Assembly method applied to automatic assembly equipment for gear shaft on actuator shaft plate

Abstract

The invention discloses an assembling method applied to automatic assembling equipment for a gear shaft on an actuator shaft plate. A workbench, a control device, a shaft plate feeding mechanism, a gear shaft feeding mechanism, a riveting mechanism, a shaft plate transferring mechanism, a gear shaft transferring mechanism, a discharging mechanism, an inferior-quality product detecting mechanism and an inferior-quality product discharging mechanism are included. The riveting mechanism comprises a riveting frame, a driving device fixed to the top of the riveting frame, an upper riveting die located in the riveting frame and a lower riveting die arranged at the bottom of the riveting frame. The riveting frame comprises a top plate, an upper movable plate, a lower movable plate and a bottom plate which are arranged from top to bottom; the lower movable plate comprises a die assembly channel formed in the vertical direction in a penetrating mode and a shaft plate channel formed in the transverse direction in a penetrating mode, the die assembly channel and the shaft plate channel are staggered, and the shaft plate is at least provided with a feeding position, a riveting pressing position and a discharging position in the shaft plate channel. All the mechanisms are arranged more tightly, the transfer mode design of the shaft plate is more reasonable, the assembly efficiency is effectively improved, and the overall size of equipment is reduced.

Description

Technical Field

[0001] The invention relates to the field of automated production and assembly of electric actuators, and in particular to an assembly method for automatic assembly equipment of gear shafts on actuator shaft plates. Background Art

[0002] The actuator is an indispensable and important part of the automatic control system. Its function is to receive the control signal sent by the controller, change the size of the controlled medium, and thus maintain the controlled variable at the required value or within a certain range; the actuator can be divided into three categories according to its energy form: pneumatic, hydraulic, and electric. Pneumatic actuators use compressed air as energy, and are characterized by simple structure, reliable and stable operation, large output thrust, convenient maintenance, fireproof and explosion-proof, and low price. Therefore, they are widely used in chemical, papermaking, oil refining and other production processes. It can be easily used with passive instruments; even when using electric instruments or computer control, as long as the electrical signal is converted into a standard air pressure signal of 20-100kPa through an electric-to-gas converter or an electric-to-gas valve positioner, pneumatic actuators can still be used; electric actuators have convenient energy access and rapid signal transmission, but complex structure and poor explosion-proof performance; hydraulic actuators are basically not used in chemical, oil refining and other production processes, and their characteristics are large output thrust.

[0003] Regarding the electric actuator, you can refer to our prior patent with patent number ZL202220242715.8, which discloses: "A double-sealed electric actuator, including a housing assembly, a driving device arranged in the housing assembly, a reduction transmission device connected to the driving device, and an output component connected to the output end of the reduction transmission device. The housing assembly includes an inner housing and an outer housing. The outer housing has an upper opening, and the inner housing is inserted into the outer housing through the upper opening; the edge of the outer housing is higher than the upper end surface of the inner housing to form a accommodating area, and the accommodating area is filled with sealant to form a sealed fit between the inner housing and the outer housing. The present invention adopts a double shell structure consisting of an inner shell and an outer shell, which plays a role of double sealing protection for various accessories (driving device, reduction transmission device, etc.) installed inside; at the same time, the inner shell and the outer shell are filled with sealant to completely block the gaps existing in the assembly process of parts and components, thereby playing a better sealing role."

[0004] It can be seen from the prior patents of the above-mentioned electric actuator that in addition to the housing that accommodates and supports the internal parts, an axis plate (skeleton plate) is also required inside to support and separate other components such as gears. In order for each gear used for reduction transmission to be installed on the axis plate, a gear shaft must be passed through it.

[0005] In the existing production process, in order to install the gear shaft on the shaft plate, semi-automatic or automated processing is generally used. In the semi-automatic installation method, the gear shaft needs to be manually inserted into the shaft plate, and then the shaft plate is placed in the riveting machine for riveting; while in the existing automated assembly form, automated equipment is relied on to complete the various steps of installing the gear shaft on the actuator shaft plate.

[0006] Among them, our company's prior patent with patent number ZL 201910444537.X disclosed: "An automatic assembly equipment for skeleton components in actuators, including a workbench and a control device for controlling the operation of the automatic assembly equipment. The workbench is provided with a six-station turntable, and the six-station turntable is provided with 6 fixtures, which are respectively the gear shaft station, the copper sleeve station, the first inspection station, the skeleton plate station, the pressing station, and the blanking station in the order of assembly; a gear shaft feeding and assembly mechanism is provided next to the gear shaft station, a copper sleeve feeding and assembly mechanism is provided next to the copper sleeve station, a first inspection mechanism is provided next to the first inspection station, a skeleton plate feeding and assembly mechanism is provided next to the skeleton plate feeding station, a pressing mechanism is provided next to the pressing station, and a shaping and blanking mechanism is provided next to the blanking station. The utility model realizes the fully automatic feeding and assembly functions of the skeleton components for the actuator. Only manual feeding is required, and the rest of the operations are completed by the equipment itself. It has a high degree of automation, and the production efficiency is much higher than manual assembly and automatic assembly machines on the market. The product consistency is high and the cost is greatly reduced."

[0007] However, including the scheme described in the above-mentioned patent, there is a problem in the equipment used for automatic assembly of gear shafts on actuator shaft plates in the prior art, that is, the existing automatic assembly equipment uses a turntable-like method as used in the above-mentioned patent to transport the shaft plate, and then arranges each processing mechanism around the turntable in a surrounding form, and relies on the turntable to drive the shaft plate to move between each processing mechanism to achieve automatic assembly; and this turntable to drive the shaft plate to transfer between each processing mechanism will result in very low assembly efficiency, and the dispersion of each processing mechanism around the turntable will also cause the size of the entire assembly equipment to be too large. Summary of the invention

[0008] In order to overcome the shortcomings of low assembly efficiency and excessively large overall size of the automated assembly equipment used for installing the gear shaft of an actuator shaft plate in the prior art, the present invention provides an assembly method for the automated assembly equipment for the gear shaft on an actuator shaft plate.

[0009] The technical solution of the present invention to solve the technical problem is: an assembly method applied to an automatic assembly device for a gear shaft on an actuator shaft plate, comprising the following steps:

[0010] S1, shaft plate feeding: the shaft plate falls from the equipment of the previous process onto the conveyor belt, and is transported from the head end to the end of the conveyor belt. The fourth vertical linear module drives the rotary claw to move down and clamp the shaft plate. The fourth vertical linear module drives the rotary claw to lift up, and the rotary claw rotates to reverse the head and tail of the shaft plate.

[0011] S2, shaft plate transfer: the first horizontal linear module drives the pneumatic finger to move to the shaft plate feeding mechanism. The pneumatic finger clamps the shaft plate while rotating the air claw to release the shaft plate. Then the first horizontal linear module drives the pneumatic finger to move backward for a distance. At this time, the flip cylinder is started to drive the pneumatic finger to flip. The pneumatic finger turns from facing the shaft plate feeding mechanism to facing the riveting mechanism. Then the first horizontal linear module continues to drive the starting finger to move backward until the shaft plate is inserted into the shaft plate channel of the lower moving plate and is in the feeding position. Then the first horizontal linear module drives the pneumatic finger to retreat forward. At this time, the flip cylinder is started again to drive the pneumatic finger to flip. The pneumatic finger is facing the shaft plate feeding mechanism again, and the push rod at the tail end of the pneumatic finger is facing the riveting mechanism. Then the first horizontal linear module drives the pneumatic finger to move backward again, and the push rod is able to push the shaft plate to move it along the shaft plate channel from the feeding position to the riveting position. Finally, the first linear module drives the pneumatic finger to retreat forward again, so that the push rod leaves the riveting mechanism.

[0012] S3, gear shaft feeding: the second longitudinal linear module drives the riveting lower die to move to the bottom of the feeding movable plate, and the push-pull cylinder pulls the shaft feeding block to move it to the shaft feeding position, and the shaft feeding hole is aligned with the shaft feeding hole. At this time, the gear shaft in the gear shaft silo can be transported to the shaft feeding hole along the conveying pipe, and fall into the shaft feeding hole through the shaft feeding hole, and then the push-pull cylinder pushes the shaft feeding block to move it to the upper shaft position, and the shaft feeding hole and the gear shaft therein are aligned with the upper shaft hole, and then the second vertical linear module drives the feeding movable plate to descend so that the lower side of the feeding movable plate forms abutment with the riveting lower die, and then the third vertical linear module drives the upper shaft ejector pin to press down so that it passes through the upper shaft hole and pushes the gear shaft in the shaft feeding hole onto the riveting lower die, and finally the second vertical linear module drives the feeding movable plate to rise, and the riveting lower die with the gear shaft inserted is driven by the second longitudinal linear module to move into the riveting mechanism and is located directly below the lower movable plate;

[0013] S4, riveting: the driving device pushes the upper movable plate downward, and the upper movable plate contacts the lower movable plate during the downward pressing process and drives the lower movable plate downward together, until the riveting lower die and the riveting lower die are both extended into the mold closing channel, at which time the riveting upper die abuts against the upper side of the shaft plate located in the middle of the mold closing channel, and the riveting lower die abuts against the lower side of the shaft plate, and the gear shaft inserted on the riveting lower die is transferred to the shaft plate, and as the driving device continues to press downward, the riveting upper die and the riveting lower die continue to apply pressure to the shaft plate and the gear shaft, so that the gear shaft is inserted into place on the shaft plate, and finally the driving device drives the upper movable plate to lift and reset, and the lower movable plate is lifted and reset under the action of the reset spring;

[0014] S5, finished product discharge: the first vertical linear module drives the second horizontal linear module to lift, so that the material moving claw connected to the second horizontal linear module is lifted, and the second horizontal linear module then drives the material moving claw to extend into the riveting mechanism and is located above the axis plate after riveting, the first vertical linear module drives the material moving claw to descend and make it buckle the axis plate, and then the second horizontal linear module drives the material moving claw to move back backward, so that the axis plate first moves from the riveting position to the discharge position, and then moves from the axis plate channel to the detection channel plate, and then the gear shaft detector irradiates the axis plate through the detection hole to detect whether each gear shaft on the axis plate is installed in place. If it is a good product with all the gear shafts installed in place, in the next round of steps, the second horizontal linear module drives the material moving claw to extend into the riveting mechanism to move the material and move back. The material moving plate behind the material moving claw moves back synchronously with the moving claw, thereby moving the good axis plate located on the detection channel plate to the discharge channel plate, and finally the good axis plate slides down along the discharge channel plate to realize discharge;

[0015] S6. Discharge of defective products: If it is detected during the shaft plate inspection that the gear shaft on the shaft plate is not installed in place, the shaft plate is judged to be defective. The defective shaft plate will be in the process of synchronously moving back with the moving claw on the toggle plate. In the process of the defective shaft plate being toggled by the toggle plate through the defective channel plate, the first longitudinal linear module will drive the defective channel plate to translate and stagger with the discharge channel plate, so that the defective shaft plate cannot be discharged through the discharge channel plate, but directly falls into the defective frame.

[0016] The automatic assembly equipment for the gear shaft on the actuator shaft plate further comprises:

[0017] Workstations and controls;

[0018] The shaft plate feeding mechanism and the gear shaft feeding mechanism are both arranged on the workbench;

[0019] Riveting mechanism, used to press the gear shaft onto the shaft plate;

[0020] An axle plate transfer mechanism, which is located between the axle plate feeding mechanism and the riveting mechanism;

[0021] A gear shaft transfer mechanism, which is located between the gear shaft feeding mechanism and the riveting mechanism;

[0022] A discharging mechanism, which is connected to the riveting mechanism;

[0023] A defective product detection mechanism, which is located directly below the discharging mechanism;

[0024] A defective product discharge mechanism, which is connected to the discharge mechanism;

[0025] The riveting mechanism comprises a riveting frame, a driving device fixed to the top of the riveting frame, a riveting upper die located in the riveting frame, and a riveting lower die arranged at the bottom of the riveting frame;

[0026] The riveting frame includes a top plate, an upper movable plate, a lower movable plate and a bottom plate arranged from top to bottom, the bottom plate is connected to the workbench, the fixed plate is mounted above the bottom plate through a plurality of first guide pillars, and the upper movable plate and the lower movable plate can be slidably arranged on the first guide pillars;

[0027] The driving device is connected to the top plate, the upper movable plate is in driving connection with the driving device, the riveting upper die is connected to the lower side of the upper movable plate, and the riveting lower die is arranged on the bottom plate and is vertically fixed relative to the bottom plate;

[0028] The lower moving plate includes a mold closing channel opened along the vertical direction and an axis plate channel opened along the horizontal direction, and the mold closing channel and the axis plate channel are staggered, and the axis plate has at least a feeding position, a riveting position and a discharging position in the axis plate channel, and when the axis plate is located at the riveting position, it is located in the middle of the mold closing channel;

[0029] The shaft plate transfer mechanism includes a first transverse linear module and a push rod driven by the first transverse linear module, and the push rod can act on the shaft plate to move it from the feeding position to the riveting position;

[0030] The discharging mechanism includes a second transverse linear module and a material moving claw driven by the second transverse linear module, and the material moving claw can act on the shaft plate to move it from the riveting position to the discharging position;

[0031] A second guide shaft is connected to the lower movable plate, and the second guide shaft passes through the top plate and extends above the top plate. A return spring is also arranged between the top of the second guide shaft and the upper side of the top plate, so that the lower movable plate always has a movement tendency close to the top plate.

[0032] The clamping method for the shaft plate on the lower movable plate is further improved. The shaft plate channel is open upward on the lower movable plate, and a clamping block is connected to each side of the shaft plate channel on the lower movable plate, and the clamping block is located at one end of the lower movable plate close to the shaft plate transfer mechanism, and a clamping gap is formed between the lower side of the clamping block and the bottom of the shaft plate channel; when the shaft plate is in the feeding position and the riveting position relative to the lower movable plate, the two sides of the shaft plate are clamped in the clamping gap, so that the shaft plate cannot move vertically relative to the lower movable plate; when the shaft plate is in the discharging position relative to the lower movable plate, the two sides of the shaft plate are disengaged from the clamping gap, so that the shaft plate can move vertically relative to the lower movable plate.

[0033] The action mode of the return spring between the second guide shaft and the top plate is further improved. The second guide shaft extends out from the top of the top plate and is also connected to a first action block. The return spring is passed through the second guide shaft, and one end of the return spring is in contact with the first action block, and the other end is in contact with the top plate.

[0034] The reset buffering method of the upper movable plate is further improved. The second guide shaft part is located between the top plate and the upper movable plate, and the second guide shaft of this part is also connected to a second acting block, and a buffer spring is also passed through the second guide shaft of this part. One end of the buffer spring forms abutment with the lower side of the top plate, and the other end forms abutment with the second acting block; when the upper movable plate moves upward and resets under the drive device, the upper movable plate will contact the second acting block, and the second acting block can offset the inertia generated by the upper movable plate in the return stroke through the buffer spring.

[0035] The structure of the riveting upper die and the riveting lower die is further improved. The upper side of the riveting lower die is provided with a plurality of positioning pins that can be inserted into the holes of the shaft plate, and a plurality of mounting holes for inserting the gear shaft; the lower side of the riveting upper die is provided with a plurality of positioning holes adapted to the positioning pins, and a plurality of mounting columns corresponding to the positions of the mounting holes are convexly provided; when the riveting upper die and the riveting lower die are closed, the shaft plate is clamped therebetween, and the pair of positioning pins on the riveting lower die pass through the shaft plate and are inserted into the positioning holes of the riveting upper die to realize the positioning of the shaft plate, and the gear shaft originally inserted in the mounting hole of the riveting lower die will be transferred and inserted to the lower side of the shaft plate, and the position on the upper side of the shaft plate corresponding to the gear shaft will be squeezed by the mounting column, so that the gear shaft can be more tightly connected to the shaft plate.

[0036] The specific composition structure of the shaft plate transfer mechanism is further that the shaft plate transfer mechanism also includes a pneumatic finger, the push rod is connected to the tail of the pneumatic finger, the pneumatic finger is driven by the first horizontal module to reciprocate between the shaft plate feeding mechanism and the riveting mechanism, and a flip cylinder is also arranged between the pneumatic finger and the first horizontal linear module, and the starting finger can realize vertical rotation under the drive of the flip cylinder.

[0037] The specific composition structure of the discharging mechanism further includes a first vertical linear module, a connected detection channel plate and a discharging channel plate, the second horizontal linear module is connected to the first vertical linear module and is driven, and the second horizontal linear module is also connected to a material shifting plate, and the material shifting claw and the material shifting claw are synchronously translated under the drive of the first horizontal linear module, and the material shifting claw can move the axis plate from the riveting mechanism to the detection channel plate, and the material shifting claw can shift the axis plate from the detection channel plate to the discharging channel plate.

[0038] The specific composition structure of the defective product detection structure is further that a plurality of detection holes are opened through the bottom of the detection channel plate, and the defective product detection mechanism includes a plurality of gear shaft detectors arranged below the detection channel plate, and the heads of the gear shaft detectors are arranged to align with the detection holes.

[0039] The specific composition structure of the defective product discharge mechanism is further that the defective product discharge mechanism includes a first longitudinal linear module and a defective product channel plate driven by the first longitudinal linear module, the defective product channel plate is connected between the detection channel plate and the discharge channel plate, and the defective product channel plate can be longitudinally staggered with the discharge channel plate under the drive of the first longitudinal linear module.

[0040] The specific composition structure of the gear shaft moving mechanism is further that the gear shaft transfer mechanism has a second longitudinal linear module connected to the base plate, the riveting lower die is connected to the second longitudinal linear module, and can reciprocate between the riveting mechanism and the gear shaft feeding mechanism driven by the second longitudinal linear module.

[0041] The specific composition structure of the gear shaft feeding mechanism is further that the gear shaft feeding mechanism includes a second vertical linear module, a feeding movable plate driven by the second vertical linear module, a third vertical linear module, an upper shaft ejector driven by the third vertical linear module, and a gear shaft silo arranged on the workbench, the second vertical linear module is connected to the bottom plate, the feeding movable plate is suspended above the gear shaft transfer mechanism, and a plurality of positioning blocks connected to the gear shaft silo are also arranged on the upper side of the feeding movable plate, and the positioning block is provided with an upper shaft hole aligned with the loading ejector.

[0042] The specific method of transporting the gear shaft in the gear shaft bin in the gear shaft feeding mechanism to the positioning block is further described. The feed movable plate is also provided with a plurality of sliding grooves, and the sliding grooves correspond to the bottom of the positioning block one by one. The feed movable plate is also connected to a plurality of push-pull cylinders, and a shaft delivery block driven by the push-pull cylinder is slidably embedded in the sliding groove. The shaft delivery block is provided with a shaft delivery hole, and the positioning block is also provided with an input shaft hole, and the input shaft hole is connected with the gear shaft bin through a conveying pipe. The shaft delivery block has at least an input shaft position and an upper shaft position under the action of the push-pull cylinder;

[0043] When the shaft delivery block is in the shaft feeding position, the shaft delivery hole is aligned with the shaft feeding hole;

[0044] When the shaft sending block is in the upper shaft position, the shaft sending hole is aligned with the upper shaft hole.

[0045] The specific composition structure of the shaft plate feeding mechanism is further that the shaft plate feeding mechanism includes a conveyor belt and a reversing component, the reversing component is arranged at the end of the conveyor belt, and the reversing component includes a fourth vertical linear module connected to the side of the conveyor belt and a rotating air claw driven by the fourth vertical linear module.

[0046] The beneficial effects of the present invention are:

[0047] 1. It can realize the automatic installation of the gear shaft on the actuator shaft plate, and the settings between various mechanisms are more closely connected, and the transportation method of the shaft plate is also designed more reasonably, which can not only effectively improve the assembly efficiency, but also successfully reduce the overall volume of the equipment;

[0048] 2. In the riveting mechanism, the riveting is carried out by the transmission of the upper and lower moving plates, in which the riveting upper die is set on the upper moving plate, and the lower moving plate is used to fix the position of the shaft plate, which makes the riveting process smoother and can easily complete the fixing of the shaft plate position during the riveting process;

[0049] 3. This equipment also includes a defective product detection mechanism, which can detect the installation status of each gear shaft on the shaft plate before the finished product is discharged, and can pick out the defective shaft plates that are not installed properly and discharge them into the defective product basket to prevent them from mixing with the good shaft plates. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0051] Figure 2 It is a structural schematic diagram of the central axis plate feeding mechanism of the present invention.

[0052] Figure 3 It is a structural schematic diagram of the central axis plate transfer mechanism of the present invention.

[0053] Figure 4 It is a structural schematic diagram of the riveting mechanism of the present invention (in the un-molded state).

[0054] Figure 5 It is a structural schematic diagram of the riveting mechanism in the present invention (in the mold closing state).

[0055] Figure 6 It is a structural schematic diagram of the lower moving plate in the present invention.

[0056] Figure 7 It is a schematic diagram of the position change of the central axis plate relative to the lower movable plate in the present invention (from top to bottom, they are the feeding position, the riveting position and the discharging position).

[0057] Figure 8 It is a structural schematic diagram of the discharging mechanism, the defective product detection mechanism and the defective product discharge mechanism in the present invention.

[0058] Fig. 9 It is a structural schematic diagram of the material moving claw, the material shifting block and the driving structure in the material discharging mechanism of the present invention.

[0059] Fig.10 It is a structural schematic diagram of the gear shaft feeding mechanism and the gear shaft transferring mechanism in the present invention.

[0060] Fig.11 It is a structural schematic diagram of the feed moving plate and the structure thereon in the present invention.

[0061] Fig.12 It is a schematic diagram of the position change of the shaft feeding block in the present invention when driven by the push-pull cylinder (the upper part is the shaft feeding position, and the lower part is the upper shaft position).

[0062] Fig.13 It is a structural schematic diagram of the riveting lower die in the present invention.

[0063] Fig.14 It is a structural schematic diagram of the riveting upper die in the present invention.

[0064] Fig.15 It is a schematic diagram of the center axle plate of the present invention and the axle plate after the gear shaft is assembled thereon.

[0065] Numbers in the figure: 1, workbench; 2, control device; 3, shaft plate feeding mechanism; 3.1, conveyor belt; 3.2, fourth vertical linear module; 3.3, rotary air claw; 4, gear shaft feeding mechanism; 4.1, second vertical linear module; 4.2, feeding moving plate; 4.2.1, sliding groove; 4.3, third vertical linear module; 4.4, upper shaft ejector; 4.5, gear shaft silo; 4.6, positioning block; 4.6.1, upper shaft hole; 4.6.2, feed shaft hole ;4.7, push-pull cylinder;4.8, shaft delivery block;4.8.1, shaft delivery hole;5, riveting mechanism;5.1, riveting frame;5.1.1, top plate;5.1.2, upper movable plate;5.1.3, lower movable plate;5.1.3.1, mold closing channel;5.1.3.2, shaft plate channel;5.1.3.3, clamping block;5.1.4, bottom plate;5.1.5, first guide column;5.1.6, second guide column;5.1.6.1, first action block;5. 1.6.2, second action block; 5.1.7, reset spring; 5.1.8, buffer spring; 5.2, drive device; 5.3, riveting upper die; 5.3.1, positioning hole; 5.3.2, mounting column; 5.4, riveting lower die; 5.4.1, positioning pin; 5.4.2, mounting hole; 6, shaft plate transfer mechanism; 6.1, first horizontal linear module; 6.2, push rod; 6.3, pneumatic finger; 6.4, flip cylinder; 7, gear shaft transfer mechanism ;7.1, second longitudinal linear module;8, discharge mechanism;8.1, second transverse linear module;8.2, transfer claw;8.3, first vertical linear module;8.4, detection channel plate;8.5, discharge channel plate;8.6, material shifting plate;9, defective product detection mechanism;9.1, detection hole;9.2, gear shaft detector;10, defective product discharge mechanism;10.1, first longitudinal linear module;10.2, defective product channel plate;11, shaft plate;12, gear shaft. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] It should be understood that although the terms upper, middle, lower, top, end, etc. appear in this article to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish elements from each other for easy understanding, and are not used to define any direction or order limitation.

[0068] Embodiment 1

[0069] Reference Figures 1 to 15As shown, the assembly method applied to the automatic assembly equipment of the gear shaft on the actuator shaft plate includes the following steps:

[0070] S1, shaft plate feeding: the shaft plate 11 falls from the equipment of the previous process onto the conveyor belt 3.1, and the shaft plate 11 is transported from the head end to the end of the conveyor belt 3.1. The fourth vertical linear module 3.2 drives the rotating air claw 3.3 to move down and clamp the shaft plate 11. The fourth vertical linear module 3.2 drives the rotating air claw 3.3 to lift up, and the rotating air claw 3.3 rotates to reverse the head and tail of the shaft plate 11.

[0071] S2, shaft plate transfer: the first horizontal linear module 6.1 drives the pneumatic finger 6.3 to move to the shaft plate feeding mechanism 3. The pneumatic finger 6.3 clamps the shaft plate 11 while rotating the air claw 3.3 to release the shaft plate 11. Then the first horizontal linear module 6.1 drives the pneumatic finger 6.3 to move backward for a distance. At this time, the flip cylinder 6.4 starts to drive the pneumatic finger 6.3 to flip. The pneumatic finger 6.3 turns from the feeding mechanism 3 toward the shaft plate 11 to the riveting mechanism 5. Then the first horizontal linear module 6.1 continues to drive the starting finger to move backward until the shaft plate 11 is inserted into the shaft plate channel 5.1.3.2 of the lower moving plate 5.1.3 and is in The pneumatic finger 6.3 moves to the feeding position, and then the first horizontal linear module 6.1 drives the pneumatic finger 6.3 to retreat forward. At this time, the flip cylinder 6.4 is started again to drive the pneumatic finger 6.3 to flip, and the pneumatic finger 6.3 is directed toward the shaft plate feeding mechanism 3 again, and the push rod 6.2 at the tail end of the pneumatic finger 6.3 is directed toward the riveting mechanism 5. Then the first horizontal linear module 6.1 drives the pneumatic finger 6.3 to move backward again, and the push rod 6.2 is able to push the shaft plate 11 to move along the shaft plate channel 5.1.3.2 from the feeding position to the riveting position. Finally, the first linear module drives the pneumatic finger 6.3 to retreat forward again, so that the push rod 6.2 leaves the riveting mechanism 5.

[0072] S3, gear shaft feeding: the second longitudinal linear module 7.1 drives the riveting lower die 5.4 to move to the bottom of the feeding movable plate 4.2, and the push-pull cylinder 4.7 pulls the shaft delivery block 4.8 to move it to the shaft feeding position, and the shaft delivery hole 4.8.1 is aligned with the shaft feeding hole 4.6.2. At this time, the gear shaft 12 in the gear shaft silo 4.5 can be transported to the shaft feeding hole 4.6.2 along the conveying pipe, and falls into the shaft delivery hole 4.8.1 through the shaft feeding hole 4.6.2, and then the push-pull cylinder 4.7 pushes the shaft delivery block 4.8 to move it to the upper shaft position, and the shaft delivery hole 4.8.1 and the gear shaft 12 therein are aligned with the upper shaft hole 4.6.2. .6.1, then the second vertical linear module 4.1 drives the feed movable plate 4.2 to descend, so that the lower side of the feed movable plate 4.2 is in contact with the riveting lower die 5.4, then the third vertical linear module 4.3 drives the upper shaft ejector 4.4 to press down, so that it passes through the upper shaft hole 4.6.1 and pushes the gear shaft 12 in the shaft feeding hole 4.8.1 onto the riveting lower die 5.4, finally the second vertical linear module 4.1 drives the feed movable plate 4.2 to rise, and the riveting lower die 5.4 with the gear shaft 12 inserted therein is driven by the second longitudinal linear module 7.1 to move into the riveting mechanism 5 and is located directly below the lower movable plate 5.1.3;

[0073] S4, riveting: the driving device 5.2 pushes the upper movable plate 5.1.2 downward, and the upper movable plate 5.1.2 contacts the lower movable plate 5.1.3 during the downward pressing process and drives the lower movable plate 5.1.3 to be pressed downward together, until the riveting lower die 5.4 and the riveting lower die 5.4 are both extended into the mold closing channel 5.1.3.1, at this time, the riveting upper die 5.3 abuts against the upper side of the shaft plate 11 located in the middle of the mold closing channel 5.1.3.1, and the riveting lower die 5.4 abuts against the shaft plate 11 1, and the gear shaft inserted on the riveting lower die 5.4 is transferred to the shaft plate 11, and as the driving device 5.2 continues to press down, the riveting upper die 5.3 and the riveting lower die 5.4 continue to press on the shaft plate 11 and the gear shaft 12, so that the gear shaft 12 is plugged into place on the shaft plate 11, and finally the driving device 5.2 drives the upper movable plate 5.1.2 to lift and reset, and the lower movable plate 5.1.3 is lifted and reset under the action of the reset spring 5.1.7;

[0074] S5, finished product discharge: the first vertical linear module 8.3 drives the second horizontal linear module 8.1 to lift, so that the material-moving claw connected to the second horizontal linear module 8.1 is lifted, and the second horizontal linear module 8.1 then drives the material-moving claw to extend into the riveting mechanism 5 and is located above the riveted shaft plate 11, the first vertical linear module 8.3 drives the material-moving claw to descend and buckle the shaft plate 11, and then the second horizontal linear module 8.1 drives the material-moving claw to move backward, so that the shaft plate 11 first moves from the riveting position to the discharge position, and then moves from the shaft plate channel 5.1.3.2 to the detection channel plate 8 .4, and then the gear shaft detector 9.2 irradiates the shaft plate 11 through the detection hole 9.1 to detect whether the gear shafts 12 on the shaft plate 11 are installed in place. If the gear shafts 12 are all installed in place, if they are good products, in the next round of steps, the second horizontal linear module 8.1 drives the material transfer to extend into the riveting mechanism 5 to transfer the material and move it back. The material transfer plate 8.6 located behind the material transfer claw moves back synchronously with the moving claw, thereby moving the good product shaft plate 11 located on the detection channel plate 8.4 to move to the discharge channel plate 8.5, and finally the good product shaft plate 11 slides down along the discharge channel plate 8.5 to realize the discharge;

[0075] S6. Discharge of defective products: If it is detected during the inspection of the shaft plate 11 that the gear shaft 12 on the shaft plate 11 is not installed in place, the shaft plate 11 is judged to be a defective product. The defective shaft plate 11 will move back synchronously with the moving claw on the toggle plate. In the process of the defective shaft plate 11 being toggled by the toggle plate through the defective channel plate 10.2, the first longitudinal linear module 10.1 will drive the defective channel plate 10.2 to translate and be offset from the discharge channel plate 8.5, so that the defective shaft plate 11 cannot be discharged through the discharge channel plate 8.5, but directly falls into the defective frame.

[0076] In this embodiment, the automatic assembly equipment for the gear shaft on the actuator shaft plate includes:

[0077] Workbench 1 and control device 2;

[0078] The shaft plate feeding mechanism 3 and the gear shaft feeding mechanism 4 are both arranged on the workbench 1;

[0079] The riveting mechanism 5 is used to press the gear shaft 12 onto the shaft plate 11;

[0080] The shaft plate transfer mechanism 6 is located between the shaft plate feeding mechanism 3 and the riveting mechanism 5;

[0081] A gear shaft transfer mechanism 7, which is located between the gear shaft feeding mechanism 4 and the riveting mechanism 5;

[0082] A discharging mechanism 8, which is connected to the riveting mechanism 5;

[0083] A defective product detection mechanism 9, which is located directly below the discharging mechanism 8;

[0084] A defective product discharge mechanism 10, which is connected to the discharge mechanism 8;

[0085] The riveting mechanism 5 comprises a riveting frame 5.1, a driving device 5.2 fixed to the top of the riveting frame 5.1, a riveting upper die 5.3 located in the riveting frame 5.1 and a riveting lower die 5.4 arranged at the bottom of the riveting frame 5.1;

[0086] The riveting frame 5.1 includes a top plate 5.1.1, an upper movable plate 5.1.2, a lower movable plate 5.1.3 and a bottom plate 5.1.4 arranged from top to bottom, the bottom plate 5.1.4 is connected to the workbench 1, the fixed plate is mounted above the bottom plate 5.1.4 through a plurality of first guide pillars 5.1.5, and the upper movable plate 5.1.2 and the lower movable plate 5.1.3 can be slidably arranged on the first guide pillars 5.1.5;

[0087] The driving device 5.2 is connected to the top plate 5.1.1, the upper movable plate 5.1.2 is in driving connection with the driving device 5.2, the riveting upper die 5.3 is connected to the lower side of the upper movable plate 5.1.2, and the riveting lower die 5.4 is arranged on the bottom plate 5.1.4 and is vertically fixed relative to the bottom plate 5.1.4;

[0088] The lower movable plate 5.1.3 includes a mold closing channel 5.1.3.1 opened along the vertical through-hole, and an axis plate channel 5.1.3.2 opened along the horizontal through-hole, and the mold closing channel 5.1.3.1 and the axis plate channel 5.1.3.2 are staggered, and the axis plate 11 has at least a feeding position, a riveting position and a discharging position in the axis plate channel 5.1.3.2. When the axis plate 11 is located at the riveting position, it is located in the middle of the mold closing channel 5.1.3.1;

[0089] The shaft plate transfer mechanism 6 includes a first transverse linear module 6.1 and a push rod 6.2 driven by the first transverse linear module 6.1, and the push rod 6.2 can act on the shaft plate 11 to move it from the feeding position to the riveting position;

[0090] The discharging mechanism 8 includes a second transverse linear module 8.1 and a material moving claw driven by the second transverse linear module 8.1, and the material moving claw can act on the shaft plate 11 to move it from the riveting position to the discharging position;

[0091] A second guide shaft is connected to the lower movable plate 5.1.3, and the second guide shaft passes through the top plate 5.1.1 and extends above the top plate 5.1.1. A return spring 5.1.7 is also arranged between the top of the second guide shaft and the upper side of the top plate 5.1.1, so that the lower movable plate 5.1.3 always has a movement tendency close to the top plate 5.1.1.

[0092] The specific structure of the shaft plate transfer mechanism 6 in this embodiment is as follows: the shaft plate transfer mechanism 6 also includes a pneumatic finger 6.3, the push rod 6.2 is connected to the tail of the pneumatic finger 6.3, the pneumatic finger 6.3 is driven by the first horizontal module to reciprocate between the shaft plate feeding mechanism 3 and the riveting mechanism 5, and a flip cylinder 6.4 is also arranged between the pneumatic finger 6.3 and the first horizontal linear module 6.1, and the starting finger can realize vertical rotation driven by the flip cylinder 6.4.

[0093] The specific structure of the discharge mechanism 8 in this embodiment is as follows: the discharge mechanism 8 also includes a first vertical linear module 8.3, a connected detection channel plate 8.4 and a discharge channel plate 8.5, the second horizontal linear module 8.1 is connected to the first vertical linear module 8.3 and driven, the second horizontal linear module 8.1 is also connected to a material shifting plate 8.6, the material shifting plate 8.6 is located behind the material shifting claw, the material shifting claw and the material shifting claw are synchronously translated under the drive of the first horizontal linear module 6.1, the material shifting claw can move the shaft plate 11 from the riveting mechanism 5 to the detection channel plate 8.4, and the material shifting claw can shift the shaft plate 11 from the detection channel plate 8.4 to the discharge channel plate 8.5.

[0094] The specific structure of the defective product detection mechanism 9 in this embodiment is as follows: a plurality of detection holes 9.1 are formed through the bottom of the detection channel plate 8.4, and the defective product detection mechanism 9 includes a plurality of gear shaft detectors 9.2 arranged below the detection channel plate 8.4, and the heads of the gear shaft detectors 9.2 are aligned with the detection holes 9.1.

[0095] The specific structure of the defective product discharge mechanism 10 in this embodiment is as follows: the defective product discharge mechanism 10 includes a first longitudinal linear module 10.1 and a defective product channel plate 10.2 driven by the first longitudinal linear module 10.1, the defective product channel plate 10.2 is connected between the detection channel plate 8.4 and the discharge channel plate 8.5, and the defective product channel plate 10.2 can be longitudinally staggered with the discharge channel plate 8.5 under the drive of the first longitudinal linear module 10.1.

[0096] The specific structure of the gear shaft transfer mechanism 7 in this embodiment is as follows: the gear shaft transfer mechanism 7 has a second longitudinal linear module 7.1 connected to the base plate 5.1.4, the riveting lower die 5.4 is connected to the second longitudinal linear module 7.1, and can reciprocate between the riveting mechanism 5 and the gear shaft feeding mechanism 4 driven by the second longitudinal linear module 7.1.

[0097] The specific structure of the gear shaft feeding mechanism 4 in this embodiment is as follows: the gear shaft feeding mechanism 4 includes a second vertical linear module 4.1, a feeding movable plate 4.2 driven by the second vertical linear module 4.1, a third vertical linear module 4.3, an upper shaft ejector pin 4.4 driven by the third vertical linear module 4.3, and a gear shaft bin 4.5 arranged on the workbench 1, the second vertical linear module 4.1 is connected to the bottom plate 5.1.4, the feeding movable plate 4.2 is suspended above the gear shaft transfer mechanism 7, and a plurality of positioning blocks 4.6 connected to the gear shaft bin 4.5 are also arranged on the upper side of the feeding movable plate 4.2, and an upper shaft hole 4.6.1 aligned with the loading ejector pin is opened on the positioning block 4.6.

[0098] The specific structure of the communication between the gear shaft bin 4.5 and the positioning block 4.6 in this embodiment is as follows: the feed movable plate 4.2 is provided with a plurality of sliding grooves 4.2.1, each of which corresponds to the bottom of the positioning block 4.6. The feed movable plate 4.2 is also connected with a plurality of push-pull cylinders 4.7, and a shaft sending block 4.8 driven by the push-pull cylinder 4.7 is slidably embedded in the sliding groove 4.2.1, and a shaft sending hole 4.8.1 is provided on the shaft sending block 4.8. The positioning block 4.6 is also provided with an inlet shaft hole 4.6.2, which is connected to the gear shaft silo 4.5 through a conveying pipe. The shaft delivery block 4.8 has at least an inlet shaft position and an upper shaft position under the action of the push-pull cylinder 4.7; when the shaft delivery block 4.8 is in the inlet shaft position, the shaft delivery hole 4.8.1 is aligned with the inlet shaft hole 4.6.2; when the shaft delivery block 4.8 is in the upper shaft position, the shaft delivery hole 4.8.1 is aligned with the upper shaft hole 4.6.1.

[0099] The specific structure of the shaft plate feeding mechanism 3 in this embodiment is as follows: the shaft plate feeding mechanism 3 includes a conveyor belt 3.1 and a reversing component, the reversing component is arranged at the end of the conveyor belt 3.1, and the reversing component includes a fourth vertical linear module 3.2 connected to the side of the conveyor belt 3.1 and a rotating air claw 3.3 driven by the fourth vertical linear module 3.2.

[0100] The advantage of this embodiment is that the various mechanisms in the automatic installation equipment are reasonably distributed, and various automatic feeding and transfer mechanisms are used to replace the original turntable transfer method, which makes the production efficiency higher and also makes the size of the equipment smaller.

[0101] Embodiment 2

[0102] Combination Figures 1 to 15 As shown, this embodiment is based on the above embodiment 1, and the structure of each mechanism is preferably refined, specifically including:

[0103] 1. Refinement of the clamping structure of the lower movable plate 5.1.3: The shaft plate channel 5.1.3.2 is open upward on the lower movable plate 5.1.3, and a clamping block 5.1.3.3 is connected to each side of the shaft plate channel 5.1.3.2 on the lower movable plate 5.1.3, and the clamping block 5.1.3.3 is located on one end of the lower movable plate 5.1.3 close to the shaft plate transfer mechanism 6, and the lower side of the clamping block 5.1.3.3 is connected to the shaft plate channel 5.1.3.2. A clamping gap is formed between the bottoms; when the shaft plate 11 is in the feeding position and the riveting position relative to the lower movable plate 5.1.3, the two sides of the shaft plate 11 are clamped in the clamping gap, so that the shaft plate 11 cannot move vertically relative to the lower movable plate 5.1.3; when the shaft plate 11 is in the discharging position relative to the lower movable plate 5.1.3, the two sides of the shaft plate 11 are disengaged from the clamping gap, so that the shaft plate 11 can move vertically relative to the lower movable plate 5.1.3.

[0104] 2. Refinement of the arrangement of the return spring 5.1.7: The second guide shaft extends out from the top of the top plate 5.1.1 and is also connected to a first action block 5.1.6.1. The return spring 5.1.7 is passed through the second guide shaft, and one end of the return spring 5.1.7 is in contact with the first action block 5.1.6.1, and the other end is in contact with the top plate 5.1.1.

[0105] 3. Refinement of the reset buffering method of the upper movable plate 5.1.2: the second guide shaft portion is located between the top plate 5.1.1 and the upper movable plate 5.1.2, and the second guide shaft of this portion is also connected to a second acting block 5.1.6.2, and a buffer spring 5.1.8 is also penetrated on the second guide shaft of this portion, one end of the buffer spring 5.1.8 is in contact with the lower side of the top plate 5.1.1, and the other end is in contact with the second acting block; when the upper movable plate 5.1.2 is driven by the driving device 5.2 to move upward and reset, the upper movable plate 5.1.2 will contact the second acting block 5.1.6.2, and the second acting block 5.1.6.2 can offset the inertia generated by the upper movable plate 5.1.2 in the return stroke through the buffer spring 5.1.8.

[0106] 4. Refinement of the structure of the upper riveting die 5.3 and the lower riveting die 5.4: The upper side of the lower riveting die 5.4 is provided with a plurality of positioning pins 5.4.1 that can be inserted into the holes of the shaft plate 11, and a plurality of mounting holes 5.4.2 for inserting the gear shaft 12; the lower side of the upper riveting die 5.3 is provided with a plurality of positioning holes 5.3.1 that are adapted to the positioning pins 5.4.1, and a plurality of mounting columns 5.3.2 that are convexly provided with the positions corresponding to the mounting holes 5.4.2; when the upper riveting die 5.3 and the lower riveting die 5.4 are connected, the gear shaft 12 is inserted into the gear shaft 12, and the gear shaft 12 is inserted into the gear shaft 12. When the molds are closed, the shaft plate 11 is clamped between the two. The corresponding positioning pins 5.4.1 on the riveting lower mold 5.4 pass through the shaft plate 11 and are inserted into the positioning holes 5.3.1 of the riveting upper mold 5.3 to position the shaft plate 11. The gear shaft 12 originally inserted into the mounting hole 5.4.2 of the riveting lower mold 5.4 will be transferred and inserted to the lower side of the shaft plate 11, and the position on the upper side of the shaft plate 11 corresponding to the gear shaft 12 will be squeezed by the mounting column 5.3.2, so that the gear shaft can be more tightly connected to the shaft plate 11.

[0107] The remaining structures, methods and advantages of this embodiment are consistent with those of the first embodiment described above and will not be described in detail here.

[0108] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. An assembly method for an automatic assembly device for a gear shaft on an actuator shaft plate, characterized in that: The steps include: S1, shaft plate feeding: the shaft plate falls from the equipment of the previous process onto the conveyor belt (3.1), and the shaft plate is transported from the head end to the end of the conveyor belt (3.1). The fourth vertical linear module (3.2) drives the rotating air claw (3.3) to move down and clamp the shaft plate. The fourth vertical linear module (3.2) drives the rotating air claw (3.3) to lift up, and the rotating air claw (3.3) rotates to reverse the head and tail of the shaft plate. S2, shaft plate transfer: the first horizontal linear module (6.1) drives the pneumatic finger (6.3) to move to the shaft plate feeding mechanism (3). The pneumatic finger (6.3) clamps the shaft plate while rotating the air claw (3.3) to release the shaft plate. Then the first horizontal linear module (6.1) drives the pneumatic finger (6.3) to move backward for a distance. At this time, the flip cylinder (6.4) starts to drive the pneumatic finger (6.3) to flip. The pneumatic finger (6.3) turns from facing the shaft plate feeding mechanism (3) to facing the riveting mechanism (5). Then the first horizontal linear module (6.1) continues to drive the starting finger to move backward until the shaft plate is inserted into the shaft plate channel (5.1.3.2) of the lower moving plate (5.1.3) and is in the feeding position. , then the first horizontal linear module (6.1) drives the pneumatic finger (6.3) to retreat forward, at which time the flip cylinder (6.4) starts again to drive the pneumatic finger (6.3) to flip, and the pneumatic finger (6.3) is directed toward the shaft plate feeding mechanism (3) again, while the push rod (6.2) at the tail end of the pneumatic finger (6.3) is directed toward the riveting mechanism (5), and then the first horizontal linear module (6.1) drives the pneumatic finger (6.3) to move backward again, and the push rod (6.2) is able to push the shaft plate to move along the shaft plate channel (5.1.3.2) from the feeding position to the riveting position, and finally the first linear module drives the pneumatic finger (6.3) to retreat forward again, so that the push rod (6.2) leaves the riveting mechanism (5); S3, gear shaft feeding: the second longitudinal linear module (7.1) drives the riveting lower die (5.4) to move to the bottom of the feeding movable plate (4.2), and the push-pull cylinder (4.7) pulls the shaft delivery block (4.8) to move it to the shaft delivery position, and the shaft delivery hole (4.8.1) is aligned with the shaft delivery hole (4.6.2). At this time, the gear shaft in the gear shaft silo (4.5) can be transported to the shaft delivery hole (4.6.2) along the conveying pipe, and falls into the shaft delivery hole (4.8.1) through the shaft delivery hole (4.6.2), and then the push-pull cylinder (4.7) pushes the shaft delivery block (4.8) to move it to the upper shaft position, and the shaft delivery hole (4.8.1) and the gear shaft therein are aligned with the upper shaft hole (4. 6.1), then the second vertical linear module (4.1) drives the feed movable plate (4.2) to descend, so that the lower side of the feed movable plate (4.2) abuts against the riveting lower die (5.4), then the third vertical linear module (4.3) drives the upper shaft ejector (4.4) to press down, so that it passes through the upper shaft hole (4.6.1) and pushes the gear shaft in the shaft feeding hole (4.8.1) onto the riveting lower die (5.4), finally the second vertical linear module (4.1) drives the feed movable plate (4.2) to rise, and the riveting lower die (5.4) with the gear shaft inserted therein moves into the riveting mechanism (5) driven by the second longitudinal linear module (7.1) and is located directly below the lower movable plate (5.1.3); S4, riveting: the driving device (5.2) pushes the upper movable plate (5.1.2) downward, and the upper movable plate (5.1.2) contacts the lower movable plate (5.1.3) during the downward pressing process and drives the lower movable plate (5.1.3) to be pressed downward together, until the riveting lower die (5.4) and the riveting lower die (5.4) are both extended into the mold closing channel (5.1.3.1). At this time, the riveting upper die (5.3) abuts against the upper side of the shaft plate located in the middle of the mold closing channel (5.1.3.1), and the riveting lower die (5.4) is pressed downward. ) is in contact with the lower side of the shaft plate, and the gear shaft inserted on the riveting lower die (5.4) is transferred to the shaft plate, and as the driving device (5.2) continues to press down, the riveting upper die (5.3) and the riveting lower die (5.4) continue to apply pressure to the shaft plate and the gear shaft, so that the gear shaft is inserted into place on the shaft plate, and finally the driving device (5.2) drives the upper movable plate (5.1.2) to lift and reset, and the lower movable plate (5.1.3) is lifted and reset under the action of the reset spring (5.1.7); S5, finished product discharge: the first vertical linear module (8.3) drives the second horizontal linear module (8.1) to lift, so that the material-moving claw connected to the second horizontal linear module (8.1) is lifted, and the second horizontal linear module (8.1) then drives the material-moving claw to extend into the riveting mechanism (5) and be located above the axis plate after riveting, the first vertical linear module (8.3) drives the material-moving claw to descend and make it buckle the axis plate, and then the second horizontal linear module (8.1) drives the material-moving claw to move backward, so that the axis plate first moves from the riveting position to the discharge position, and then moves from the axis plate channel (5.1.3.2) to the detection channel The gear shaft detector (9.2) is then used to illuminate the shaft plate through the detection hole (9.1) to detect whether the gear shafts on the shaft plate are installed in place. If the gear shafts are all installed in place, the second transverse linear module (8.1) drives the material transfer mechanism to extend into the riveting mechanism (5) to transfer the material and move it back in the next round of steps. The material transfer plate (8.6) located behind the material transfer claw moves back synchronously with the moving claw, thereby driving the good shaft plate on the detection channel plate (8.4) to move to the discharge channel plate (8.5). Finally, the good shaft plate slides down along the discharge channel plate (8.5) to realize discharge. S6. Discharge of defective products: If it is detected during the shaft plate inspection that a gear shaft is not installed in place on the shaft plate, the shaft plate is judged to be defective. The defective shaft plate will be moved back synchronously with the moving claw on the toggle plate. When the defective shaft plate is toggled by the toggle plate through the defective channel plate (10.2), the first longitudinal linear module (10.1) will drive the defective channel plate (10.2) to translate and stagger with the discharge channel plate (8.5), so that the defective shaft plate cannot be discharged through the discharge channel plate (8.5), but directly falls into the defective frame.

2. The assembly method for the automatic assembly equipment of the gear shaft on the actuator shaft plate according to claim 1 is characterized in that: The automatic assembly equipment for the gear shaft on the actuator shaft plate comprises: a workbench (1) and a control device (2); The shaft plate feeding mechanism (3) and the gear shaft feeding mechanism (4) are both arranged on the workbench (1); A riveting mechanism (5) is used to press the gear shaft onto the shaft plate; An axle plate transfer mechanism (6) located between the axle plate feeding mechanism (3) and the riveting mechanism (5); A gear shaft transfer mechanism (7), which is located between the gear shaft feeding mechanism (4) and the riveting mechanism (5); A discharging mechanism (8) which is in communication with the riveting mechanism (5); A defective product detection mechanism (9), which is located directly below the discharging mechanism (8); A defective product discharge mechanism (10) which is in communication with the discharge mechanism (8); The riveting mechanism (5) comprises a riveting frame (5.1), a driving device (5.2) fixed to the top of the riveting frame (5.1), a riveting upper die (5.3) located in the riveting frame (5.1), and a riveting lower die (5.4) arranged at the bottom of the riveting frame (5.1); The riveting frame (5.1) comprises a top plate (5.1.1), an upper movable plate (5.1.2), a lower movable plate (5.1.3) and a bottom plate (5.1.4) arranged from top to bottom, the bottom plate (5.1.4) is connected to the workbench (1), the fixed plate is mounted above the bottom plate (5.1.4) through a plurality of first guide pillars (5.1.5), and the upper movable plate (5.1.2) and the lower movable plate (5.1.3) can be slidably arranged on the first guide pillars (5.1.5); The driving device (5.2) is connected to the top plate (5.1.1), the upper movable plate (5.1.2) is in driving connection with the driving device (5.2), the riveting upper die (5.3) is connected to the lower side of the upper movable plate (5.1.2), and the riveting lower die (5.4) is arranged on the bottom plate (5.1.4) and is fixed vertically relative to the bottom plate (5.1.4); The lower movable plate (5.1.3) includes a mold closing channel (5.1.3.1) extending vertically and an axis plate channel (5.1.3.2) extending horizontally, and the mold closing channel (5.1.3.1) and the axis plate channel (5.1.3.2) are staggered, and the axis plate has at least a feeding position, a riveting position and a discharging position in the axis plate channel (5.1.3.2), and when the axis plate is located at the riveting position, it is located in the middle of the mold closing channel (5.1.3.1); The shaft plate transfer mechanism (6) comprises a first transverse linear module (6.1) and a push rod (6.2) driven by the first transverse linear module (6.1), wherein the push rod (6.2) can act on the shaft plate to move it from a feeding position to a riveting position; The discharging mechanism (8) comprises a second transverse linear module (8.1) and a material moving claw driven by the second transverse linear module (8.1), wherein the material moving claw can act on the shaft plate to move it from a riveting position to a discharging position; The lower movable plate (5.1.3) is connected to a second guide shaft, which passes through the top plate (5.1.1) and extends above the top plate (5.1.1). A return spring (5.1.7) is provided between the top of the second guide shaft and the upper side of the top plate (5.1.1), so that the lower movable plate (5.1.3) always has a movement tendency to approach the top plate (5.1.1).

3. The assembly method for the automatic assembly equipment of the gear shaft on the actuator shaft plate according to claim 2 is characterized in that: The shaft plate transfer mechanism (6) also includes a pneumatic finger (6.3), the push rod (6.2) is connected to the tail of the pneumatic finger (6.3), and the pneumatic finger (6.3) is driven by the first horizontal module to reciprocate between the shaft plate feeding mechanism (3) and the riveting mechanism (5). A flip cylinder (6.4) is also arranged between the pneumatic finger (6.3) and the first horizontal linear module (6.1), and the starting finger can realize vertical rotation under the drive of the flip cylinder (6.4).

4. The assembly method for the automatic assembly equipment of the gear shaft on the actuator shaft plate according to claim 3 is characterized in that: The discharging mechanism (8) further comprises a first vertical linear module (8.3), a detection channel plate (8.4) and a discharging channel plate (8.5) which are connected to each other; the second horizontal linear module (8.1) is connected to the first vertical linear module (8.3) and is driven; the second horizontal linear module (8.1) is also connected to a material shifting plate (8.6); the material shifting plate (8.6) is located behind the material shifting claw; the material shifting claw and the material shifting claw are synchronously translated under the drive of the first horizontal linear module (6.1); the material shifting claw can move the shaft plate from the riveting mechanism (5) to the detection channel plate (8.4); and the material shifting claw can shift the shaft plate from the detection channel plate (8.4) to the discharging channel plate (8.5).

5. The assembly method for the automatic assembly equipment of the gear shaft on the actuator shaft plate according to claim 4 is characterized in that: The bottom of the detection channel plate (8.4) is provided with a plurality of detection holes (9.1), and the defective product detection mechanism (9) comprises a plurality of gear shaft detectors (9.2) arranged below the detection channel plate (8.4), and the heads of the gear shaft detectors (9.2) are arranged to align with the detection holes (9.1).

6. The assembly method for the automatic assembly equipment of the gear shaft on the actuator shaft plate according to claim 5 is characterized in that: The defective product discharge mechanism (10) comprises a first longitudinal linear module (10.1) and a defective product channel plate (10.2) driven by the first longitudinal linear module (10.1); the defective product channel plate (10.2) is connected between a detection channel plate (8.4) and a discharge channel plate (8.5); and the defective product channel plate (10.2) can be longitudinally staggered from the discharge channel plate (8.5) under the drive of the first longitudinal linear module (10.1).

7. The assembly method for the automatic assembly equipment of the gear shaft on the actuator shaft plate according to claim 6 is characterized in that: The gear shaft transfer mechanism (7) has a second longitudinal linear module (7.1) connected to the base plate (5.1.4), and the riveting lower die (5.4) is connected to the second longitudinal linear module (7.1) and can reciprocate between the riveting mechanism (5) and the gear shaft feeding mechanism (4) driven by the second longitudinal linear module (7.1).

8. The assembly method for automatic assembly of gear shafts on actuator shaft plates according to claim 7 is characterized in that: The gear shaft feeding mechanism (4) comprises a second vertical linear module (4.1), a feeding movable plate (4.2) driven by the second vertical linear module (4.1), a third vertical linear module (4.3), an upper shaft ejector pin (4.4) driven by the third vertical linear module (4.3), and a gear shaft material bin (4.5) arranged on the workbench (1), wherein the second vertical linear module (4.1) is connected to a bottom plate (5.1.4), the feeding movable plate (4.2) is suspended above the gear shaft transfer mechanism (7), and a plurality of positioning blocks (4.6) connected to the gear shaft material bin (4.5) are arranged on the upper side of the feeding movable plate (4.2), and the positioning block (4.6) is provided with an upper shaft hole (4.6.1) aligned with the loading ejector pin.

9. The assembly method for automatic assembly of gear shafts on actuator shaft plates according to claim 8, characterized in that: The feed movable plate (4.2) is also provided with a plurality of sliding grooves (4.2.1), and the sliding grooves (4.2.1) correspond one by one to the bottom of the positioning block (4.6). The feed movable plate (4.2) is also connected with a plurality of push-pull cylinders (4.7). A shaft delivery block (4.8) driven by the push-pull cylinder (4.7) is slidably embedded in the sliding groove (4.2.1). The shaft delivery block (4.8) is provided with a shaft delivery hole (4.8.1). The positioning block (4.6) is also provided with a shaft feed hole (4.6.2). The shaft feed hole (4.6.2) is connected to the gear shaft silo (4.5) through a conveying pipe. Under the action of the push-pull cylinder (4.7), the shaft delivery block (4.8) has at least a shaft feed position and an upper shaft position. When the shaft delivery block (4.8) is in the shaft feeding position, the shaft delivery hole (4.8.1) is aligned with the shaft feeding hole (4.6.2); When the shaft sending block (4.8) is in the upper shaft position, the shaft sending hole (4.8.1) is aligned with the upper shaft hole (4.6.1).

10. The assembly method for automatic assembly of gear shafts on actuator shaft plates according to claim 9, characterized in that: The shaft plate feeding mechanism (3) comprises a conveyor belt (3.1) and a reversing component, wherein the reversing component is arranged at the end of the conveyor belt (3.1), and the reversing component comprises a fourth vertical linear module (3.2) connected to the side of the conveyor belt (3.1) and a rotating air claw (3.3) driven by the fourth vertical linear module (3.2).

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