Detection method applied to self-positioning production equipment of output gear for actuator

Abstract

According to the detection method applied to the self-positioning production equipment of the output gear for the actuator, the equipment comprises a workbench, a control system device and a circular rotating disc, and a gear jig mechanism is arranged on the circular rotating disc; the gear feeding mechanism, the gear angle detecting and steering mechanism, the multiple rough boring mechanisms, the multiple fine boring mechanisms, the waste residue collecting mechanism, the hole site cleaning mechanism, the steel ball feeding mechanism, the riveting mechanism and the steel ball gear discharging mechanism are arranged according to working procedures, and the steel ball gear discharging mechanism is arranged on the workbench and used for taking down steel ball gears from the corresponding gear jig mechanisms. And the rotary table corresponds to the tail end station of the circular rotary table. According to the brand-new self-positioning production equipment for the output gear for the actuator and the assembling and detecting method, the functions of full-automatic gear feeding, gear angle detection and steering adjustment, boring, waste residue collection, hole site cleaning, automatic steel ball feeding, steel ball riveting and pressing and steel ball gear discharging are achieved.

Description

Technical Field

[0001] The invention relates to the field of automatic production and detection of output gear accessories in electric actuators, and in particular to a detection method for self-positioning production equipment applied to output gears for actuators. Background Art

[0002] Flow metering instruments, such as water meters, electricity meters, and gas meters, have become indispensable equipment in daily life and production. Taking water meters as an example, traditional water meters include a water meter housing and a metering movement inside the water meter housing. The metering movement here is basically a mechanical digital wheel that records the measured value. In order to realize the automatic switching and adjustment functions of the instrumentation, actuator components are added to the instrumentation. Actuators are divided into pneumatic actuators, electric actuators, and hydraulic actuators. Pneumatic actuators are large in size, complex in wiring, and require an air source. Hydraulic actuators are generally suitable for large workplaces due to their large size, complex structure, and high cost. Therefore, the most commonly used actuators for civil use are electric actuators.

[0003] As an example of an electric actuator, our company's prior application document CN215568314U discloses an actuator with an adjustable output valve stem, including an actuator housing, a drive device, a transmission device, and an output valve stem. One end of the output valve stem is a power output end, and the other end extends out of the actuator housing to form a mounting end. It is characterized in that it also includes a height adjustment member, which is connected to the mounting end and can move with the output valve stem, and the height adjustment member can be broken and separated at any position. The beneficial effect of the utility model is that the manufacturer assembles a height adjustment member with a uniform size structure on the mounting end to form an output valve stem with adjustable height. The customer selectively adjusts the height of the height adjustment member, and then assembles the external functional accessories to the mounting end after adjustment. Among them, the output gear is connected to the output valve stem in a transmission manner, and a feedback touch rod is provided on the output gear. The feedback touch rod forms a contactable connection with the position detection component. The output gear not only plays the role of a transmission gear, transmitting power to the outside through the output valve stem, but also plays the function of feedback of the output gear and output valve stem position through the cooperation of the feedback touch rod and the position detection component.

[0004] Therefore, during the processing, the output gear with the feedback touch rod and the output valve stem need to be assembled into one piece.

[0005] Referring to the existing structure in Technical Example 1, the output gear and the output valve stem are connected by an interference fit in size, and the defects are: first, the accessories are easily twisted and deformed during processing and assembly; second, the assembly consistency of each product is poor, and the connection strength is unstable, which may lead to loosening; third, when the output valve stem or the output gear is subjected to torsional force during use, and the connection force between the two cannot offset the torsional force, they are easy to disengage from each other, resulting in connection failure and inability to use normally.

[0006] The present invention is developed to solve the above-mentioned defects. Summary of the invention

[0007] In order to overcome the above-mentioned deficiencies in the prior art, the present invention provides a detection method for a self-positioning production device applied to an output gear for an actuator.

[0008] The technical solution of the present invention to solve the technical problem is: a detection method for a self-positioning production device for an output gear of an actuator, characterized in that it comprises the following steps:

[0009] S1. The staff puts a plurality of gears to be processed into the conveyor belt assembly. The gears move forward along the conveyor belt assembly until they are blocked by the limit baffle. Then the first longitudinal drive device and the feeding lifting cylinder are started to adjust the position of the first pneumatic clamp. Then the first pneumatic clamp is started to clamp the gear at the end of the transmission belt assembly. The position of the first pneumatic clamp is adjusted to the top of the gear fixture mechanism through the first longitudinal drive device and the feeding lifting cylinder. Then the first driving clamp is released to place the gear on the gear placement seat of the gear fixture mechanism. Then the components in the gear feeding mechanism are reset.

[0010] S2, the micro cylinder is started to extend the telescopic limit block forward, so that the limit tooth meshes with the gear and forms a limit fit to prevent the gear on the gear placement seat from rotating by itself, and then the turntable deceleration drive device is started, and the circular turntable rotates to switch to the next process;

[0011] S3, the gear on the gear fixture mechanism moves to the bottom of the visual detector, the visual detector detects the direction of the gear, and then the micro cylinder starts to retract the telescopic limit block backwards; to release the gear on the gear placement seat, and then the second longitudinal drive device starts to move forward, so that the steering gear is meshed with the gear, and then the pulley drive device starts to drive the steering gear to rotate, so that the gear on the gear placement seat follows the steering gear to rotate, so that the gear on the gear placement seat rotates to the preset direction; then the steering gear returns to the initial position, and the micro cylinder starts again to extend the telescopic limit block forward, so that the limit tooth is meshed with the gear and forms a limit fit; then the gear angle detection and the components in the steering mechanism are reset, the turntable deceleration drive device is started, and the circular turntable rotates to switch to the next process;

[0012] S4, the front-stage rough boring mechanism is started, and the rough boring motor is driven down by the rough boring lifting cylinder. At the same time, the rough boring motor is started to perform rough boring on the corresponding gear through the rough boring punching tool, and the waste slag falls into the slag collecting area; then the various components in the rough boring mechanism are reset, the turntable deceleration drive device is started, and the circular turntable rotates to switch to the next process;

[0013] S5, the front-stage fine boring mechanism is started, and the fine boring motor is driven down by the fine boring lifting cylinder. At the same time, the fine boring motor is started to perform fine boring on the corresponding rough boring hole through the fine boring punching tool, and the waste slag falls into the slag collecting area; then the various components in the fine boring mechanism are reset, the turntable deceleration drive device is started, and the circular turntable rotates to switch to the next process;

[0014] S6, the subsequent rough boring mechanism and fine boring mechanism are started at intervals, so that multiple holes are punched on the gear, and the waste slag falls into the slag collection area; then the components in the rough boring mechanism and the fine boring mechanism are reset, the turntable deceleration drive device is started, and the circular turntable rotates to switch to the next process;

[0015] S7, the cleaning lifting cylinder is started to lower the cleaning probe, and the cleaning probe is extended into the hole bored on the gear to remove the remaining waste slag out of the hole; then the various components of the hole cleaning mechanism are reset, the turntable deceleration drive device is started, and the circular turntable rotates to switch to the next process;

[0016] S8. The staff puts a large number of steel balls into the steel ball material tray. The steel ball feeding longitudinal cylinder drives the steel ball push guide block to move backward so that the transfer hole moves to the corresponding position of the ball inlet hole. The steel balls in the steel ball material tray move to the ball inlet hole of the steel ball feeding lifting bracket through the conveying hose and then fall into the transfer hole. Then the steel ball feeding longitudinal cylinder drives the steel ball push guide block to push forward so that the transfer hole moves to the corresponding position of the ball discharge hole. Then the steel ball feeding lifting cylinder drives the steel ball pressing rod to press down so that the steel ball pressing rod squeezes the steel balls in the transfer hole through the ball discharge hole and squeezes them into the hole bored on the gear; then the various components in the steel ball feeding mechanism are reset, the turntable deceleration drive device is started, and the circular turntable rotates to switch to the next process;

[0017] S9, the riveting lifting cylinder drives the riveting cylinder sleeve to press down, the output valve stem cooperates with the riveting steel sleeve to eliminate structural interference, the riveting steel sleeve contacts the steel ball on the gear and presses the steel ball on the gear; then the components in the riveting mechanism are reset, the turntable deceleration drive device is started, and the circular turntable rotates to switch to the next process;

[0018] S10, the third longitudinal drive device and the unloading lifting cylinder are started to adjust the position of the second pneumatic clamp, the second pneumatic clamp is started to grab the gear on the end station of the circular turntable, and the detection probe performs contact detection on the steel ball on the gear to determine whether the steel ball and the gear are assembled in place; if assembled in place, the third longitudinal drive device and the unloading lifting cylinder move the second pneumatic clamp to the qualified product discharge channel, the second pneumatic clamp is released to place the gear on the qualified product discharge channel to realize qualified product unloading, and the counter component records the number of qualified products increased by 1; if assembled in place, the third longitudinal drive device and the unloading lifting cylinder move the second pneumatic clamp to the defective product discharge channel, the second pneumatic clamp is released to place the gear on the defective product discharge channel to realize defective product unloading, and the counter component records the number of defective products increased by 1; then the components in the steel ball gear unloading mechanism are reset, the turntable deceleration drive device is started, the circular turntable rotates to switch to the first process, and starts processing the next product.

[0019] The self-positioning production equipment of the output gear for the actuator used to implement the detection method in the present invention comprises: a workbench and a control system device;

[0020] A circular turntable is driven by a turntable reduction drive device, and a plurality of gear jig mechanisms are arranged on the circular turntable; the gear jig mechanism comprises a jig bottom plate fixed on the circular turntable, a gear placement seat and a micro cylinder arranged on the jig bottom plate, and a telescopic limit block, wherein the telescopic limit block can approach or move away from the gear placement seat under the action of the micro cylinder, and the outer end of the telescopic limit block forms a limit tooth, and the limit tooth can mesh with the gear on the gear jig mechanism to form a limit fit;

[0021] A gear feeding mechanism is arranged on the workbench, and is used to convey the gear to the corresponding gear fixture mechanism, and corresponds to the initial position of the circular turntable; the gear feeding mechanism comprises a gear feeding bracket fixed on the workbench, a first longitudinal driving device arranged on the gear feeding bracket, a loading lifting cylinder acted by the first longitudinal driving device, a first pneumatic clamping jaw acted by the unloading lifting cylinder, a conveyor belt assembly located below the first pneumatic clamping jaw, and a limit baffle plate arranged at the end of the transmission belt assembly;

[0022] A gear angle detection and steering mechanism, which is arranged on the workbench and is used to adjust the gear to the processing direction; the gear angle detection and steering mechanism comprises a steering fixed base, a second longitudinal driving device arranged on the steering fixed base, a steering movable base acted by the second longitudinal driving device, a pulley driving device installed on the steering movable base, a steering gear acted by the pulley driving device, and a visual detector; the steering gear can mesh with the gear on the gear fixture mechanism to form a transmission match;

[0023] A plurality of rough boring mechanisms and fine boring mechanisms are spaced apart and distributed around the circular turntable, and the rough boring mechanisms and fine boring mechanisms are spaced apart and arranged with respect to each other;

[0024] A waste slag collecting mechanism, which is located directly below the rough boring mechanism and the fine boring mechanism and is used to collect waste slag dropped during boring;

[0025] A hole cleaning mechanism, which is used to dredge and clean the holes on the gear;

[0026] A steel ball feeding mechanism, which is arranged on the workbench and is used to convey the steel balls to the gears on the corresponding gear fixture mechanism;

[0027] A riveting mechanism, which is arranged on the workbench and is used to press the steel ball into the gear to form a steel ball gear;

[0028] The steel ball gear unloading mechanism is arranged on the workbench, and is used to remove the steel ball gear from the corresponding gear fixture mechanism, and corresponds to the end station of the circular turntable.

[0029] The specific configuration of the rough boring mechanism and the fine boring mechanism in the present invention is that the rough boring mechanism includes a rough boring bracket, a rough boring lifting cylinder installed on the rough boring bracket, a rough boring mounting plate acted upon by the rough boring lifting cylinder, a slag cleaning brush and a rough boring motor arranged on the rough boring mounting plate, and a rough boring punching tool installed on the rough boring motor;

[0030] The fine boring mechanism comprises a fine boring bracket, a fine boring lifting cylinder installed on the fine boring bracket, a fine boring mounting plate acted upon by the fine boring lifting cylinder, a slag cleaning brush and a fine boring motor arranged on the fine boring mounting plate, and a fine boring drilling tool installed on the fine boring motor.

[0031] The waste slag collecting mechanism in the present invention is specifically configured to include a waste slag bottom plate and a waste slag enclosure plate spliced ​​with the waste slag bottom plate, wherein the waste slag bottom plate and the waste slag enclosure plate cooperate with each other to form a slag collecting area, and the rough boring mechanism and the fine boring mechanism are located in the slag collecting area;

[0032] In addition, at least one slag discharge groove is provided on the waste slag bottom plate. When the waste slag enclosure is spliced ​​with the waste slag bottom plate, the waste slag enclosure closes the slag discharge groove; when the waste slag enclosure is separated from the waste slag bottom plate, the slag discharge groove is exposed to the outside.

[0033] The specific configuration of the hole cleaning mechanism in the present invention includes a cleaning device bottom plate, a cleaning lifting cylinder arranged on the cleaning device bottom plate, a cleaning lifting bracket acted upon by the cleaning lifting cylinder, and a cleaning probe installed on the cleaning lifting bracket.

[0034] The steel ball feeding mechanism of the present invention is specifically configured to include a steel ball material tray, a steel ball feeding device bottom plate fixed on a workbench, a steel ball support lifting cylinder arranged on the steel ball feeding device bottom plate, a steel ball feeding lifting support acted upon by the steel ball support lifting cylinder, a steel ball feeding longitudinal cylinder arranged on the steel ball feeding lifting support, a steel ball pushing guide block acted upon by the steel ball feeding longitudinal cylinder, a steel ball feeding lifting cylinder arranged on the steel ball feeding lifting support, and a steel ball pressing rod acted upon by the steel ball feeding lifting cylinder;

[0035] Wherein, the steel ball feeding lifting bracket is provided with a bead feeding hole, a bead discharging hole, and a steel ball conveying channel between the bead feeding hole and the bead discharging hole;

[0036] The steel ball material tray is connected to the ball inlet hole through a conveying hose;

[0037] The steel ball push-in guide block is slidably arranged in the steel ball conveying channel, and a transfer hole adapted to the steel ball is opened on the steel ball push-in guide block, and the transfer hole can move along the steel ball conveying channel;

[0038] The steel ball pressing rod is inserted into the ball discharging hole and can rise or fall along the ball discharging hole.

[0039] Furthermore, a vertical avoidance hole is provided at the outer end of the steel ball feeding lifting bracket, and the gear has an output valve stem, and the avoidance hole is adapted to the output valve stem.

[0040] The riveting mechanism in the present invention is specifically configured to include a riveting bracket fixed on a workbench, a riveting lifting cylinder arranged on the riveting bracket, and a riveting cylinder sleeve acted upon by the riveting lifting cylinder, wherein the output valve stem can enter into the riveting cylinder sleeve and form a clearance fit, and the riveting cylinder sleeve can contact with the steel ball on the gear and press the steel ball onto the gear.

[0041] The steel ball gear unloading mechanism of the present invention is specifically configured to include an unloading transfer component, a defective product discharge channel and a qualified product discharge channel;

[0042] The material unloading transfer assembly includes a material unloading bracket fixed on the workbench, a third longitudinal driving device arranged on the material unloading bracket, a material unloading lifting cylinder acted upon by the third longitudinal driving device, a second pneumatic clamp acted upon by the material unloading lifting cylinder, and a detection probe arranged in the second pneumatic clamp, and a counter assembly, wherein the detection probe forms a contactable connection with the counter assembly.

[0043] The preferred structure of the present invention is as follows: a circular fixed disk is also provided on the workbench, the circular fixed disk is located above the circular rotating disk, and the visual detector, rough boring mechanism, fine boring mechanism and hole cleaning mechanism are arranged on the circular fixed disk.

[0044] The beneficial effects of the present invention are:

[0045] 1. Provides a new detection method for self-positioning production equipment for actuator output gears, realizing fully automated gear feeding, gear angle detection and steering adjustment, boring, waste slag collection, hole cleaning, automatic steel ball feeding, riveting steel balls, and steel ball gear unloading functions.

[0046] Second, a specially-made gear fixture mechanism is used, through the action of a micro cylinder and a telescopic limit block, so that the limit teeth on the telescopic limit block mesh with the gear and form a limit fit to prevent the gear on the gear placement seat from rotating on its own.

[0047] 3. A special gear angle detection and steering mechanism is used to accurately detect and adjust the direction of the gear on the gear fixture mechanism, thereby improving the accuracy of product processing position, so as to facilitate subsequent boring, steel ball feeding and riveting steel ball actions, so that the processed finished products maintain a high degree of consistency.

[0048] Fourth, a special steel ball gear unloading mechanism is used, which can detect qualified products and defective products, realize the functions of unloading qualified products and defective products respectively, and count the qualified products and defective products in the production process, which is convenient for later statistics and analysis.

[0049] 5. The rough boring mechanism and the fine boring mechanism cooperate with each other, which can effectively improve the accuracy of the hole position and protect the tool to reduce the chance of tool breakage and extend its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0051] Figure 2 It is a structural diagram of the gear feed mechanism.

[0052] Figure 3 It is a schematic diagram of the structural comparison of the gear fixture mechanism before and after movement.

[0053] Figure 4 It is a structural diagram of the gear angle detection and steering mechanism.

[0054] Figure 5 It is a structural diagram of the rough boring mechanism.

[0055] Figure 6 This is a schematic diagram of the structural comparison of the waste slag collection mechanism before and after it is disassembled.

[0056] Figure 7 Schematic diagram of the structure of the hole cleaning mechanism.

[0057] Figure 8 It is a structural diagram of the steel ball feeding mechanism.

[0058] Fig. 9 It is a schematic diagram of the disassembled local structure of the steel ball feeding mechanism.

[0059] Fig.10 It is a structural diagram of the riveting mechanism.

[0060] Fig.11 It is a structural diagram of the steel ball gear feeding mechanism.

[0061] Fig.12 It is a state change diagram during gear processing.

[0062] In the figure: 1, workbench; 101, circular turntable; 102, circular fixed plate; 103, turntable speed reduction drive device; 2, gear fixture mechanism; 201, fixture base plate; 202, gear placement seat; 203, micro cylinder; 204, telescopic limit block; 2041, limit tooth; 3, gear feeding mechanism; 301, gear feeding bracket; 302, first longitudinal driving device; 303, feeding lifting cylinder; 304, first pneumatic clamp; 305, conveyor belt assembly; 306, limit baffle; 4, gear angle detection and steering mechanism; 401, steering fixed Fixed base; 402, second longitudinal drive device; 403, steering movable base; 404, pulley drive device; 405, steering gear; 406, visual detector; 5, rough boring mechanism; 501, rough boring bracket; 502, rough boring lifting cylinder; 503, rough boring mounting plate; 504, slag cleaning brush; 505, rough boring motor; 506, rough boring punching tool; 6, fine boring mechanism; 7, waste slag collection mechanism; 701, waste slag bottom plate; 702, waste slag enclosure; 703, slag collection area; 704, slag discharge trough; 8, hole cleaning mechanism; 801, cleaning device 802, cleaning lifting cylinder; 803, cleaning lifting bracket; 804, cleaning probe; 9, steel ball feeding mechanism; 901, steel ball tray; 902, steel ball feeding device bottom plate; 903, steel ball bracket lifting cylinder; 904, steel ball feeding lifting bracket; 9041, bead feeding hole; 9042, bead discharge hole; 9043, steel ball conveying channel; 9044, avoidance hole; 905, steel ball feeding longitudinal cylinder; 906, steel ball push guide block; 9061, transfer hole; 907, steel ball feeding lifting cylinder; 908, steel ball pressing rod; 909, Conveying hose; 10. Riveting mechanism; 1001. Riveting bracket; 1002. Riveting lifting cylinder; 1003. Riveting cylinder sleeve; 11. Steel ball gear unloading mechanism; 1101. Defective product discharge channel; 1102. Qualified product discharge channel; 1103. Unloading bracket; 1104. Third longitudinal drive device; 1105. Unloading lifting cylinder; 1106. Second pneumatic clamp; 1107. Detection probe; 1108. Counter assembly; 12. Gear; 1201. Feedback touch rod; 1202. Output valve stem; 1203. Hole position; 1204. Steel ball. DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0064] Embodiment 1

[0065] Reference Figures 1 to 12 , a self-positioning production device for output gears for actuators, comprising: a workbench 1 and a control system device (not shown in the figure);

[0066] The circular turntable 101 is driven by a turntable deceleration drive device 103, and a plurality of gear fixture mechanisms 2 are arranged on the circular turntable 101; Figure 3 The gear fixture mechanism 2 includes a fixture base plate 201 fixed on the circular turntable 101, a gear placement seat 202 and a micro cylinder 203 arranged on the fixture base plate 201, and a telescopic limit block 204. The telescopic limit block 204 can approach or move away from the gear placement seat 202 under the action of the micro cylinder 203, and the outer end of the telescopic limit block 204 forms a limit tooth 2041, and the limit tooth 2041 can mesh with the gear on the gear fixture mechanism 2 to form a limit fit;

[0067] Gear feed mechanism 3, refer to Figure 2 , which is arranged on the workbench 1, used to transport the gear to the corresponding gear fixture mechanism 2, and corresponds to the initial position of the circular turntable 101; the gear feeding mechanism 3 includes a gear feeding bracket 301 fixed on the workbench 1, a first longitudinal driving device 302 (preferably a cylinder-driven linear module) arranged on the gear feeding bracket 301, a loading lifting cylinder 303 acted by the first longitudinal driving device 302, a first pneumatic clamp 304 acted by the unloading lifting cylinder 1105, a conveyor belt assembly 305 located below the first pneumatic clamp 304, and a limit baffle 306 arranged at the end of the transmission belt assembly;

[0068] Gear angle detection and steering mechanism 4, refer to Figure 4 , which is arranged on the workbench 1 and is used to adjust the gear to the processing direction; the gear angle detection and steering mechanism 4 includes a steering fixed base 401, a second longitudinal driving device 402 (preferably a cylinder-driven linear module) arranged on the steering fixed base 401, a steering movable base 403 acted upon by the second longitudinal driving device 402, a pulley driving device 404 installed on the steering movable base 403, a steering gear 405 acted upon by the pulley driving device 404, and a visual detector 406; the steering gear 405 can mesh with the gear on the gear fixture mechanism 2 and form a transmission match; wherein the visual detector 406 preferably captures the position of the feedback touch rod in the gear to determine the current direction of the gear;

[0069] A plurality of rough boring mechanisms 5 and fine boring mechanisms 6 are spaced apart and distributed around the circular turntable 101, and the rough boring mechanisms 5 and fine boring mechanisms 6 are spaced apart and arranged with respect to each other;

[0070] A waste slag collecting mechanism 7, which is located directly below the rough boring mechanism 5 and the fine boring mechanism 6 and is used to collect waste slag dropped during boring;

[0071] A hole cleaning mechanism 8, which is used to dredge and clean the holes on the gear;

[0072] A steel ball feeding mechanism 9, which is arranged on the workbench 1 and is used to convey the steel balls to the gears on the corresponding gear fixture mechanism 2;

[0073] A riveting mechanism 10, which is arranged on the workbench 1 and is used to press the steel ball into the gear to form a steel ball gear;

[0074] The steel ball gear unloading mechanism 11 is arranged on the workbench 1 and is used to remove the steel ball gear from the corresponding gear fixture mechanism 2 and corresponds to the end station of the circular turntable 101 .

[0075] The gear to be processed by the present invention has the following structural features: Fig.12 The gear has been pre-assembled with the feedback touch rod 1201 and the output valve stem 1202 before the processing of this equipment. It is necessary to open a hole between the gear 12 and the output valve stem 1202, and embed the steel ball 1204 in the hole 1203. The steel ball 1204 contacts the gear 12 and the output valve stem 1202 at the same time, thereby forming a limiting and locking effect. Since the steel ball 1204 is spatially limited in the hole, the steel ball 1204 can prevent the gear 12 and the output valve stem 1202 from relative rotation.

[0076] The above content is the basic structure scheme of the present invention, and all electrical components form a communication control connection with the control system device. The functions that this equipment can realize include automatic feeding of gears to be processed, angle detection and steering adjustment of gears, boring, waste slag collection, hole cleaning, automatic steel ball feeding, riveting steel balls, and steel ball gear unloading.

[0077] Embodiment 2

[0078] Based on the structure of the first embodiment, this embodiment provides a more preferred structural solution for each mechanism, specifically:

[0079] 1. Rough boring mechanism 5: Refer to Figure 5 , including a rough boring bracket 501, a rough boring lifting cylinder 502 installed on the rough boring bracket 501, a rough boring mounting plate 503 acted upon by the rough boring lifting cylinder 502, a slag cleaning brush 504 and a rough boring motor 505 arranged on the rough boring mounting plate 503, and a rough boring punching tool 506 installed on the rough boring motor 505;

[0080] 2. Fine boring mechanism 6: Almost the same as rough boring mechanism 5, refer to Figure 5It includes a fine boring bracket, a fine boring lifting cylinder installed on the fine boring bracket, a fine boring mounting plate acted upon by the fine boring lifting cylinder, a slag cleaning brush 504 and a fine boring motor arranged on the fine boring mounting plate, and a fine boring drilling tool installed on the fine boring motor.

[0081] Specifically, the fine boring mechanism 6 and the rough boring mechanism 5 may have different settings in terms of the motor speed and the selection of the drilling tool, which depends on actual needs and is not specifically limited here.

[0082] 3. Waste collection mechanism 7: Reference Figure 6 During the boring process, a relatively large amount of waste slag will be generated. If it is not collected and cleaned in time, it will cause the equipment and production site to be dirty and messy, and seriously enter various mechanisms to damage parts and components, affecting normal production and processing. In order to solve the waste slag, the preferred configuration of the equipment mechanism in the present invention is that the waste slag collection mechanism 7 includes a waste slag bottom plate 701 and a waste slag enclosure 702 spliced ​​with the waste slag bottom plate 701. The waste slag bottom plate 701 and the waste slag enclosure 702 cooperate with each other to form a slag collection area 703, and the rough boring mechanism 5 and the fine boring mechanism 6 are located in the slag collection area 703; and at least one slag discharge groove 704 is provided on the waste slag bottom plate 701. When the waste slag enclosure 702 is spliced ​​with the waste slag bottom plate 701, the waste slag enclosure 702 closes the slag discharge groove 704; when the waste slag enclosure 702 is separated from the waste slag bottom plate 701, the slag discharge groove 704 is exposed to the outside.

[0083] On the one hand, the waste slag produced during the rough boring mechanism 5 and the fine boring mechanism 6 can fall and be collected in the slag collecting area 703; on the other hand, during the movement of the circular turntable 101, the slag cleaning brush 504 can contact the gear and the corresponding gear fixture mechanism 2 to clean the waste slag that has not fallen into the slag collecting area 703, so that the gear and the corresponding gear fixture mechanism 2 can remain clean and tidy when entering the next station. Finally, when the waste slag in the slag collecting area 703 reaches a certain amount, the staff can separate the waste slag enclosure 702 from the waste slag bottom plate 701, so that the waste slag can be cleaned out of the equipment from the slag discharge trough 704.

[0084] 4. Hole cleaning mechanism 8: Refer to Figure 7 , including a cleaning device bottom plate 801, a cleaning lifting cylinder 802 disposed on the cleaning device bottom plate 801, a cleaning lifting bracket 803 acted upon by the cleaning lifting cylinder 802, and a cleaning probe 804 mounted on the cleaning lifting bracket 803. The hole cleaning mechanism 8 can be used to clean the hole and detect whether the boring is in place.

[0085] 5. Steel ball feeding mechanism 9: refer to Figure 8-Figure 9, including a steel ball material tray 901, a steel ball feeding device bottom plate 902 fixed on the workbench 1, a steel ball support lifting cylinder 903 arranged on the steel ball feeding device bottom plate 902, a steel ball feeding lifting support 904 acted upon by the steel ball support lifting cylinder 903, a steel ball feeding longitudinal cylinder 905 arranged on the steel ball feeding lifting support 904, a steel ball pushing guide block 906 acted upon by the steel ball feeding longitudinal cylinder 905, a steel ball feeding lifting cylinder 907 arranged on the steel ball feeding lifting support 904, and a steel ball pressing rod 908 acted upon by the steel ball feeding lifting cylinder 907; wherein the steel ball feeding lifting support 904 is provided with a bead feeding hole 9041, a bead discharge hole 9042, and a bead feeding hole 9041 The steel ball conveying channel 9043 between the steel ball feeding tray 901 and the bead discharge hole 9042; the steel ball material tray 901 is connected with the bead inlet hole 9041 through a conveying hose 909 (not shown in the figure), and the conveying hose 909 is made of soft material and can provide buffering protection for the steel balls during contact and transportation of the steel balls, thereby preventing the steel balls from being deformed by force; the steel ball pushing guide block 906 is slidably arranged in the steel ball conveying channel 9043, and the steel ball pushing guide block 906 is slidably provided with a transfer hole 9061 compatible with the steel balls, and the transfer hole 9061 can move along the steel ball conveying channel 9043; the steel ball pressing rod 908 is penetrated through the bead discharge hole 9042 and can rise or fall along the bead discharge hole 9042. Preferably, a vertical avoidance hole 9044 is opened at the outer end of the steel ball feeding lifting bracket 904, and the gear has an output valve stem. The avoidance hole 9044 is adapted to the output valve stem to eliminate structural interference and realize the downward movement of the steel ball feeding lifting bracket 904.

[0086] In the above-mentioned steel ball feeding mechanism 9, the steel balls successively pass through the steel ball feeding plate 901, the conveying hose 909, the ball inlet hole 9041, the transfer hole 9061, the steel ball conveying channel 9043 and the ball discharge hole 9042, and are finally squeezed into the hole of the gear under the action of the steel ball pressing rod 908.

[0087] 6. Riveting mechanism 10: refer to Fig.10 , including a riveting bracket 1001 fixed on a workbench 1, a riveting lifting cylinder 1002 arranged on the riveting bracket 1001, and a riveting cylinder sleeve 1003 acted upon by the riveting lifting cylinder 1002, the output valve stem can enter into the riveting cylinder sleeve 1003 and form a clearance fit, and the riveting cylinder sleeve 1003 can contact with the steel ball on the gear and press the steel ball onto the gear.

[0088] 7. Steel ball gear feeding mechanism 11: refer to Fig.11, including a material unloading transfer component, a defective product discharge channel 1101 and a qualified product discharge channel 1102; the material unloading transfer component includes a material unloading bracket 1103 fixed on the workbench 1, a third longitudinal driving device 1104 (preferably a cylinder-driven linear module) arranged on the material unloading bracket 1103, a material unloading lifting cylinder 1105 acted upon by the third longitudinal driving device 1104, a second pneumatic clamp 1106 acted upon by the material unloading lifting cylinder 1105, and a detection probe 1107 arranged in the second pneumatic clamp 1106, and a counter component 1108, wherein the detection probe 1107 forms a contactable connection with the counter component 1108.

[0089] Among them, when the steel ball is assembled in place, the contact amount between the detection needle and the steel ball is small, so the displacement of the detection needle is small; when the steel ball is not assembled in place and protrudes abnormally, the contact amount between the detection needle and the steel ball is large, so the displacement of the detection needle is large; thus, the counter component 1108 identifies the displacement of the detection needle to judge qualified products and defective products and count them.

[0090] The above-mentioned steel ball gear unloading mechanism 11 can detect qualified products and defective products, realize the functions of unloading qualified products and defective products respectively, and count qualified products and defective products in the production process, which is convenient for later statistics and analysis.

[0091] In order to make the partition of each mechanism more reasonable, reduce the size of the whole equipment and improve the space utilization, the preferred structure of the present invention is as follows: a circular fixed disk 102 is also provided on the workbench 1, and the circular fixed disk 102 is located above the circular turntable 101, and the visual detector 406, the rough boring mechanism 5 and the fine boring mechanism 6, and the hole cleaning mechanism 8 are arranged on the circular fixed disk 102.

[0092] Embodiment 3

[0093] The present invention also provides an assembly and detection method, which is applied to the self-positioning production equipment for the output gear of the actuator as described above, referring to Figures 1 to 12 , including the following steps:

[0094] S1. The staff puts a plurality of gears to be processed into the conveyor belt assembly 305. The gears move forward along the conveyor belt assembly 305 until they are blocked by the limit baffle 306. Then the first longitudinal drive device 302 and the feeding lifting cylinder 303 are started to adjust the position of the first pneumatic clamp 304. Then the first pneumatic clamp 304 is started to clamp the gear at the end of the transmission belt assembly. The position of the first pneumatic clamp 304 is adjusted to the top of the gear fixture mechanism 2 by the first longitudinal drive device 302 and the feeding lifting cylinder 303. Then the first driving clamp is released to place the gear on the gear placement seat 202 of the gear fixture mechanism 2. Then the components in the gear feeding mechanism 3 are reset.

[0095] S2, the micro cylinder 203 is started to extend the telescopic limit block 204 forward, so that the limit tooth 2041 meshes with the gear and forms a limit fit to prevent the gear on the gear placement seat 202 from rotating by itself, and then the turntable deceleration drive device 103 is started, and the circular turntable 101 rotates to switch to the next process;

[0096] S3, the gear on the gear fixture mechanism 2 moves to the bottom of the visual detector 406, the visual detector 406 detects the direction of the gear, and then the micro cylinder 203 starts to retract the telescopic limit block 204 backward; to release the gear on the gear placement seat 202, and then the second longitudinal drive device 402 starts to move forward, so that the steering gear 405 is meshed with the gear, and then the pulley drive device 404 starts to drive the steering gear 405 to rotate, so that the gear on the gear placement seat 202 follows the steering gear 405 to rotate, so that the gear on the gear placement seat 202 rotates to a preset direction; then the steering gear 405 returns to the initial position, and the micro cylinder 203 starts again to extend the telescopic limit block 204 forward, so that the limit tooth 2041 is meshed with the gear and forms a limit fit; then the gear angle detection and each component in the steering mechanism 4 is reset, the turntable deceleration drive device 103 is started, and the circular turntable 101 rotates to switch to the next process;

[0097] S4, the front-stage rough boring mechanism 5 is started, and the rough boring motor 505 is driven to descend by the rough boring lifting cylinder 502, and the rough boring motor 505 is started at the same time, so that the rough boring punching tool 506 performs rough boring on the corresponding gear, and the waste slag falls into the slag collecting area 703; then the various components in the rough boring mechanism 5 are reset, the turntable deceleration drive device 103 is started, and the circular turntable 101 rotates to switch to the next process;

[0098] S5, the front-stage fine boring mechanism 6 is started, and the fine boring motor is driven to descend by the fine boring lifting cylinder, and the fine boring motor is started at the same time, so that the fine boring punching tool performs fine boring on the corresponding rough boring hole, and the waste slag falls into the slag collecting area 703; then the various components in the fine boring mechanism 6 are reset, the turntable deceleration drive device 103 is started, and the circular turntable 101 rotates to switch to the next process;

[0099] S6, the subsequent rough boring mechanism 5 and fine boring mechanism 6 are started at intervals, so that multiple holes are punched on the gear, and the waste slag falls into the slag collecting area 703; then the components in the rough boring mechanism 5 and the fine boring mechanism 6 are reset, the turntable deceleration drive device 103 is started, and the circular turntable 101 rotates to switch to the next process;

[0100] S7, the cleaning lifting cylinder 802 is started to make the cleaning probe 804 descend, and the cleaning probe 804 extends into the hole bored on the gear to remove the remaining waste residue outside the hole; then the various components of the hole cleaning mechanism 8 are reset, the turntable deceleration drive device 103 is started, and the circular turntable 101 rotates to switch to the next process;

[0101] S8, the staff puts a large number of steel balls into the steel ball material tray 901, and the steel ball feeding longitudinal cylinder 905 drives the steel balls to push the guide block 906 backward so that the transfer hole 9061 moves to the corresponding position of the bead feeding hole 9041. The steel balls in the steel ball material tray 901 move to the bead feeding hole 9041 of the steel ball feeding lifting bracket 904 through the conveying hose 909 and then fall into the transfer hole 9061. Then the steel ball feeding longitudinal cylinder 905 drives the steel balls to push the guide block 906 backward so that the transfer hole 9061 moves to the corresponding position of the bead feeding hole 9041. The block 906 is pushed forward to move the transfer hole 9061 to the corresponding position of the ball discharge hole 9042, and then the steel ball feeding lifting cylinder 907 drives the steel ball pressing rod 908 to press down, so that the steel ball pressing rod 908 squeezes the steel ball in the transfer hole 9061 through the ball discharge hole 9042 and then squeezes it into the hole bored on the gear; then the various components in the steel ball feeding mechanism 9 are reset, the turntable reduction drive device 103 is started, and the circular turntable 101 rotates to switch to the next process;

[0102] S9, the riveting lifting cylinder 1002 drives the riveting cylinder sleeve 1003 to press down, the output valve stem cooperates with the riveting steel sleeve to eliminate structural interference, the riveting steel sleeve contacts the steel ball on the gear and presses the steel ball on the gear; then the components in the riveting mechanism 10 are reset, the turntable deceleration drive device 103 is started, and the circular turntable 101 rotates to switch to the next process;

[0103] S10, the third longitudinal drive device 1104 and the material unloading lifting cylinder 1105 are started to adjust the position of the second pneumatic clamp 1106, and the second pneumatic clamp 1106 is started to grab the gear on the end station of the circular turntable 101, and at the same time the detection probe 1107 performs contact detection on the steel ball on the gear to determine whether the steel ball and the gear are assembled in place; if assembled in place, the third longitudinal drive device 1104 and the material unloading lifting cylinder 1105 move the second pneumatic clamp 1106 to the qualified product discharge channel 1102, and the second pneumatic clamp 1106 is released to place the gear on the qualified product discharge channel 1102 to achieve Qualified products are unloaded, and the counter component 1108 records that the number of qualified products increases by 1; if they are assembled in place, the third longitudinal drive device 1104 and the unloading lifting cylinder 1105 move the second pneumatic clamp 1106 to the defective product discharge channel 1101, and the second pneumatic clamp 1106 is released to place the gear on the defective product discharge channel 1101 to realize the unloading of defective products, and the counter component 1108 records that the number of defective products increases by 1; then the components in the steel ball gear unloading mechanism 11 are reset, the turntable reduction drive device 103 is started, and the circular turntable 101 rotates to switch to the first process and start processing the next product.

Claims

1. A detection method for a self-positioning production device for an output gear of an actuator, characterized in that: The following steps are involved: S1. A worker places a plurality of gears (12) to be processed into a conveyor belt assembly (305). The gears (12) move forward along the conveyor belt assembly (305) until they are blocked by the limit baffle (306). Then, the first longitudinal drive device (302) and the feeding lifting cylinder (303) are started to adjust the position of the first pneumatic clamp (304). Then, the first pneumatic clamp (304) is started to clamp the gear (12) at the end of the transmission belt assembly. The position of the first pneumatic clamp (304) is adjusted to the top of the gear (12) fixture mechanism (2) by the first longitudinal drive device (302) and the feeding lifting cylinder (303). Then, the first driving clamp is released to place the gear (12) on the gear (12) placement seat (202) of the gear (12) fixture mechanism (2). Then, the components in the gear (12) feeding mechanism (3) are reset. S2, the micro cylinder (203) is started to extend the telescopic limit block (204) forward, so that the limit tooth (2041) meshes with the gear (12) and forms a limit fit, thereby preventing the gear (12) on the gear (12) placement seat (202) from rotating on its own, and then the turntable deceleration drive device (103) is started, and the circular turntable (101) rotates to switch to the next process; S3, the gear (12) on the gear (12) fixture mechanism (2) moves to the position directly below the visual detector (406), the visual detector (406) detects the direction of the gear (12), and then the micro cylinder (203) starts to retract the telescopic limit block (204) backward to release the gear (12) on the gear (12) placement seat (202), and then the second longitudinal drive device (402) starts to move forward, so that the steering gear (12) (405) is meshed with the gear (12), and then the pulley drive device (404) starts to drive the steering gear (12) (405) to rotate, so that the gear (12) is released. The gear (12) on the seat (202) rotates following the steering gear (12) (405), so that the gear (12) on the seat (202) rotates to a preset direction; then the steering gear (12) (405) returns to the initial position, and the micro cylinder (203) is started again to extend the telescopic limit block (204) forward, so that the limit tooth (2041) meshes with the gear (12) and forms a limit fit; then the gear (12) angle detection and the various components in the steering mechanism (4) are reset, the turntable deceleration drive device (103) is started, and the circular turntable (101) rotates to switch to the next process; S4, the front-stage rough boring mechanism (5) is started, and the rough boring motor (505) is driven to descend by the rough boring lifting cylinder (502), and the rough boring motor (505) is started at the same time, so that the rough boring punching tool (506) performs rough boring on the corresponding gear (12), and the waste slag falls into the slag collecting area (703); then, each component in the rough boring mechanism (5) is reset, the turntable deceleration drive device (103) is started, and the circular turntable (101) rotates to switch to the next process; S5, the front-stage fine boring mechanism (6) is started, and the fine boring motor is driven to descend by the fine boring lifting cylinder, and the fine boring motor is started at the same time, so that the fine boring punching tool performs fine boring on the corresponding rough boring hole, and the waste slag falls into the slag collecting area (703); then the various components in the fine boring mechanism (6) are reset, the turntable deceleration drive device (103) is started, and the circular turntable (101) rotates to switch to the next process; S6, the subsequent rough boring mechanism (5) and fine boring mechanism (6) are started at intervals, so that a plurality of holes are punched on the gear (12), and the waste slag falls into the slag collecting area (703); then the components in the rough boring mechanism (5) and the fine boring mechanism (6) are reset, the turntable deceleration drive device (103) is started, and the circular turntable (101) rotates to switch to the next process; S7, the cleaning lifting cylinder (802) is started to make the cleaning probe (804) descend, and the cleaning probe (804) extends into the hole (1203) bored on the gear (12) to remove the remaining waste residue outside the hole (1203); then the various components of the hole (1203) cleaning mechanism (8) are reset, the turntable deceleration drive device (103) is started, and the circular turntable (101) rotates to switch to the next process; S8, the staff puts a large number of steel balls (1204) into the steel ball (1204) material tray (901), and the steel ball (1204) feeding longitudinal cylinder (905) drives the steel balls (1204) to push the guide block (906) backward so that the transfer hole (9061) moves to the corresponding position of the ball inlet hole (9041), and the steel balls (1204) in the steel ball (1204) material tray (901) move to the ball inlet hole (9041) of the steel ball (1204) feeding lifting bracket (904) through the conveying hose (909) and then fall into the transfer hole (9061), and then the steel ball (1204) feeding longitudinal cylinder (905) drives the steel balls (1204) to move backward. 04) push the guide block (906) forward to move the transfer hole (9061) to the corresponding position of the ball discharge hole (9042), and then the steel ball (1204) feeding lifting cylinder (907) drives the steel ball (1204) pressing rod (908) to press down, so that the steel ball (1204) pressing rod (908) pushes the steel ball (1204) in the transfer hole (9061) through the ball discharge hole (9042) and squeezes it into the hole position (1203) bored on the gear (12); then the various components in the steel ball (1204) feeding mechanism (9) are reset, the turntable deceleration drive device (103) is started, and the circular turntable (101) rotates to switch to the next process; S9, the riveting lifting cylinder (1002) drives the riveting cylinder sleeve (1003) to press downward, the output valve stem (1202) cooperates with the riveting steel sleeve to eliminate structural interference, the riveting steel sleeve contacts the steel ball (1204) on the gear (12) and presses the steel ball (1204) onto the gear (12); then the components in the riveting mechanism (10) are reset, the turntable deceleration drive device (103) is started, and the circular turntable (101) rotates to switch to the next process; S10, the third longitudinal drive device (1104) and the material discharging lifting cylinder (1105) are started to adjust the position of the second pneumatic clamp (1106), and the second pneumatic clamp (1106) is started to grab the gear (12) on the end station of the circular turntable (101), and at the same time, the detection probe (1107) performs contact detection on the steel ball (1204) on the gear (12) to determine whether the steel ball (1204) and the gear (12) are assembled in place; if assembled in place, the third longitudinal drive device (1104) and the material discharging lifting cylinder (1105) move the second pneumatic clamp (1106) to the qualified product discharge channel (1102), and the second pneumatic clamp (1106) is released to place the gear (12) in the qualified product discharge channel ( 1102) to realize the unloading of qualified products, and at the same time, the counter component (1108) records that the number of qualified products increases by 1; if the assembly is in place, the third longitudinal drive device (1104) and the unloading lifting cylinder (1105) move the second pneumatic clamp (1106) to the defective product discharge channel (1101), and the second pneumatic clamp (1106) is released to place the gear (12) on the defective product discharge channel (1101) to realize the unloading of defective products, and at the same time, the counter component (1108) records that the number of defective products increases by 1; then the various components in the steel ball (1204), gear (12) unloading mechanism (11) are reset, the turntable reduction drive device (103) is started, and the circular turntable (101) rotates to switch to the first process and start processing the next product.

2. The detection method for the self-positioning production equipment applied to the output gear for the actuator according to claim 1 is characterized in that: It comprises: a workbench (1) and a control system device; A circular turntable (101) is driven by a turntable deceleration drive device (103), and a plurality of gear (12) fixture mechanisms (2) are arranged on the circular turntable (101); the gear (12) fixture mechanism (2) comprises a fixture base plate (201) fixed on the circular turntable (101), a gear (12) placement seat (202) and a micro cylinder (203) arranged on the fixture base plate (201), and a telescopic limit block (204); the telescopic limit block (204) can approach or move away from the gear (12) placement seat (202) under the action of the micro cylinder (203), and the outer end of the telescopic limit block (204) forms a limit tooth (2041), and the limit tooth (2041) can mesh with the gear (12) on the gear (12) fixture mechanism (2) to form a limit fit; A gear (12) feeding mechanism (3) is arranged on the workbench (1) and is used to transport the gear (12) to the corresponding gear (12) fixture mechanism (2), and corresponds to the initial working position of the circular turntable (101); the gear (12) feeding mechanism (3) comprises a gear (12) feeding bracket (301) fixed on the workbench (1), a first longitudinal driving device (302) arranged on the gear (12) feeding bracket (301), a loading lifting cylinder (303) acted upon by the first longitudinal driving device (302), a first pneumatic clamp (304) acted upon by the unloading lifting cylinder (1105), a conveyor belt assembly (305) located below the first pneumatic clamp (304), and a limit baffle (306) arranged at the end of the conveyor belt assembly; A gear (12) angle detection and steering mechanism (4), which is arranged on the workbench (1) and is used to adjust the gear (12) to a processing direction; the gear (12) angle detection and steering mechanism (4) comprises a steering fixed base (401), a second longitudinal driving device (402) arranged on the steering fixed base (401), a steering movable base (403) acted upon by the second longitudinal driving device (402), a pulley driving device (404) installed on the steering movable base (403), a steering gear (12) (405) acted upon by the pulley driving device (404), and a visual detector (406); the steering gear (12) (405) can mesh with the gear (12) on the gear (12) fixture mechanism (2) to form a transmission match; A plurality of rough boring mechanisms (5) and fine boring mechanisms (6), which are spaced apart and distributed around the circular rotating disk (101), and the rough boring mechanisms (5) and fine boring mechanisms (6) are spaced apart and arranged with respect to each other; A waste slag collecting mechanism (7), which is located directly below the rough boring mechanism (5) and the fine boring mechanism (6) and is used to collect waste slag dropped during boring; A hole (1203) cleaning mechanism (8) for clearing and cleaning the hole (1203) on the gear (12); A steel ball (1204) feeding mechanism (9), which is arranged on the workbench (1) and is used to convey the steel ball (1204) to the gear (12) on the corresponding gear (12) fixture mechanism (2); A riveting mechanism (10) is arranged on the workbench (1) and is used to press the steel ball (1204) into the gear (12) to form a steel ball (1204) gear (12); The steel ball (1204) gear (12) unloading mechanism (11) is arranged on the workbench (1) and is used to remove the steel ball (1204) gear (12) from the corresponding gear (12) fixture mechanism (2), and corresponds to the end station of the circular turntable (101).

3. The detection method for the self-positioning production equipment applied to the output gear for the actuator according to claim 2 is characterized in that: The rough boring mechanism (5) comprises a rough boring bracket (501), a rough boring lifting cylinder (502) mounted on the rough boring bracket (501), a rough boring mounting plate (503) acted upon by the rough boring lifting cylinder (502), a slag cleaning brush (504) and a rough boring motor (505) arranged on the rough boring mounting plate (503), and a rough boring punching tool (506) mounted on the rough boring motor (505); The precision boring mechanism (6) comprises a precision boring bracket, a precision boring lifting cylinder mounted on the precision boring bracket, a precision boring mounting plate acted upon by the precision boring lifting cylinder, a slag cleaning brush (504) and a precision boring motor arranged on the precision boring mounting plate, and a precision boring drilling tool mounted on the precision boring motor.

4. The detection method for the self-positioning production equipment applied to the output gear for the actuator according to claim 3 is characterized in that: The waste slag collecting mechanism (7) comprises a waste slag bottom plate (701) and a waste slag enclosure plate (702) spliced ​​with the waste slag bottom plate (701), the waste slag bottom plate (701) and the waste slag enclosure plate (702) cooperate with each other to form a slag collecting area (703), and the rough boring mechanism (5) and the fine boring mechanism (6) are located in the slag collecting area (703); Furthermore, at least one slag discharge groove (704) is provided on the waste slag bottom plate (701); when the waste slag enclosure (702) is spliced ​​with the waste slag bottom plate (701), the waste slag enclosure (702) closes the slag discharge groove (704); when the waste slag enclosure (702) is separated from the waste slag bottom plate (701), the slag discharge groove (704) is exposed to the outside.

5. The detection method for self-positioning production equipment applied to output gears for actuators according to claim 4, characterized in that: The hole position (1203) cleaning mechanism (8) comprises a cleaning device base plate (801), a cleaning lifting cylinder (802) arranged on the cleaning device base plate (801), a cleaning lifting bracket (803) acted upon by the cleaning lifting cylinder (802), and a cleaning probe (804) installed on the cleaning lifting bracket (803).

6. The detection method for the self-positioning production equipment applied to the output gear for the actuator according to claim 5, characterized in that: The steel ball (1204) feeding mechanism (9) comprises a steel ball (1204) feeding tray (901), a steel ball (1204) feeding device bottom plate (902) fixed on the workbench (1), a steel ball (1204) bracket lifting cylinder (903) arranged on the steel ball (1204) feeding device bottom plate (902), a steel ball (1204) feeding lifting bracket (904) acted upon by the steel ball (1204) bracket lifting cylinder (903), and a steel ball (1204) feeding lifting bracket (904) arranged on the steel ball (1204) feeding device bottom plate (902). 4) a steel ball (1204) feeding longitudinal cylinder (905) on the feeding lifting bracket (904), a steel ball (1204) pushed into a guide block (906) by the steel ball (1204) feeding longitudinal cylinder (905), a steel ball (1204) feeding lifting cylinder (907) arranged on the steel ball (1204) feeding lifting bracket (904), and a steel ball (1204) pressed into a rod (908) by the steel ball (1204) feeding lifting cylinder (907); The steel ball (1204) feeding lifting bracket (904) is provided with a bead feeding hole (9041), a bead discharging hole (9042), and a steel ball (1204) conveying channel (9043) between the bead feeding hole (9041) and the bead discharging hole (9042); The steel ball (1204) material tray (901) is connected to the ball inlet hole (9041) through a delivery hose (909); The steel ball (1204) push-in guide block (906) is slidably arranged in the steel ball (1204) conveying channel (9043), and a transfer hole (9061) adapted to the steel ball (1204) is provided on the steel ball (1204) push-in guide block (906), and the transfer hole (9061) can move along the steel ball (1204) conveying channel (9043); The steel ball (1204) is pressed into the rod (908) and penetrates the bead discharge hole (9042) and can rise or fall along the bead discharge hole (9042).

7. The detection method for self-positioning production equipment applied to output gears for actuators according to claim 6, characterized in that: A vertical avoidance hole (9044) is provided at the outer end of the steel ball (1204) feeding lifting bracket (904), and the gear (12) has an output valve stem (1202), and the avoidance hole (9044) is adapted to the output valve stem (1202).

8. The detection method for self-positioning production equipment applied to output gears for actuators according to claim 7, characterized in that: The riveting mechanism (10) comprises a riveting support (1001) fixed on a workbench (1), a riveting lifting cylinder (1002) arranged on the riveting support (1001), and a riveting cylinder sleeve (1003) acted upon by the riveting lifting cylinder (1002); the output valve stem (1202) can enter the riveting cylinder sleeve (1003) and form a clearance fit; and the riveting cylinder sleeve (1003) can contact a steel ball (1204) on a gear (12) and press the steel ball (1204) onto the gear (12).

9. The detection method for self-positioning production equipment applied to output gears for actuators according to claim 8, characterized in that: The steel ball (1204) gear (12) unloading mechanism (11) comprises an unloading transfer component, a defective product discharge channel (1101) and a qualified product discharge channel (1102); The material unloading and transfer assembly comprises a material unloading support (1103) fixed on the workbench (1), a third longitudinal driving device (1104) arranged on the material unloading support (1103), a material unloading lifting cylinder (1105) acted upon by the third longitudinal driving device (1104), a second pneumatic clamp (1106) acted upon by the material unloading lifting cylinder (1105), a detection probe (1107) arranged in the second pneumatic clamp (1106), and a counter assembly (1108), wherein the detection probe (1107) forms a contactable connection with the counter assembly (1108).

10. The detection method for self-positioning production equipment applied to output gears for actuators according to claim 9, characterized in that: The workbench (1) is also provided with a circular fixed disk (102), and the circular fixed disk (102) is located above the circular rotating disk (101). The visual detector (406), the rough boring mechanism (5), the fine boring mechanism (6), and the hole position (1203) cleaning mechanism (8) are arranged on the circular fixed disk (102).

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