14 on the first alignment device 1 .

[0025] When the rotary assembly manipulator 3 assembles the torque converter 14, the servo reduction motor 27 rotates, driving the driving pulley 55 and the driven pulley 56 to rotate, and at the same time the lifting cylinder 34 pushes the second connecting plate 47 to rise and fall, so that the rotary assembly manipulator 3 rotates and assembles downward.

[0026] The transfer robot gripper 40 is used to clamp the outer periphery of the torque converter 14, and includes an air gripper 42, a mounting plate 46 and a clamping plate 24 arranged on the air gripper 42. The air gripper 42 is arranged on the mounting plate 46. A fourth switch bracket 44 is arranged on the mounting plate 46. A proximity switch 45 is arranged on the fourth switch bracket 44. The air gripper 42 is also provided with a sensing plate 41. The proximity switch 45 is used to sense the opening and closing of the clamping plate 24. A second photoelectric switch 43 is arranged on the mounting plate 46. The second photoelectric switch 43 is used to detect whether the transfer robot gripper 40 clamps the torque converter 14.

[0027] The automatic assembly process of a hydraulic torque converter includes a hydraulic torque converter conveying step and a hydraulic torque converter assembling step. The hydraulic torque converter conveying step includes the following steps: Loading steps: The hydraulic torque converter 14 is placed on the tray 8 with the shaft head facing downward, and the tray 8 drives the hydraulic torque converter 14 to run to the loading station.

[0028] Steps for pinching oil control: The transfer robot gripper 40 opens and moves to the torque converter 14, controls the transfer robot gripper 40 to clamp the torque converter 14 and moves it to above the oil receiving pan 25, and rotates the torque converter 14 180° to control the oil.

[0029] Move cache steps: After the oil control of the torque converter 14 is completed, it is detected whether there is a torque converter (14) on the first alignment device 1. If not, the transfer robot gripper 40 places the torque converter 14 on the first alignment device 1. Otherwise, the transfer robot gripper 40 places the torque converter 14 on the buffer table 5. When it is detected that there is no torque converter (14) on the first alignment device 1, the torque converter 14 on the buffer table 5 is moved to the first alignment device 1.

[0030] The automatic assembly process of the hydraulic torque converter includes a hydraulic torque converter conveying step and a hydraulic torque converter assembling step. The hydraulic torque converter assembling step includes the following steps: Square key adjustment steps: The gearbox 26 is placed on the gearbox conveyor line body 50, and the gearbox 26 is conveyed to the bottom of the second alignment device 2. The first lifting device 6 drives the second alignment device 2 to move downward, and the second alignment device 2 is rotated to preliminarily align the position of the square key 60 of the gearbox 26. After alignment, the first lifting device 6 moves upward back to its original position.

[0031] Scanning and clamping steps: The adjusted gearbox 26 moves to the assembly position along with the gearbox conveyor line 50, and the lateral movement device 9 drives the rotary assembly manipulator 3 to move toward the first alignment device 1. After reaching the top of the first alignment device 1, the barcode scanner on the rotary assembly manipulator 3 automatically scans the QR code of the hydraulic torque converter 14 on the first alignment device 1. After the barcode is successfully scanned, the rotary assembly manipulator 3 moves downward, clamps the hydraulic torque converter 14 on the first alignment device 1, and enters the assembly step; If the code scanning is unsuccessful, the transverse movement device 9 drives the rotary assembly robot 3 to return to the assembly position, the transfer robot gripper 40 opens, clamps the torque converter 14 that has not been successfully scanned, and moves to the top of the oil receiving pan 25. The transfer robot gripper 40 rotates the torque converter 14 180°, places the torque converter 14 on the unqualified material channel 54, and then re-clamps the torque converter 14 from the buffer table 5 and moves it to the first alignment device 1 for scanning again.

[0032] Assembly steps: The lateral movement device 9 drives the rotary assembly manipulator 3 and the torque converter 14 to move toward the adjusted gearbox 26, and the rotary assembly manipulator 3 drives the torque converter 14 to move downward and rotate, and docks with the first spline 58 of the gearbox 26. After docking, it docks with the second spline 59 of the gearbox 26, and docks with the square key 60 of the gearbox 26 after successful docking, until the first spline 58, the second spline 59 and the square key 60 of the gearbox 26 and the torque converter 14 are all assembled in place, and the assembled gearbox 26 and the torque converter 14 are transported to the designated qualified product position with the gearbox conveyor line body 50, and the rotary assembly manipulator 3 moves upward to the original position at the same time. If the square key 60 or any spline is not assembled in place, the subsequent spline or square key 60 will not be assembled, and the rotary assembly manipulator 3 moves upward to the original position, and the gearbox 26 and the torque converter 14 are transported to the designated unqualified product position with the gearbox conveyor line body 50.

[0033] The present invention places the torque converter 14 on the tray 8 with the shaft head facing downward, which is consistent with the incoming packaging direction of the torque converter 14, thus avoiding manual flipping of the torque converter 14. It is only necessary to manually load the torque converter 14 onto the tray 8, which greatly reduces the labor intensity of the operator. A transfer robot gripper 40 and an oil receiving pan 25 are provided. The transfer robot gripper 40 grips the torque converter 14 to control the oil, which can reduce the work intensity caused by manual oil control. The oil receiving pan 25 prevents the oil from dripping onto the ground. At the same time, the oil receiving pan 25 can collect and filter the oil for reuse, thereby reducing the cost of the gearbox oil. The hydraulic torque converter 14 is installed on the tray 8, with the shaft head facing downward and the oil port facing upward, thus avoiding the situation of oil dripping downward in the traditional assembly oil port direction and reducing safety hazards; The delivery of the hydraulic torque converter 14 and the assembly of the hydraulic torque converter 14 are carried out simultaneously, so the production efficiency is improved; A detachable quick-change head 13 is provided on the tray 8. When the torque converter 14 needs to be replaced, only the quick-change head 13 needs to be replaced, and the replacement is fast. The transfer robot gripper 40 grips the outer periphery of the torque converter 14, replacing the traditional gripper to grip the shaft head position, and is compatible with more types of torque converters 14, avoiding changes in the structure and size of the shaft head of the torque converter 14, resulting in frequent replacement of the gripper, increasing the cost of gripper manufacturing, and increasing the time for gripper replacement, resulting in waste of production capacity.

[0034] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.

Claims

1. The automatic assembly process of the torque converter is characterized by: It includes loading step, clamping and oil control step, moving cache step, square key adjustment step, scanning and clamping step and assembly step: The loading steps include: The hydraulic torque converter (14) is placed on the tray (8) with the shaft head facing downward, and the tray (8) drives the hydraulic torque converter (14) to move to the loading station; The steps of pinching and oil control include: After the loading step, the transfer robot gripper (40) is controlled to grip the hydraulic torque converter (14) to the top of the oil receiving pan (25), and the hydraulic torque converter (14) is rotated 180 degrees to control the oil; The mobile cache steps include: Transferring the hydraulic torque converter (14) after oil control to the first alignment device (1); The steps for adjusting the square key include: Controlling the second alignment device (2) to align the position of the square key (60) of the gearbox (26); The scanning and clamping steps include: Scanning the QR code of the hydraulic torque converter (14) on the first alignment device (1); after scanning the code, rotating the assembly manipulator (3) to clamp the hydraulic torque converter (14) on the first alignment device (1); The assembly steps include: After the scanning and clamping step, the rotating assembly manipulator (3) drives the hydraulic torque converter (14) to dock with the first spline (58), the second spline (59), and the square key (60) of the gearbox (26) and assemble them in place. The assembled gearbox (26) and the hydraulic torque converter (14) are transported to a designated qualified product position along the gearbox conveyor line (50).

2. The automatic assembly process for a hydraulic torque converter according to claim 1, characterized in that: The mobile cache steps include: After the oil control of the hydraulic torque converter (14) is completed, it is detected whether the hydraulic torque converter (14) is on the first alignment device (1), and if not, the transfer robot gripper (40) places the hydraulic torque converter (14) on the first alignment device (1); Otherwise, the transfer robot gripper (40) places the torque converter (14) on the buffer table (5), and when it is detected that there is no torque converter (14) on the first alignment device (1), the torque converter (14) on the buffer table (5) is transferred to the first alignment device (1).

3. The automatic assembly process for a hydraulic torque converter according to claim 1, characterized in that: The steps for adjusting the square key include: The gearbox (26) is placed on the gearbox conveyor line (50), the gearbox (26) is conveyed to the bottom of the second alignment device (2), the first lifting device (6) drives the second alignment device (2) to move downward, the second alignment device (2) aligns the position of the square key (60) of the gearbox (26), and after alignment, the first lifting device (6) drives the second alignment device (2) to move upward back to its original position.

4. The automatic assembly process for a hydraulic torque converter according to claim 1, characterized in that: The scanning and clamping steps include: The adjusted gearbox (26) moves to the assembly position along with the gearbox conveyor line (50), and the lateral movement device (9) drives the rotary assembly robot (3) to move toward the first alignment device (1). After reaching the top of the first alignment device (1), the barcode scanner on the rotary assembly robot (3) automatically scans the QR code of the hydraulic torque converter (14) on the first alignment device (1). After the barcode is successfully scanned, the rotary assembly robot (3) moves downward to clamp the hydraulic torque converter (14) on the first alignment device (1), and enters the assembly step; If the code scanning is unsuccessful, the transverse movement device (9) drives the rotating assembly robot (3) to return to the assembly position, the transfer robot gripper (40) opens, grips the hydraulic torque converter (14) that has not been successfully scanned, and moves it to the top of the oil receiving tray (25), the transfer robot gripper (40) rotates the hydraulic torque converter (14) by 180 degrees, places the hydraulic torque converter (14) on the unqualified material channel (54), and then re-grips the hydraulic torque converter (14) from the buffer table (5) and moves it to the first alignment device (1) to scan the code again.

5. The automatic assembly process for a hydraulic torque converter according to claim 1, characterized in that: The assembly steps include: After the scanning and clamping step, the transverse movement device (9) drives the rotary assembly manipulator (3) and the hydraulic torque converter (14) to move toward the adjusted gearbox (26), and the rotary assembly manipulator (3) drives the hydraulic torque converter (14) to move downward and rotate, and dock with the first spline (58) of the gearbox (26), and after docking, dock with the second spline (59) of the gearbox (26), and after successful docking, dock with the square key (60) of the gearbox (26), until the first spline (58), the second spline (59) and the square key (60) of the gearbox (26) and the hydraulic torque converter (14) are all assembled in place, and the assembled gearbox (26) and the hydraulic torque converter (14) are transported to the designated qualified product position along the gearbox conveyor line (50), and at the same time, the rotary assembly manipulator (3) moves upward to the original position; If the square key (60) or any spline is not assembled in place, the rotating assembly robot (3) moves upward to the original position, and the gearbox (26) and the torque converter (14) are transported to the designated defective product position along with the gearbox conveyor line (50).

Images