Automatic production device and method for combined part

Abstract

The invention discloses an automatic production device and method for combined parts, and relates to the technical field of combined part production.The automatic production device comprises a workbench, a stand column fixedly arranged on the top surface of the workbench, a mounting plate fixedly arranged at the top end of the stand column and a stepping motor arranged below the workbench; a rotary disc located under the mounting plate is rotationally mounted at the upper end of the stand column, the rotary disc is mounted on an output shaft of a stepping motor, and the rotary disc is driven by the stepping motor to rotate around the center line of the stand column. A plurality of jigs are arranged on the top surface of the rotating disc at intervals in the circumferential direction of the rotating disc; a welding mechanism is arranged between the workbench and the mounting plate, the workbench is further provided with a total thickness detection mechanism located on the rear side of the rotary disc, and the workbench is further provided with a discharging mechanism located on the right side of the rotary disc. The method has the beneficial effects that the welding quality is improved, and the production efficiency of qualified combined parts is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of modular parts production, and in particular to an automated production device and method for modular parts. Background Art

[0002] The structure of a qualified modular part is as follows Figure 1~Figure 2 As shown, it includes a sheet 1 and a sleeve 2, the bottom of the sleeve 2 is closed, and the closed end of the sleeve 2 is welded to the top surface of the sheet 1. The method of producing qualified modular parts in the workshop is: S1, the worker takes out a Figure 3~Figure 4 The thin sheet 1 shown is placed flat on the welding table of the laser welding machine; S2, the worker takes out a Figure 5~Figure 6 The sleeve 2 shown is supported by the closed end of the sleeve 2 on the top surface of the sheet 1, and then the position of the sleeve 2 is adjusted so that the sleeve 2 is at a specified position of the sheet 1, thereby achieving the positioning of the sleeve 2 and the sheet 1; S3, the worker points the laser head of the laser welding machine toward the sleeve 2, and then turns on the laser welding machine. The laser beam emitted by the laser head passes through the top port of the sleeve 2 and then irradiates the top surface of the bottom wall of the sleeve 2. The irradiation direction of the laser beam is as follows: Figure 7 As shown by the middle arrow, the bottom wall of the sleeve 2 is welded to the sheet 1, thereby welding to produce a semi-finished assembled part; S4. The worker uses a caliper to measure the total thickness of the bottom wall of the sleeve 2 and the thin sheet 1 of the semi-finished modular part. If the total thickness detected is not within the design range, the worker determines that the semi-finished modular part is an unqualified modular part, and then removes the unqualified modular part; if the total thickness detected is within the design range, the worker determines that the semi-finished modular part is a qualified modular part, and the worker puts the qualified modular part into the finished product basket; S4. The worker repeats steps S1 to S4 for multiple times to produce multiple qualified modular parts.

[0003] However, although this method can produce multiple qualified modular parts, it still has the following technical defects in actual production: I. In step S2, the worker needs to adjust the position of the sleeve 2 several times so that the sleeve 2 is at the specified position of the sheet 1, and then the subsequent welding process can be carried out; and the worker adjusts the position of the sleeve 2 several times, which undoubtedly increases the subsequent welding time, thereby reducing the production efficiency of qualified modular parts.

[0004] II. When the laser beam emitted by the laser head of the laser welding machine irradiates the bottom wall of the sleeve 2, the sleeve 2 is deformed by heat. After deformation, the position of the sleeve 2 changes [but the process requires that after welding, the position of the sleeve 2 relative to the sheet 1 does not change], resulting in a technical defect of low welding quality.

[0005] III. In step S4, the total thickness of the semi-finished assembled parts needs to be manually measured with a caliper. However, it takes a long time to manually measure the total thickness of the semi-finished assembled parts, which further reduces the production efficiency of qualified assembled parts.

[0006] Therefore, there is an urgent need for an automated production device and method that can improve welding quality and greatly increase the production efficiency of qualified modular parts. Summary of the invention

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an automated production device and method for modular parts that improves welding quality and greatly improves the production efficiency of qualified modular parts.

[0008] The object of the present invention is achieved through the following technical solutions: an automated production device for modular parts, comprising a workbench, a column fixed on the top surface of the workbench, a mounting plate fixed on the top of the column, and a stepper motor arranged below the workbench, a turntable located directly below the mounting plate is rotatably mounted on the upper end of the column, the turntable is mounted on the output shaft of the stepper motor, and the turntable is driven by the stepper motor to rotate around the center line of the column; a plurality of jigs are arranged on the top surface of the turntable at intervals around its circumferential direction; A welding mechanism is provided between the workbench and the mounting plate, a total thickness detection mechanism is provided on the workbench and is located at the rear side of the turntable, and a material unloading mechanism is provided on the workbench and is located at the right side of the turntable; The welding mechanism comprises a machine table fixed on the workbench surface, a platform fixed on the top surface of the mounting plate, a side push cylinder fixed on the top surface of the machine table, a push plate connected to the action end of the piston rod of the side push cylinder, a side push block fixed on the top surface of the push plate, and a plurality of rods fixedly arranged at intervals on the right end surface of the side push block; A side plate is fixedly provided on the left side of the platform, a vertically arranged clamping cylinder is fixedly provided on the top of the side plate, a longitudinally arranged strip plate is fixedly provided on the action end of the clamping cylinder piston rod, L plates are fixedly provided at the front and rear ends of the strip plate, a pressure plate is fixedly connected between the two L plates, a plurality of large through holes corresponding to the rod members are opened in the pressure plate along its length direction, a plurality of pressure heads corresponding to the large through holes are fixedly provided on the bottom surface of the pressure plate, and small through holes connected to the large through holes are opened in the pressure heads.

[0009] The fixture includes a base and a boss fixed on the top surface of the base, the bottom surface of the base is fixed on the top surface of the turntable, a plurality of spaced recessed grooves are provided on the top surface of the base and along its length direction, the recessed grooves extend into the boss, and the recessed grooves match the outer contour of the sheet; a plurality of spaced semicircular holes are provided on the top surface of the boss, the plurality of semicircular holes are respectively connected to the corresponding recessed grooves, and the bottom ports of the semicircular holes penetrate downward through the bottom surface of the base.

[0010] The depth of the sink is less than the thickness of the slice.

[0011] Two guide rails are fixedly arranged on the left end surface of the side plate, and the two guide rails are respectively located at the front and rear sides of the side plate. Two sliding blocks are fixedly arranged on the rear end surface of the strip plate, and the two sliding blocks are respectively slidably mounted on the two guide rails.

[0012] The total thickness detection mechanism is fixedly mounted on a horizontal screw nut pair on the workbench surface, and a movable platform is fixedly mounted on the top surface of the nut of the horizontal screw nut pair. A movable plate located in front of the horizontal screw nut pair is fixedly mounted on the front end surface of the movable platform, and a first lifting cylinder and a second lifting cylinder are fixedly mounted on the upper and lower ends of the front end surface of the movable plate respectively. The piston rod of the first lifting cylinder faces downward, and a first connecting plate is fixedly arranged on the action end of the piston rod, a first lifting plate is fixedly arranged on the first connecting plate, a vertical plate is fixedly arranged on the front end surface of the first lifting plate, a first mounting seat, a fixed plate and a guide seat are fixedly arranged on the right end surface of the vertical plate and in sequence from top to bottom, a first contact sensor is fixedly arranged on the first mounting seat, a first detection rod of the first contact sensor penetrates downwardly through the first mounting seat, a floating block is slidably installed in the guide seat, a force transmission rod is fixedly arranged in the floating block, a ball head located below the floating block is fixedly arranged at the bottom end of the force transmission rod, a top end of the force transmission rod slides upward through the fixed plate and is fixedly connected to the bottom end of the first detection rod; a plurality of springs are fixedly arranged on the top surface of the floating block, and the top ends of the springs are fixedly arranged on the bottom surface of the fixed plate; The piston rod of the second lifting cylinder faces upward, and a second connecting plate is fixedly provided on the active end of the piston rod, a second lifting plate is fixedly provided on the second connecting plate, a support plate is fixedly provided on the front end surface of the second lifting plate, a second mounting seat is fixedly provided on the right end surface of the support plate, a second contact sensor is fixedly provided on the second mounting seat, a second detection rod of the second contact sensor passes through the second mounting seat upward, and the second detection rod and the force transmission rod are on the same vertical line.

[0013] A plurality of springs are evenly distributed around the center of the force transmission rod, and the plurality of springs suspend the floating block in the guide seat.

[0014] The unloading mechanism includes an upper material box and a lower material box fixed on the workbench. A grabbing robot arm installed on the workbench surface is provided on the right side of the lower material box. A plurality of suction heads are installed on the moving part of the grabbing robot arm. Each suction head corresponds to each sink in the fixture, and the other end of each suction head is connected to a vacuum pump via a hose.

[0015] The production device also includes a controller, which is electrically connected to the horizontal screw nut pair, the first lifting cylinder, the second lifting cylinder, the first contact sensor, the second contact sensor, the clamping cylinder and the side thrust cylinder via a signal line.

[0016] An automated production method for modular parts comprises the following steps: S1. A thin sheet is placed in each sink groove of the jig. Since the sink groove matches the outer contour of the thin sheet, multiple thin sheets can be positioned. Then, a worker places a sleeve in each semicircular hole of the jig, and the bottom wall of the sleeve is supported on the top surface of the thin sheet. S2. Welding produces semi-qualified modular parts. The specific operation steps are as follows: S21, control the stepper motor to start, the stepper motor drives the turntable to rotate around the center line of the column, and the turntable drives the fixture thereon to rotate synchronously. When the turntable rotates to a certain angle, the controller controls the stepper motor to turn off. At this time, the fixture enters the welding station of the welding mechanism, and each sleeve in the fixture is directly below each pressure head, and each sleeve is opposite to each rod on the left and right; S22, the piston rod of the side push cylinder of the control welding mechanism is extended to the right, the piston rod drives the push plate to move to the right, the push plate drives the side push block to move to the right, the side push block drives each rod thereon to move to the right synchronously, each rod moves toward each sleeve direction respectively, when the piston rod of the side push cylinder is fully extended, the rod pushes the sleeve against the inner wall of the semicircular hole, so that the sleeve is at the specified position of the sheet, thereby realizing the positioning of multiple sleeves and multiple sheets respectively; S23, the piston rod of the clamping cylinder of the control welding mechanism extends downward, the piston rod drives the strip plate to move downward, the strip plate drives the two L plates to move downward, the L plate drives the pressing plate to move downward, the pressing plate drives each pressing head to move upward, when the piston rod of the clamping cylinder is fully extended, each pressing head presses each sleeve respectively, and the small through hole of the pressing head is connected with the sleeve; S24, the laser head of the laser welding machine is directed toward a large through hole of the pressing plate, and then the laser welding machine is turned on, and the laser beam emitted by the laser head sequentially passes through the large through hole of the pressing plate, the small through hole of the pressing head, and the top port of the sleeve, and finally irradiates the top surface of the bottom wall of the sleeve, thereby welding the bottom wall of the sleeve to the thin sheet, and then welding to produce a semi-finished assembled part; S25, repeating the operation of step S2 for multiple times, the bottom wall of the remaining sleeve can be welded to the thin sheet in contact with it, and then welding to produce multiple semi-finished assembled parts; S3, control the piston rod of the clamping cylinder to retract upward, the piston rod drives the strip plate to move upward, the strip plate drives the L plate to move upward, the L plate drives the pressure plate to move upward, the pressure plate drives each pressure head thereon to move upward, so that the pressure head is separated from the sleeve of the semi-finished assembled part; then control the piston rod of the side push cylinder to retract leftward, the piston rod drives the rod to move leftward, so that the rod is separated from the sleeve of the semi-finished assembled part; S4. Detection of the bottom wall of the sleeve and the total thickness of the thin sheet of each semi-finished assembled part in the fixture. The specific operation steps are as follows: S41, control the stepper motor to start, the stepper motor drives the turntable to rotate, the turntable drives the fixture to rotate, and the fixture drives the semi-finished assembled parts in it to rotate synchronously. When the turntable rotates to a certain angle, the controller controls the stepper motor to turn off. At this time, the fixture enters the welding station of the total thickness detection mechanism, and the sleeve of the first semi-finished assembled part in the fixture is just below the force transmission rod of the total thickness detection mechanism; S42, control the piston rod of the first lifting cylinder to extend downward, the piston rod drives the first connecting plate to move downward, the first connecting plate drives the first lifting plate to move downward, the first lifting plate drives the first mounting seat, the fixing plate and the guide seat to move downward synchronously, and then drives the first contact sensor, the floating block and the force transmission rod to move downward synchronously, the ball head of the force transmission rod first enters the sleeve, and then presses against the bottom wall of the sleeve, when the ball head is blocked by the bottom wall of the sleeve, the ball head drives the force transmission rod to move upward, the force transmission rod pushes up the first detection rod of the first contact sensor, the first detection rod moves upward, at this time, the first contact sensor sends the displacement to the controller; S43, control the piston rod of the second lifting cylinder to extend upward, the piston rod drives the second connecting plate to move upward, the second connecting plate drives the second lifting plate to move upward, the second lifting plate drives the second mounting seat to move upward, the second mounting seat drives the second contact sensor to move upward, the second contact sensor drives the second detection rod to move upward, the second detection rod is pressed against the bottom surface of the sheet of the semi-finished assembled part, when the second detection rod is blocked by the bottom surface of the sheet, the second detection rod moves downward, at this time, the second contact sensor sends the displacement to the controller; S44, the controller calculates the total thickness of the bottom wall and the thin sheet of the sleeve of the semi-finished assembled part according to the displacement fed back by the first contact sensor and the second contact sensor, and determines whether the total thickness is within the design range, and records the position of the qualified assembled part or the unqualified assembled part in the fixture, thereby completing the detection of the total thickness of the first semi-finished assembled part in the fixture; S45, the worker controls the piston rod of the first lifting cylinder to retract upward, thereby resetting the force transmission rod; the worker controls the piston rod of the second lifting cylinder to extend downward, thereby driving the second detection rod of the second contact sensor to reset; S46. The worker controls the nut of the horizontal screw nut pair to move rightward, the nut drives the moving platform to move rightward, the moving platform drives the movable plate to move rightward, and the movable plate drives the first lifting cylinder, the second lifting cylinder, the first contact sensor, and the second contact sensor thereon to move rightward synchronously, so that the force transmission rod and the second detection rod move to the top of the second semi-finished assembled part in the fixture; S47, the worker repeats the operations of steps S42 to S43 to complete the detection of the total thickness of the second semi-finished assembled part in the fixture; S48, repeating steps S45 to S47 for multiple times, and finally completing the detection of the bottom wall of the sleeve and the total thickness of the thin sheet of each semi-finished assembled part in the fixture; S5. The specific operation steps for unloading qualified or unqualified modular parts in the fixture are as follows: S51, control the stepper motor to start, the stepper motor drives the turntable to rotate, the turntable drives the fixture to rotate synchronously, the fixture drives the qualified modular parts or unqualified modular parts therein to rotate synchronously, when the turntable rotates to a certain angle, the controller controls the stepper motor to turn off, at this time, the fixture enters the unloading station of the unloading mechanism; S52, controlling the movement of the grabbing mechanical arm of the unloading mechanism, the grabbing mechanical arm drives the moving part to move downward, the moving part drives each suction head thereon to move downward, each suction head contacts each thin sheet in the fixture respectively; starting the vacuum pump connected to the suction head, the vacuum pump evacuates the suction head, under negative pressure, the thin sheet is adsorbed on the suction head, and then the qualified modular parts or unqualified modular parts are adsorbed; S53, controlling the movement of the grabbing robot arm, the grabbing robot arm drives the moving part to move to the top of the upper material box, and then controlling the vacuum pump corresponding to the qualified modular parts to be turned off, so that the qualified modular parts are no longer adsorbed by the suction head. At this time, the qualified modular parts fall into the upper material box under their own gravity; S54, control the movement of the grabbing robot arm, the grabbing robot arm drives the moving part to move to the top of the lower material box, and then controls the vacuum pump corresponding to the unqualified modular parts to be closed, so that the unqualified modular parts are no longer adsorbed by the suction head. At this time, the unqualified modular parts fall into the lower material box under their own gravity, thereby finally realizing the unloading of qualified modular parts or unqualified modular parts in the fixture.

[0017] The invention has the following advantages: improving welding quality and greatly improving the production efficiency of qualified modular parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the combined parts; Figure 2 for Figure 1 A top view of Figure 3 is a schematic diagram of the structure of the sheet; Figure 4 for Figure 3 A top view of Figure 5 It is a schematic diagram of the structure of the sleeve; Figure 6 for Figure 5 A top view of Figure 7 A schematic diagram of a laser beam emitted by a laser head passing through a top port of a sleeve and then irradiating a bottom wall of the sleeve; Figure 8 It is a structural schematic diagram of the present invention; Fig. 9 It is a structural schematic diagram of the welding mechanism in the present invention; Fig.10 for Fig. 9 The main view of Fig.11 for Fig. 9 A-direction schematic diagram; Fig.12 It is a structural diagram of the fixture; Fig.13 It is a structural schematic diagram of the total thickness detection mechanism in the present invention; Fig.14 for Fig.13 The main view of Fig.15 for Fig.13 Right view of; Fig.16 is a schematic diagram of a bottom wall of a sleeve supported on a top surface of a sheet; Fig.17 It is a schematic diagram showing that each sleeve is opposite to each rod member on the left and right; Fig.18 for Fig.17 The main view of Fig.19 A schematic diagram of a rod pressing a sleeve against the inner wall of a semicircular hole; Fig. 20 It is a schematic diagram of each pressing head pressing each sleeve respectively; Fig.21 It is a schematic diagram showing that the sleeve of the first semi-finished assembled part in the jig is located directly below the force transmission rod of the total thickness detection mechanism; Fig. 22 for Fig.21 The main view of Fig.23 is a schematic diagram of the second detection rod being blocked by the bottom surface of the sheet; In the figure: 1-sheet, 2-sleeve, 3-workbench, 4-column, 5-mounting plate, 6-turntable, 7-jig, 8-welding mechanism, 9-total thickness detection mechanism, 10-unloading mechanism; 11-machine table, 12-platform, 13-side push cylinder, 14-push plate, 15-side push block, 16-rod, 17-side plate, 18-pressing cylinder, 19-strip plate, 20-pressing plate, 21-large through hole, 22-pressing head, 23-small through hole; 24-base, 25-boss, 26-sink, 27-semicircular hole, 28-slider; 29-horizontal screw nut pair, 30-moving platform, 31-movable plate, 32-first lifting cylinder, 33-second lifting cylinder, 34-first connecting plate, 35-first lifting plate, 36-vertical plate, 37-first mounting seat, 38-fixed plate, 39-guide seat, 40-first contact sensor, 41-first detection rod, 42-floating block, 43-force transmission rod, 44-ball head, 45-spring; 46-second connecting plate, 47-second lifting plate, 48-support plate, 49-second mounting seat, 50-second contact sensor, 51-second detection rod; 52-upper material box, 53-lower material box, 54-moving part, 55-suction head. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings, and the protection scope of the present invention is not limited to the following: like Figure 9~Figure 15 As shown, an automated production device for combined parts includes a workbench 3, a column 4 fixed on the top surface of the workbench 3, a mounting plate 5 fixed on the top of the column 4, and a stepper motor arranged below the workbench 3. A turntable 6 located directly below the mounting plate 5 is rotatably mounted on the upper end of the column 4. The turntable 6 is mounted on the output shaft of the stepper motor, and the turntable 6 is driven by the stepper motor to rotate around the center line of the column 4; a plurality of jigs 7 are arranged at intervals around the circumferential direction on the top surface of the turntable 6; the unloading mechanism 10 includes an upper material box 52 and a lower material box 53 fixed on the workbench 3, a grabbing mechanical arm mounted on the surface of the workbench 3 is arranged on the right side of the lower material box 53, and a plurality of suction heads 55 are installed on the moving part 54 of the grabbing mechanical arm, and each suction head 55 corresponds to each sink 26 in the jig 7, and the other end of each suction head 55 is connected to a vacuum pump via a hose.

[0020] like Fig.12As shown, the fixture 7 includes a base 24 and a boss 25 fixed on the top surface of the base 24. The bottom surface of the base 24 is fixed on the top surface of the turntable 6. A plurality of spaced recessed grooves 26 are provided on the top surface of the base 24 and along its length direction. The depth of the recessed grooves 26 is less than the thickness of the sheet 1. The recessed grooves 26 extend in the boss 25. The recessed grooves 26 match the outer contour of the sheet 1. A plurality of spaced semicircular holes 27 are provided on the top surface of the boss 25. The plurality of semicircular holes 27 are respectively connected to the corresponding recessed grooves 26, and the bottom ports of the semicircular holes 27 penetrate downward through the bottom surface of the base 24.

[0021] like Figure 1 , Figure 9~Figure 11 As shown, a welding mechanism 8 is arranged between the workbench 3 and the mounting plate 5, a total thickness detection mechanism 9 is also arranged on the workbench 3 and is located at the rear side of the turntable 6, and a material unloading mechanism 10 is also arranged on the workbench 3 and is located at the right side of the turntable 6; the welding mechanism 8 includes a machine table 11 fixedly arranged on the workbench 3, a platform 12 fixedly arranged on the top surface of the mounting plate 5, a side push cylinder 13 is fixedly arranged on the top surface of the machine table 11, a push plate 14 is connected to the action end of the piston rod of the side push cylinder 13, a side push block 15 is fixedly arranged on the top surface of the push plate 14, and a plurality of spacers are fixedly arranged on the right end surface of the side push block 15 A rod 16 is arranged at intervals; a side plate 17 is fixedly provided on the left side of the platform 12, and a vertically arranged clamping cylinder 18 is fixedly provided on the top of the side plate 17, and a longitudinally arranged strip plate 19 is fixedly provided on the action end of the piston rod of the clamping cylinder 18, and L plates are fixedly provided at the front and rear ends of the strip plate 19, and a pressure plate 20 is fixedly connected between the two L plates, and a plurality of large through holes 21 corresponding to the rod 16 are opened in the pressure plate 20 along its length direction, and a plurality of pressure heads 22 corresponding to the large through holes 21 are fixedly provided on the bottom surface of the pressure plate 20, and small through holes 23 connected to the large through holes 21 are opened in the pressure heads 22.

[0022] Two guide rails are fixedly provided on the left end surface of the side plate 17, and the two guide rails are respectively located at the front and rear sides of the side plate 17. Two sliders 28 are fixedly provided on the rear end surface of the strip plate 19, and the two sliders 28 are respectively slidably installed on the two guide rails.

[0023] like Figure 1 , Figure 13~Figure 15 As shown, the total thickness detection mechanism 9 is fixedly mounted on a horizontal screw nut pair 29 on the surface of the workbench 3, and a movable platform 30 is fixedly mounted on the top surface of the nut of the horizontal screw nut pair 29. A movable plate 31 located in front of the horizontal screw nut pair 29 is fixedly mounted on the front end surface of the movable platform 30, and a first lifting cylinder 32 and a second lifting cylinder 33 are respectively fixedly mounted on the upper and lower ends of the front end surface of the movable plate 31.

[0024] The piston rod of the first lifting cylinder 32 faces downward, and a first connecting plate 34 is fixedly provided on the action end of the piston rod, a first lifting plate 35 is fixedly provided on the first connecting plate 34, a vertical plate 36 is fixedly provided on the front end surface of the first lifting plate 35, a first mounting seat 37, a fixing plate 38 and a guide seat 39 are fixedly provided on the right end surface of the vertical plate 36 from top to bottom, a first contact sensor 40 is fixedly provided on the first mounting seat 37, a first detection rod 41 of the first contact sensor 40 passes through the first mounting seat 37 downward, and a first detection rod 41 of the first contact sensor 40 slides inside the guide seat 39 A floating block 42 is dynamically installed, and a force transmission rod 43 is fixed inside the floating block 42. The bottom end of the force transmission rod 43 is fixed with a ball head 44 located below the floating block 42. The top end of the force transmission rod 43 slides upward and passes through the fixed plate 38, and is fixedly connected to the bottom end of the first detection rod 41; a plurality of springs 45 are fixed on the top surface of the floating block 42, and the top ends of the springs 45 are fixed on the bottom surface of the fixed plate 38; the plurality of springs 45 are evenly distributed around the center of the force transmission rod 43, and the plurality of springs 45 suspend the floating block 42 in the guide seat 39.

[0025] The piston rod of the second lifting cylinder 33 faces upward, and a second connecting plate 46 is fixedly provided on the active end of the piston rod, a second lifting plate 47 is fixedly provided on the second connecting plate 46, a support plate 48 is fixedly provided on the front end surface of the second lifting plate 47, a second mounting seat 49 is fixedly provided on the right end surface of the support plate 48, a second contact sensor 50 is fixedly provided on the second mounting seat 49, a second detection rod 51 of the second contact sensor 50 penetrates the second mounting seat 49 upward, and the second detection rod 51 and the force transmission rod 43 are on the same vertical line.

[0026] The production device also includes a controller, which is electrically connected to the horizontal screw nut pair 29, the first lifting cylinder 32, the second lifting cylinder 33, the first contact sensor 40, the second contact sensor 50, the clamping cylinder 18 and the side thrust cylinder 13 via a signal line. The worker can control the extension or retraction of the piston rods of the first lifting cylinder 32, the second lifting cylinder 33, the clamping cylinder 18 and the side thrust cylinder 13 through the controller, and can also control the start or close of the horizontal screw nut pair 29, thereby facilitating the operation of the worker and having the characteristics of high degree of automation.

[0027] An automated production method for modular parts comprises the following steps: S1, put a Figure 3~Figure 4 As shown in the sheet 1, the sink 26 matches the outer contour of the sheet 1, thereby achieving the positioning of multiple sheets 1; then the worker puts a piece of the same material into each semicircular hole 27 of the fixture 7. Figure 5~Figure 6 The sleeve 2 shown in the figure has its bottom wall supported on the top surface of the sheet 1. Fig.16 As shown; S2. Welding produces semi-qualified modular parts. The specific operation steps are as follows: S21, control the stepper motor to start, the stepper motor drives the turntable 6 to rotate around the center line of the column 4, and the turntable 6 drives the fixture 7 thereon to rotate synchronously. When the turntable 6 rotates to a certain angle, the controller controls the stepper motor to turn off. At this time, the fixture 7 enters the welding station of the welding mechanism 8, and each sleeve 2 in the fixture 7 is directly below each pressure head 22, and each sleeve 2 is opposite to each rod 16 on the left and right. Figure 17-18 As shown; S22, the piston rod of the side push cylinder 13 of the control welding mechanism 8 extends to the right, the piston rod drives the push plate 14 to move to the right, the push plate 14 drives the side push block 15 to move to the right, the side push block 15 drives each rod 16 thereon to move to the right synchronously, and each rod 16 moves toward each sleeve 2 respectively. When the piston rod of the side push cylinder 13 is fully extended, the rod 16 presses the sleeve 2 against the inner wall of the semicircular hole 27, as shown in FIG. Fig.19 As shown, the sleeve 2 is located at a designated position of the sheet 1, thereby achieving positioning of multiple sleeves 2 and multiple sheets 1 respectively; S23, the piston rod of the clamping cylinder 18 of the control welding mechanism 8 extends downward, the piston rod drives the strip plate 19 to move downward, the strip plate 19 drives the two L plates to move downward, the L plate drives the pressing plate 20 to move downward, the pressing plate 20 drives each pressing head 22 to move forward, when the piston rod of the clamping cylinder 18 is fully extended, each pressing head 22 presses each sleeve 2 respectively, such as Fig. 20 As shown, the small through hole 23 of the pressure head 22 is connected to the sleeve 2; S24, the laser head of the laser welding machine is directed toward a large through hole 21 of the pressing plate 20, and then the laser welding machine is turned on. The laser beam emitted by the laser head sequentially passes through the large through hole 21 of the pressing plate 20, the small through hole 23 of the pressing head 22, and the top port of the sleeve 2, and finally irradiates the top surface of the bottom wall of the sleeve 2. The irradiation direction of the laser beam is as follows: Fig. 20 As shown by the middle arrow, the bottom wall of the sleeve 2 is welded to the sheet 1, thereby welding to produce a semi-finished assembled part; S25, repeating the operation of step S2 for multiple times, the bottom wall of the remaining sleeve 2 can be welded to the thin sheet 1 in contact with it, and then welding to produce multiple semi-finished assembled parts; Among them, it can be known from this step S2 that the worker only needs to control the piston rod of the side thrust cylinder 13 to extend to the right, and then the multiple sleeves 2 can be respectively pressed against the inner wall of the semicircular hole 27 through the multiple rods 16, thereby realizing the positioning of the multiple sleeves 2 and the multiple sheets 1. Therefore, compared with the manual positioning method in the workshop, the production device does not require the worker to adjust the position of the sleeve 2 multiple times to complete the positioning of the sleeve 2 and the sheet 1, which undoubtedly greatly shortens the subsequent welding time, thereby greatly improving the production efficiency of qualified modular parts.

[0028] In addition, in step S23, since the pressing head 22 presses the sleeve 2, it is ensured that the position of the sleeve 2 relative to the sheet 1 is always unchanged. Therefore, when the laser beam emitted by the laser head of the laser welding machine irradiates the bottom wall of the sleeve 2, the position of the sleeve 2 will not change at all. Therefore, compared with the production method in the workshop, the production device greatly improves the welding quality.

[0029] S3, control the piston rod of the clamping cylinder 18 to retract upward, the piston rod drives the strip plate 19 to move upward, the strip plate 19 drives the L plate to move upward, the L plate drives the pressing plate 20 to move upward, the pressing plate 20 drives each pressing head 22 thereon to move upward, so that the pressing head 22 is separated from the sleeve 2 of the semi-finished assembled part; then control the piston rod of the side thrust cylinder 13 to retract leftward, the piston rod drives the rod 16 to move leftward, so that the rod 16 is separated from the sleeve 2 of the semi-finished assembled part; S4, detection of the total thickness of the bottom wall of the sleeve 2 and the thin sheet 1 of each semi-finished assembled part in the fixture 7, the specific operation steps are: S41, control the stepper motor to start, the stepper motor drives the turntable 6 to rotate, the turntable 6 drives the fixture 7 to rotate, and the fixture 7 drives the semi-finished assembled parts in it to rotate synchronously. When the turntable 6 rotates to a certain angle, the controller controls the stepper motor to turn off. At this time, the fixture 7 enters the welding station of the total thickness detection mechanism. The sleeve 2 of the first semi-finished assembled part in the fixture 7 is just below the force transmission rod 43 of the total thickness detection mechanism 9. Figure 21-22 As shown; S42, control the piston rod of the first lifting cylinder 32 to extend downward, the piston rod drives the first connecting plate 34 to move downward, the first connecting plate 34 drives the first lifting plate 35 to move downward, the first lifting plate 35 drives the first mounting seat 37, the fixing plate 38 and the guide seat 39 to move downward synchronously, and then drives the first contact sensor 40, the floating block 42 and the force transmission rod 43 to move downward synchronously, the ball head 44 of the force transmission rod 43 first enters the sleeve 2, and then presses against the bottom wall of the sleeve 2, when the ball head 44 is blocked by the bottom wall of the sleeve 2, as shown in FIG. Fig.23As shown, the ball head 44 drives the force transmission rod 43 to move upward, and the force transmission rod 43 pushes up the first detection rod 41 of the first contact sensor 40, and the first detection rod 41 moves upward. At this time, the first contact sensor 40 sends the displacement to the controller; S43, control the piston rod of the second lifting cylinder 33 to extend upward, the piston rod drives the second connecting plate 46 to move upward, the second connecting plate 46 drives the second lifting plate 47 to move upward, the second lifting plate 47 drives the second mounting seat 49 to move upward, the second mounting seat 49 drives the second contact sensor 50 to move upward, the second contact sensor 50 drives the second detection rod 51 to move upward, the second detection rod 51 presses against the bottom surface of the sheet 1 of the semi-finished assembled part, when the second detection rod 51 is blocked by the bottom surface of the sheet 1, as shown in FIG. Fig.23 As shown, the second detection rod 51 moves downward, at which time, the second contact sensor 50 sends the displacement to the controller; S44, the controller calculates the total thickness of the bottom wall of the sleeve 2 and the sheet 1 of the semi-finished assembled part according to the displacement fed back by the first contact sensor 40 and the second contact sensor 50, and determines whether the total thickness is within the design range, and records the position of the qualified assembled part or the unqualified assembled part in the fixture 7, thereby completing the detection of the total thickness of the first semi-finished assembled part in the fixture 7; S45, the worker controls the piston rod of the first lifting cylinder 32 to retract upward, thereby resetting the force transmission rod 43; the worker controls the piston rod of the second lifting cylinder 33 to extend downward, thereby driving the second detection rod 51 of the second contact sensor 50 to reset; S46, the worker controls the nut of the horizontal screw nut pair 29 to move rightward, the nut drives the moving platform 30 to move rightward, the moving platform 30 drives the movable plate 31 to move rightward, and the movable plate 31 drives the first lifting cylinder 32, the second lifting cylinder 33, the first contact sensor 40, and the second contact sensor 50 thereon to move rightward synchronously, so that the force transmission rod 43 and the second detection rod 51 move to the top of the second semi-finished assembled part in the fixture 7; S47, the worker repeats the operations of steps S42 to S43 to complete the detection of the total thickness of the second semi-finished assembled part in the fixture 7; S48, repeating steps S45 to S47 for multiple times, the bottom wall of the sleeve 2 and the total thickness of the sheet 1 of each semi-finished assembled part in the fixture 7 can be finally detected; Among them, it can be seen from step S4 that the production device can complete the total thickness detection of all semi-finished modular parts in the fixture 7 only through the linkage cooperation of the first lifting cylinder 32, the second lifting cylinder 33, and the horizontal screw nut pair 29. There is no need to manually measure the total thickness of the modular parts with a caliper, and there is no need for workers to judge whether the measured total thickness is within the design range. This not only greatly reduces the work intensity of the workers, but also shortens the detection time of the total thickness of the semi-finished modular parts, thereby improving the detection efficiency of the total thickness of the semi-finished modular parts, and then improving the production efficiency of qualified modular parts.

[0030] S5, unloading of qualified or unqualified modular parts in the fixture 7, the specific operation steps are as follows: S51, control the stepper motor to start, the stepper motor drives the turntable 6 to rotate, the turntable 6 drives the fixture 7 to rotate synchronously, the fixture 7 drives the qualified modular parts or unqualified modular parts therein to rotate synchronously, when the turntable 6 rotates to a certain angle, the controller controls the stepper motor to turn off, at this time, the fixture 7 enters the unloading station of the unloading mechanism 10; S52, controlling the gripping mechanical arm of the unloading mechanism 10 to move, the gripping mechanical arm drives the moving part 54 to move downward, the moving part 54 drives each suction head 55 thereon to move downward, each suction head 55 contacts each thin sheet 1 in the fixture 7 respectively; starting the vacuum pump connected to the suction head 55, the vacuum pump evacuates the suction head, under negative pressure, the thin sheet 1 is adsorbed on the suction head 55, and then the qualified assembled parts or the unqualified assembled parts are adsorbed; S53, controlling the movement of the grabbing robot arm, the grabbing robot arm drives the moving part 54 to move to the top of the upper material box 52, and then controlling the vacuum pump corresponding to the qualified modular parts to be turned off, so that the qualified modular parts are no longer adsorbed by the suction head 55. At this time, the qualified modular parts fall into the upper material box 52 under their own gravity; S54, control the movement of the grabbing robot arm, the grabbing robot arm drives the moving part 54 to move to the top of the lower material box 53, and then controls the vacuum pump corresponding to the unqualified modular parts to be turned off, and the unqualified modular parts are no longer adsorbed by the suction head 55. At this time, the unqualified modular parts fall into the lower material box 53 under their own gravity, thereby finally realizing the unloading of qualified modular parts or unqualified modular parts in the fixture 7.

Claims

1. An automated production device for modular parts, characterized in that: It comprises a workbench (3), a column (4) fixed on the top surface of the workbench (3), a mounting plate (5) fixed on the top of the column (4), and a stepping motor arranged below the workbench (3); a turntable (6) located directly below the mounting plate (5) is rotatably mounted on the upper end of the column (4); the turntable (6) is mounted on the output shaft of the stepping motor, and the turntable (6) is driven by the stepping motor to rotate around the center line of the column (4); a plurality of jigs (7) are arranged on the top surface of the turntable (6) at intervals around its circumferential direction; A welding mechanism (8) is provided between the workbench (3) and the mounting plate (5); a total thickness detection mechanism (9) is also provided on the workbench (3) and is located at the rear side of the turntable (6); and a material unloading mechanism (10) is also provided on the workbench (3) and is located at the right side of the turntable (6); The welding mechanism (8) comprises a machine table (11) fixedly mounted on the surface of a workbench (3), and a platform (12) fixedly mounted on the top surface of a mounting plate (5); a side thrust cylinder (13) is fixedly mounted on the top surface of the machine table (11); a push plate (14) is connected to the active end of the piston rod of the side thrust cylinder (13); a side thrust block (15) is fixedly mounted on the top surface of the push plate (14); and a plurality of rods (16) are fixedly mounted on the right end surface of the side thrust block (15); A side plate (17) is fixedly provided on the left side of the platform (12), a vertically arranged clamping cylinder (18) is fixedly provided on the top end of the side plate (17), a longitudinally arranged strip plate (19) is fixedly provided on the action end of the piston rod of the clamping cylinder (18), L plates are fixedly provided at the front and rear ends of the strip plate (19), a pressing plate (20) is fixedly connected between the two L plates, a plurality of large through holes (21) corresponding to the rod members (16) are provided in the pressing plate (20) along its length direction, a plurality of pressing heads (22) corresponding to the large through holes (21) are fixedly provided on the bottom surface of the pressing plate (20), and a small through hole (23) connected to the large through hole (21) is provided in the pressing head (22).

2. The automatic production device for modular parts according to claim 1, characterized in that: The fixture (7) comprises a base (24) and a boss (25) fixed on the top surface of the base (24); the bottom surface of the base (24) is fixed on the top surface of the turntable (6); a plurality of spaced recessed grooves (26) are provided on the top surface of the base (24) and along its length direction; the recessed grooves (26) extend into the boss (25); the recessed grooves (26) match the outer contour of the sheet (1); a plurality of spaced semicircular holes (27) are provided on the top surface of the boss (25); the plurality of semicircular holes (27) are respectively connected to the corresponding recessed grooves (26); and the bottom ends of the semicircular holes (27) penetrate downward through the bottom surface of the base (24).

3. The automatic production device for modular parts according to claim 2, characterized in that: The depth of the sink (26) is less than the thickness of the slice (1).

4. The automatic production device for modular parts according to claim 3, characterized in that: Two guide rails are fixedly provided on the left end surface of the side plate (17), and the two guide rails are respectively located at the front and rear sides of the side plate (17). Two sliders (28) are fixedly provided on the rear end surface of the strip plate (19), and the two sliders (28) are respectively slidably mounted on the two guide rails.

5. The automatic production device for modular parts according to claim 4, characterized in that: The total thickness detection mechanism (9) is fixedly mounted on a horizontal screw nut pair (29) on the surface of the workbench (3), and a movable platform (30) is fixedly mounted on the top surface of the nut of the horizontal screw nut pair (29); a movable plate (31) located in front of the horizontal screw nut pair (29) is fixedly mounted on the front end surface of the movable platform (30); and a first lifting cylinder (32) and a second lifting cylinder (33) are fixedly mounted on the upper and lower ends of the front end surface of the movable plate (31); The piston rod of the first lifting cylinder (32) faces downward, and a first connecting plate (34) is fixedly provided on the working end of the piston rod, a first lifting plate (35) is fixedly provided on the first connecting plate (34), a vertical plate (36) is fixedly provided on the front end surface of the first lifting plate (35), a first mounting seat (37), a fixing plate (38) and a guide seat (39) are fixedly provided on the right end surface of the vertical plate (36) in order from top to bottom, a first contact sensor (40) is fixedly provided on the first mounting seat (37), and a first detection rod (41) of the first contact sensor (40) is fixedly provided. ) passes through the first mounting seat (37) downwardly, a floating block (42) is slidably installed in the guide seat (39), a force transmission rod (43) is fixedly arranged in the floating block (42), a ball head (44) located below the floating block (42) is fixedly arranged at the bottom end of the force transmission rod (43), and the top end of the force transmission rod (43) slides upwardly through the fixed plate (38) and is fixedly connected to the bottom end of the first detection rod (41); a plurality of springs (45) are fixedly arranged on the top surface of the floating block (42), and the top ends of the springs (45) are fixedly arranged on the bottom surface of the fixed plate (38); The piston rod of the second lifting cylinder (33) faces upward, and a second connecting plate (46) is fixedly provided on the action end of the piston rod, a second lifting plate (47) is fixedly provided on the second connecting plate (46), a support plate (48) is fixedly provided on the front end surface of the second lifting plate (47), a second mounting seat (49) is fixedly provided on the right end surface of the support plate (48), a second contact sensor (50) is fixedly provided on the second mounting seat (49), a second detection rod (51) of the second contact sensor (50) passes through the second mounting seat (49) upward, and the second detection rod (51) and the force transmission rod (43) are on the same vertical line.

6. The automatic production device for modular parts according to claim 5, characterized in that: A plurality of springs (45) are evenly distributed around the center of the force transmission rod (43), and the plurality of springs (45) suspend the floating block (42) in the guide seat (39).

7. The automatic production device for modular parts according to claim 6, characterized in that: The unloading mechanism (10) comprises an upper material box (52) and a lower material box (53) fixedly mounted on the workbench (3); a grabbing mechanical arm mounted on the workbench (3) is arranged on the right side of the lower material box (53); a plurality of suction heads (55) are mounted on the moving part (54) of the grabbing mechanical arm; each suction head (55) corresponds to each sink (26) in the fixture (7), and the other end of each suction head (55) is connected to a vacuum pump via a hose.

8. The automatic production device for modular parts according to claim 7, characterized in that: The production device also includes a controller, which is electrically connected to the horizontal screw nut pair (29), the first lifting cylinder (32), the second lifting cylinder (33), the first contact sensor (40), the second contact sensor (50), the clamping cylinder (18) and the side thrust cylinder (13) via a signal line.

9. An automated production method for modular parts, using the automated production device for modular parts according to claim 8, characterized in that: It includes the following steps: S1. A thin sheet (1) is placed in each of the sink grooves (26) of the jig (7). Since the sink grooves (26) match the outer contours of the thin sheets (1), positioning of the plurality of thin sheets (1) is achieved. Then, a worker places a sleeve (2) in each of the semicircular holes (27) of the jig (7), and the bottom wall of the sleeve (2) is supported on the top surface of the thin sheet (1). S2. Welding produces semi-qualified modular parts. The specific operation steps are as follows: S21, controlling the stepper motor to start, the stepper motor drives the turntable (6) to rotate around the center line of the column (4), and the turntable (6) drives the jig (7) thereon to rotate synchronously. When the turntable (6) rotates to a certain angle, the controller controls the stepper motor to turn off. At this time, the jig (7) enters the welding station of the welding mechanism (8), and each sleeve (2) in the jig (7) is directly below each pressure head (22), and each sleeve (2) is opposite to each rod (16) on the left and right. S22, the piston rod of the side thrust cylinder (13) of the control welding mechanism (8) extends to the right, the piston rod drives the push plate (14) to move to the right, the push plate (14) drives the side thrust block (15) to move to the right, the side thrust block (15) drives each rod (16) thereon to move to the right synchronously, each rod (16) moves toward each sleeve (2) in a corresponding direction, and when the piston rod of the side thrust cylinder (13) is fully extended, the rod (16) presses the sleeve (2) against the inner wall of the semicircular hole (27), so that the sleeve (2) is located at a specified position of the sheet (1), thereby realizing the positioning of the plurality of sleeves (2) and the plurality of sheets (1) respectively; S23, the piston rod of the clamping cylinder (18) of the control welding mechanism (8) extends downward, the piston rod drives the strip plate (19) to move downward, the strip plate (19) drives the two L plates to move downward, the L plate drives the pressing plate (20) to move downward, the pressing plate (20) drives each pressing head (22) to move upward, when the piston rod of the clamping cylinder (18) is fully extended, each pressing head (22) presses each sleeve (2), and the small through hole (23) of the pressing head (22) is connected to the sleeve (2); S24, the laser head of the laser welding machine is directed toward a large through hole (21) of the pressing plate (20), and then the laser welding machine is turned on, and the laser beam emitted by the laser head sequentially passes through the large through hole (21) of the pressing plate (20), the small through hole (23) of the pressing head (22), and the top port of the sleeve (2), and finally irradiates the top surface of the bottom wall of the sleeve (2), thereby welding the bottom wall of the sleeve (2) to the thin sheet (1), and then welding to produce a semi-finished assembled part; S25, repeating the operation of step S2 for multiple times, the bottom wall of the remaining sleeve (2) can be welded to the thin sheet (1) in contact with it, thereby welding and producing a plurality of semi-finished assembled parts; S3, controlling the piston rod of the pressing cylinder (18) to retract upward, the piston rod drives the strip plate (19) to move upward, the strip plate (19) drives the L plate to move upward, the L plate drives the pressing plate (20) to move upward, the pressing plate (20) drives each pressing head (22) thereon to move upward, so that the pressing head (22) is separated from the sleeve (2) of the semi-finished assembled part; then controlling the piston rod of the side thrust cylinder (13) to retract leftward, the piston rod drives the rod (16) to move leftward, so that the rod (16) is separated from the sleeve (2) of the semi-finished assembled part; S4, the bottom wall of the sleeve (2) and the total thickness of the thin sheet (1) of each semi-finished assembled part in the jig (7) are detected, and the specific operation steps are as follows: S41, controlling the stepper motor to start, the stepper motor drives the turntable (6) to rotate, the turntable (6) drives the jig (7) to rotate, the jig (7) drives the semi-finished assembled parts therein to rotate synchronously, when the turntable (6) rotates to a certain angle, the controller controls the stepper motor to turn off, at which time the jig (7) enters the welding station of the total thickness detection mechanism, and the sleeve (2) of the first semi-finished assembled part in the jig (7) is just below the force transmission rod (43) of the total thickness detection mechanism (9); S42, control the piston rod of the first lifting cylinder (32) to extend downward, the piston rod drives the first connecting plate (34) to move downward, the first connecting plate (34) drives the first lifting plate (35) to move downward, the first lifting plate (35) drives the first mounting seat (37), the fixing plate (38) and the guide seat (39) to move downward synchronously, and then drives the first contact sensor (40), the floating block (42) and the force transmission rod (43) to move downward synchronously, the ball head (44) of the force transmission rod (43) first enters the sleeve (2), and then presses against the bottom wall of the sleeve (2), when the ball head (44) is blocked by the bottom wall of the sleeve (2), the ball head (44) drives the force transmission rod (43) to move upward, the force transmission rod (43) pushes up the first detection rod (41) of the first contact sensor (40), the first detection rod (41) moves upward, at this time, the first contact sensor (40) sends the displacement to the controller; S43, controlling the piston rod of the second lifting cylinder (33) to extend upward, the piston rod drives the second connecting plate (46) to move upward, the second connecting plate (46) drives the second lifting plate (47) to move upward, the second lifting plate (47) drives the second mounting seat (49) to move upward, the second mounting seat (49) drives the second contact sensor (50) to move upward, the second contact sensor (50) drives the second detection rod (51) to move upward, the second detection rod (51) presses against the bottom surface of the sheet (1) of the semi-finished assembled part, when the second detection rod (51) is blocked by the bottom surface of the sheet (1), the second detection rod (51) moves downward, at which time, the second contact sensor (50) sends the displacement to the controller; S44, the controller calculates the total thickness of the bottom wall of the sleeve (2) and the thin sheet (1) of the semi-finished assembled part according to the displacement fed back by the first contact sensor (40) and the second contact sensor (50), determines whether the total thickness is within the design range, and records the position of the qualified assembled part or the unqualified assembled part in the jig (7), thereby completing the detection of the total thickness of the first semi-finished assembled part in the jig (7); S45, the worker controls the piston rod of the first lifting cylinder (32) to retract upward, thereby resetting the force transmission rod (43); the worker controls the piston rod of the second lifting cylinder (33) to extend downward, thereby driving the second detection rod (51) of the second contact sensor (50) to reset; S46, the worker controls the nut of the horizontal screw nut pair (29) to move rightward, the nut drives the moving platform (30) to move rightward, the moving platform (30) drives the movable plate (31) to move rightward, the movable plate (31) drives the first lifting cylinder (32), the second lifting cylinder (33), the first contact sensor (40), and the second contact sensor (50) thereon to move rightward synchronously, so that the force transmission rod (43) and the second detection rod (51) move to the top of the second semi-finished assembled part in the fixture (7); S47, the worker repeats the operations of steps S42 to S43 to complete the detection of the total thickness of the second semi-finished assembled part in the fixture (7); S48, repeating the operations of steps S45 to S47 for multiple times, and finally completing the detection of the total thickness of the bottom wall of the sleeve (2) and the thin sheet (1) of each semi-finished assembled part in the jig (7); S5. The specific operation steps for unloading qualified or unqualified modular parts from the fixture (7) are as follows: S51, controlling the stepper motor to start, the stepper motor drives the turntable (6) to rotate, the turntable (6) drives the fixture (7) to rotate synchronously, the fixture (7) drives the qualified assembled parts or unqualified assembled parts therein to rotate synchronously, when the turntable (6) rotates to a certain angle, the controller controls the stepper motor to turn off, at which time, the fixture (7) enters the unloading station of the unloading mechanism (10); S52, controlling the movement of the grabbing mechanical arm of the unloading mechanism (10), the grabbing mechanical arm drives the moving part (54) to move downward, the moving part (54) drives each suction head (55) thereon to move downward, each suction head (55) contacts each thin sheet (1) in the fixture (7); starting the vacuum pump connected to the suction head (55), the vacuum pump evacuates the suction head, and under negative pressure, the thin sheet (1) is adsorbed on the suction head (55), thereby adsorbing the qualified assembled parts or the unqualified assembled parts; S53, controlling the movement of the grabbing mechanical arm, the grabbing mechanical arm drives the moving part (54) to move to the top of the upper material box (52), and then controlling the vacuum pump corresponding to the qualified modular parts to be turned off, so that the qualified modular parts are no longer adsorbed by the suction head (55). At this time, the qualified modular parts fall into the upper material box (52) under their own gravity; S54, controlling the movement of the grabbing robot arm, the grabbing robot arm drives the moving part (54) to move to the top of the lower material box (53), and then controlling the vacuum pump corresponding to the unqualified assembled parts to be turned off, so that the unqualified assembled parts are no longer adsorbed by the suction head (55). At this time, the unqualified assembled parts fall into the lower material box (53) under their own gravity, thereby finally realizing the unloading of qualified assembled parts or unqualified assembled parts in the fixture (7).

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