Assembly method and assembly equipment of laser printer and storage medium

Abstract

The embodiment of the invention provides an assembly method and assembly equipment of a laser printer and a storage medium. The method comprises the following steps: controlling a developing roller mounting module to mount a developing roller on a first printing part to obtain a first developing printing part; controlling a first end cover mounting module to mount an end cover on the first side of the developing printing component to obtain a second developing printing component; controlling a doctor blade mounting module to mount a doctor blade on the second printing part to obtain a first photosensitive printing part; controlling a photosensitive drum mounting module to mount a photosensitive drum on the first photosensitive printing part to obtain a second photosensitive printing part; and controlling a third assembling mechanism to mount the second developing printing part on the second photosensitive printing part to obtain the laser printer. The assembly quality and assembly efficiency of the laser printer can be effectively improved, and the method can be widely applied to the technical field of printer production.

Description

Technical Field

[0001] The present invention relates to, but is not limited to, the technical field of printer production, and in particular to an assembly method, assembly equipment and storage medium for a laser printer. Background Art

[0002] Most of the existing laser printers are assembled manually. For laser printers, the materials of the assembly plates and parts are different, including metal, plastic or aluminum, so different materials and different types of screws are needed to match them. In the manual installation process, it is easy to cause problems such as wrong installation of screws or insufficient installation of screws, resulting in poor assembly quality and low assembly efficiency. Summary of the invention

[0003] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0004] The main purpose of the embodiments of the present invention is to provide an assembly method, assembly equipment and storage medium of a laser printer, which can effectively improve the assembly quality and assembly efficiency of the laser printer.

[0005] In a first aspect, an embodiment of the present invention provides an assembly method of a laser printer, which is applied to an assembly device, wherein the assembly device includes a first assembly mechanism, a second assembly mechanism, and a third assembly mechanism, wherein the first assembly mechanism includes a developing roller installation module and a first end cover installation module, and the second assembly mechanism includes a photosensitive drum installation module and a powder knife installation module, and the assembly method of the laser printer includes: Controlling the developing roller installation module to install the developing roller on the first printing component to obtain a first developing printing component, wherein a toner cartridge is provided on the first printing component, and the developing roller is installed at a toner outlet of the toner cartridge; Controlling the first end cap installation module to install the end cap on the first side of the developing and printing component to obtain a second developing and printing component, wherein the end cap is used to fix the position of the developing roller; Controlling the powder knife installation module to install the powder knife on the second printing component to obtain a first photosensitive printing component; Controlling the photosensitive drum installation module to install the photosensitive drum on the first photosensitive printing component to obtain a second photosensitive printing component; The laser printer is obtained by controlling the third assembly mechanism to install the second developing printing component on the second photosensitive printing component.

[0006] In some optional embodiments, the first assembly mechanism further includes a first component conveying device, the first component conveying device includes a first feeding module, a second feeding module, a first transmission module and a second transmission module, and the controlling the developing roller installation module to install the developing roller on the first printing component before obtaining the first developing printing component further includes: The first printing component is transported to a first preset position by the first transmission module; Controlling the first loading module to transfer the first printing component from a first preset position to the second transmission module; transporting the first printing component to a second preset position through the second transmission module; The second loading module is controlled to move the first printing component from a second preset position to the developing roller installation module.

[0007] In some optional embodiments, the first loading module includes a first slide rail, a first drive motor and a first manipulator, the first manipulator includes a first clamp and a first mechanical arm, the first mechanical arm is slidably connected to the first slide rail, the first mechanical arm is used to drive the first clamp, and the first mechanical arm is also provided with a first visual detection device, and the control of the first loading module to transfer the first printing component from the first preset position to the second transmission module includes: During a first time when the first transmission module delivers the next first printing component to the first preset position, the first driving motor drives the first mechanical arm to move a first distance on the first slide rail, so that the first clamping claw transfers the previous first printing component to the second transmission module and returns to the upper side of the first preset position; Detecting the first posture information of the next first printing component at the first preset position by the first visual detection device; Generate a first driving signal according to the first posture information; Drive the first gripper to rotate relative to the first mechanical arm by a first driving signal to a first angle, so that the first gripper and the next first printing component are in a preset relative posture; Controlling a first moving assembly between the first mechanical arm and the first clamping claw to move a second distance in a third direction, and controlling the first clamping claw to clamp the next first printing component; After the first clamp is controlled to reset, the first driving motor drives the first mechanical arm to move a first distance on the first slide rail, so that the first clamp transfers the next first printing component to the second transmission module.

[0008] In some optional embodiments, the developing roller installation module includes a developing roller conveying module, a developing roller feeding module and a third transmission module, and the controlling the developing roller installation module to install the developing roller on the first printing component to obtain the first developing printing component includes: The developing roller is conveyed to a third preset position by the developing roller conveying module; During the time when the third transmission module transmits the first printing component to the fourth preset position, the developing roller feeding module is controlled to move the developing roller from the third preset position to the fifth preset position, and the fourth position and the fifth preset position overlap each other in the third direction; The first developing and printing component is obtained by controlling the developing roller feeding module to move the developing roller from the fifth preset position to the first printing component.

[0009] In some optional embodiments, the developing roller feeding module includes a second slide rail, a second driving motor and a second manipulator, the second manipulator includes a second clamping claw and a second mechanical arm, the second mechanical arm is slidably connected to the second slide rail, the second mechanical arm is used to drive the second clamping claw, and the second mechanical arm is also provided with a second visual detection device, and the controlling the developing roller installation module to install the developing roller on the first printing component to obtain the first developing printing component includes: During the second time when the developing roller conveying module conveys the next developing roller to the third preset position, the second driving motor drives the second mechanical arm to move a third distance on the second slide rail, so that the second clamping claw conveys the previous developing roller to the previous first printing component and returns to the upper side of the third preset position; Detecting second position information of the next developing roller at a third preset position by the second visual detection device; Generate a second drive signal according to the second posture information; The second clamping claw is driven to rotate relative to the second mechanical arm by a second angle by the second driving signal, so that the second clamping claw and the next developing roller overlap on the third direction axis; Controlling a second moving assembly between the second mechanical arm and the second clamping claw to move a fourth distance in a third direction, and controlling the second clamping claw to clamp a next developing roller; After the second clamping claw is controlled to reset, the second driving motor drives the second mechanical arm to move a third distance on the second slide rail, so that the second clamping claw moves the next developing roller to a fifth preset position; The next first developing and printing component is obtained by controlling the second moving assembly and the second clamping claw to move the next developing roller from the fifth preset position to the next first printing component.

[0010] In some optional embodiments, the developing roller conveying module includes a supporting base, a fixed frame, a movable plate, a horizontal motor and a vertical motor, the fixed frame is arranged on the supporting base, the horizontal motor and the vertical motor are arranged in the fixed frame, the movable plate is arranged on the horizontal motor and the vertical motor, and the developing roller is conveyed to the third preset position by the developing roller conveying module, including: Controlling the horizontal motor to drive the movable plate to move a first preset distance in the negative direction of the first direction axis, and then conveying the last developing roller to a third preset position; After the developing roller feeding module moves the last developing roller away from the third preset position: Controlling the vertical motor to drive the movable plate to move a second preset distance in the negative direction of the third axial direction so that the next developing roller is located on the fixed frame; After controlling the horizontal motor to drive the movable plate to move a first preset distance in the positive direction of the first direction axis, controlling the vertical motor to drive the movable plate to move a second preset distance in the positive direction of the third direction axis, so that the movable plate supports the next developing roller; After the horizontal motor is controlled to drive the movable plate to move a first preset distance in the negative direction of the first direction axis, the next developing roller is conveyed to a third preset position.

[0011] In some optional embodiments, the first end cap installation module includes a first end cap conveying device, a second end cap conveying device and a screwing device, the first end cap conveying device and the second end cap conveying device are arranged side by side on the first side of the third transmission module, and the screwing device moves between the first end cap conveying device and the second end cap conveying device; the control of the first end cap installation module to install the end cap on the first side of the developing and printing component to obtain the second developing and printing component includes: After the first end cap conveying device conveys the end cap to the developer and print component corresponding to the first end cap conveying device, control the screwing device to move to a first screwing position above the first end cap conveying device, and control the screwing device to screw the end cap at the first screwing position, so that the end cap is installed on the developer and print component corresponding to the first end cap conveying device; During the time when the screw-on device installs the end cap on the developer and print component corresponding to the first end cap conveying device, the end cap is conveyed to the developer and print component corresponding to the first end cap conveying device by the second end cap conveying device; The screw-on device is controlled to move to a second screw-on position above the second end cover conveying device, and the screw-on device is controlled to screw the end cover at the second screw-on position so that the end cover is installed on the developing and printing component corresponding to the second end cover conveying device.

[0012] In some optional embodiments, the powder knife installation module includes a powder knife conveying module, a fourth transmission module and a powder knife feeding module, and the control of the powder knife installation module to install the powder knife on the second printing component to obtain the first photosensitive printing component includes: The powder discharge knife is conveyed to a sixth preset position by the powder discharge knife conveying module; The second printing component is conveyed to a seventh preset position by the fourth transmission module, and the seventh position and the sixth position overlap in the third direction; The first photosensitive printing component is obtained by controlling the powder knife loading module to move the powder knife from the sixth preset position to the second printing component.

[0013] In some optional embodiments, the photosensitive drum installation module includes a photosensitive drum conveying module, a fifth transmission module and a photosensitive drum feeding module, and the controlling the photosensitive drum installation module to install the photosensitive drum on the first photosensitive printing component to obtain the second photosensitive printing component includes: The photosensitive drum is transported to an eighth preset position by the photosensitive drum transport module; The first photosensitive printing component is conveyed to a ninth preset position by the fifth transmission module, and the eighth position and the ninth position overlap in the third direction; The photosensitive drum loading module is controlled to transfer the photosensitive drum from the eighth preset position to the second printing component to obtain the second photosensitive printing component.

[0014] In some optional embodiments, the assembly device further includes a toner filling module, the toner filling module includes a first toner filling and conveying module, a second toner filling and conveying module, a toner filling module, a sealing module and a pressurizing module, and the control of the developing roller installation module to install the developing roller on the first printing component before obtaining the first developing printing component further includes: Conveying one or more of the first printing components to the second powder filling and conveying module through the first powder filling and conveying module; Conveying one or more of the first printing components to the toner filling module through the second toner filling and conveying module; Controlling the toner filling module to fill toner into the toner cartridges on one or more of the first printing components; The one or more first printing components filled with toner are conveyed to the sealing module through the second toner filling and conveying module; Controlling the sealing module to place a toner cover on an opening of the toner cartridge on one or more of the first printing components; The sealed one or more first printing components are conveyed to the pressurizing module through the second powder filling and conveying module; The pressurizing module is controlled to pressurize the toner cover on one or more of the first printing components so that the toner cover seals the opening of the toner cartridge.

[0015] In some optional embodiments, the first end of the first powder filling and conveying module is provided with a first pushing component, the second end of the second powder filling and conveying module is provided with a second pushing component, the carbon powder filling module is provided with a first number of carbon powder filling components, the carbon powder filling component includes a carbon powder storage tank, the first end of the carbon powder storage tank is provided with a pushing rod, the first end of the carbon powder storage tank is provided with a carbon powder filling port, the carbon powder filling port is provided with an electric switch, the sealing module is provided with a first number of sealing components, the sealing component includes an adsorbent and a positioning component, the pressurizing module includes a first number of pressurizing components, the pressurizing component includes a pressurizing cylinder and a limiting cylinder, and the method further includes: After conveying a first quantity of the first printing components to a first end of the first powder filling and conveying module; Controlling the first pushing assembly to move a first quantity of the first printing components to the second end of the first powder filling and conveying module; The first printing components are conveyed to the first toner filling assembly by the second toner filling and conveying module, the electric switch is controlled to open the toner filling port, and a preset volume of toner is poured into the toner cartridge from the toner filling port by the push rod in the toner storage tank; The first printing components filled with toner are conveyed to the sealing components of the first quantity by the second toner filling and conveying module, the adsorbing component is controlled to adsorb the toner cover and then transfer it to the positioning component, and the toner cover is placed on the opening of the toner box positioned by the positioning component; The first number of the sealed first printing components are conveyed to the first number of the pressurizing components through the second powder filling and conveying module. After the limiting cylinder is controlled to cover the first printing components, the pressurizing cylinder is controlled to pressurize the toner cover so that the toner cover seals the opening of the toner box.

[0016] In a second aspect, an embodiment of the present invention provides an assembly device for a laser printer, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the assembly method for the laser printer described in the first aspect when executing the computer program.

[0017] In a third aspect, a computer storage medium stores computer executable instructions, wherein the computer executable instructions are used to execute the method for assembling a laser printer as described in the first aspect.

[0018] The beneficial effects of the present invention include: when assembling a laser printer, the first developing printing component is obtained by controlling the developing roller installation module to install the developing roller on the first printing component, wherein the first printing component is provided with a toner cartridge and the developing roller is installed at the powder outlet of the toner cartridge; the second developing printing component is obtained by controlling the first end cover installation module to install the end cover on the first side of the developing printing component, wherein the end cover is used to fix the position of the developing roller; the first photosensitive printing component is obtained by controlling the powder knife installation module to install the powder knife on the second printing component; the second photosensitive printing component is obtained by controlling the photosensitive drum installation module to install the photosensitive drum on the first photosensitive printing component; and the laser printer is obtained by controlling the third assembly mechanism to install the second developing printing component on the second photosensitive printing component. In the technical solution of the present embodiment, by coordinating and controlling the developing roller installation module and the first end cover installation module of the first assembly mechanism, the second developing and printing component can be automatically assembled. At the same time, by coordinating and controlling the photosensitive drum installation module and the powder knife installation module of the second assembly mechanism, the second photosensitive printing component can be automatically assembled. Finally, by coordinating and controlling the first assembly mechanism, the second assembly mechanism and the third assembly mechanism, the third assembly mechanism installs the second developing and printing component on the second photosensitive printing component to obtain a laser printer. Compared with traditional manual assembly processing, the present embodiment can effectively improve the assembly quality and assembly efficiency of the laser printer.

[0019] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of a system platform architecture for executing a method for assembling a laser printer provided by an embodiment of the present invention; Figure 2 is a flow chart of a method for assembling a laser printer provided by one embodiment of the present invention; Figure 3 is a structural schematic diagram of a first assembly mechanism provided by an embodiment of the present invention; Figure 4 is a schematic structural diagram of a first component conveying device provided by an embodiment of the present invention; Figure 5 It is a schematic diagram of the conveying principle of a developing roller conveying module provided by an embodiment of the present invention; Figure 6 is a structural schematic diagram of a first end cover installation module provided by an embodiment of the present invention; Figure 7 is a structural schematic diagram of a second assembly mechanism provided by an embodiment of the present invention; Figure 8 is a structural schematic diagram of a third assembly mechanism provided by an embodiment of the present invention; Fig. 9 The figure is a schematic diagram of the structure of a carbon powder filling module provided by an embodiment of the present invention.

[0021] Reference numerals: System platform architecture 1000, processor 1100, memory 1200; First frame 100; A first transmission module 200, a first driving motor 210, a first slide rail 220, a first mechanical arm 230, a first clamping claw 240, a first moving assembly 241, a first rotating motor 242, and a first base 250; Feeding jaws 300, feeding slide rails 310, feeding motor 320; The developing roller conveying module 400, the developing roller 401, the fixing frame 402, the moving plate 403, the second clamping claw 410, the second mechanical arm 420, the second driving motor 430, and the second slide rail 440; The third assembly mechanism 500, the upper screw slide rail 510, the upper screw main arm 520, the upper screw motor 530, the first end cover conveying device 540, the second end cover conveying device 550, and the screw tightening mechanism 560; The second frame 600, the second printing component conveying module 610, the second printing component slide rail 611, the second printing component driving motor 612, the second printing component moving assembly 613, the second printing component clamping claw 614, the second printing component mechanical arm 615, the second printing component transmission module 616, the powder knife conveying module 620, the powder knife feeding motor 621, the powder knife feeding clamping claw 622, the third moving assembly 623, the powder knife feeding mechanical arm 624, the powder knife feeding slide rail 625, the photosensitive drum conveying module 630, the photosensitive drum feeding motor 631, the photosensitive drum feeding clamping claw 632, the fourth moving assembly 633, the photosensitive drum feeding mechanical arm 634, and the photosensitive drum feeding slide rail 635; Assembly transmission module 700, assembly loading slide rail 710, assembly loading robot arm 720, assembly loading motor 730, second assembly transmission module 740, second base 750, fifth rotating motor 760, fifth moving assembly 770, assembly loading clamp 780; The third frame 800, the first powder filling and conveying module 810, the second powder filling and conveying module 811, the fixed mold 812, the first push plate 820, the first push slide rail 821, the second push plate 822, the second push slide rail 823, the electric switch 830, the carbon powder storage tank 831, the adsorption part 840, the sealing motor 841, the positioning part 842, the limit cylinder 850, and the pressurizing cylinder 851. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0023] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims or the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0024] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0025] like Figure 1 As shown, Figure 1 It is a schematic diagram of a system platform architecture for executing an assembly method of a laser printer provided by an embodiment of the present invention.

[0026] exist Figure 1 In the example of the system platform architecture 1000, a processor 1100 and a memory 1200 are provided, wherein the processor 1100 and the memory 1200 can be connected via a bus or other means. Figure 1 The example of connecting through bus is taken in the following.

[0027] The memory 1200, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory 1200 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 1200 may optionally include a memory remotely arranged relative to the processor 1100, and these remote memories may be connected to the assembly equipment of the laser printer via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0028] Those skilled in the art will appreciate that the system platform architecture 1000 can be applied to 5G communication network systems and subsequently evolved mobile communication network systems, etc., and this embodiment does not specifically limit this.

[0029] It can be understood by those skilled in the art that Figure 1 The system platform architecture 1000 shown in the figure does not constitute a limitation on the embodiments of the present invention, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0030] Reference Figure 2 , Figure 2 A flowchart of a method for assembling a laser printer according to an embodiment of the present invention, using Figure 3-8 The assembly equipment of the laser printer shown in the figure includes a first assembly mechanism, a second assembly mechanism and a third assembly mechanism 500, the first assembly mechanism includes a developing roller installation module and a first end cover installation module, the second assembly mechanism includes a photosensitive drum installation module and a powder knife installation module, and the assembly method of the laser printer of the embodiment of the present invention may include but is not limited to step S100, step S200, step S300, step S400, and step S500.

[0031] Step S100, controlling the developing roller installation module to install the developing roller 401 on the first printing component to obtain a first developing printing component, wherein a toner cartridge is provided on the first printing component, and the developing roller 401 is installed at a toner outlet of the toner cartridge.

[0032] Specifically, refer to Figure 3 The first printing component of the present application has been pre-set with a toner cartridge, which is used to store the toner required for printing. The developing roller installation module accurately installs the developing roller 401 at the powder outlet of the toner cartridge. The function of the developing roller 401 is to absorb the toner from the toner cartridge and evenly distribute it on its surface so that the toner can be accurately transferred to the printing medium during the subsequent printing process. After completing this operation, the first developing printing component is obtained.

[0033] In some optional embodiments, the first assembly mechanism also includes a first component conveying device, the first component conveying device includes a first loading module, a second loading module, a first transmission module 200 and a second transmission module, and the control of the developing roller installation module to install the developing roller 401 on the first printing component before obtaining the first developing printing component also includes: conveying the first printing component to a first preset position through the first transmission module 200; controlling the first loading module to move the first printing component from the first preset position to the second transmission module; conveying the first printing component to a second preset position through the second transmission module; controlling the second loading module to move the first printing component from the second preset position to the developing roller installation module.

[0034] Specifically, refer to Figure 3 The first component conveying device is composed of a first feeding module, a second feeding module, a first transmission module 200 and a second transmission module, and is used to accurately convey the first printing component to the developing roller installation module. The first transmission module 200 is a device with conveying capability, which can be in the form of a conveyor belt, a conveyor chain or a mechanical arm, etc., which is not specifically limited here. The first transmission module 200 conveys the first printing component from the initial position to the first preset position. The first preset position is pre-set in the entire assembly process, which is convenient for the first feeding module to grab the first printing component.

[0035] The first loading module is a device with grabbing and transferring functions, which can be composed of mechanical claws, suction cups, etc., and there is no specific limitation. The first loading module accurately grabs the first printing component from the first preset position and transfers it to the second transmission module according to the instructions issued by the control system. The second transmission module is also a device for conveying components. It receives the first printing component transferred from the first loading module and continues to convey it to the second preset position. The second preset position is another pre-set key position. It is the stop point of the first printing component before reaching the developing roller installation module, which provides a suitable position for the operation of the second loading module. The second loading module is similar to the first loading module and has grabbing and transferring functions. The second loading module grabs the first printing component from the second preset position and accurately transfers it to the developing roller installation module.

[0036] In some optional embodiments, the first loading module includes a first slide rail 220, a first drive motor 210 and a first robot, the first robot includes a first clamp 240 and a first robot arm 230, the first robot arm 230 is slidably connected to the first slide rail 220, the first robot arm 230 is used to drive the first clamp 240, and the first robot arm 230 is also provided with a first visual detection device, and the control of the first loading module to move the first printing component from the first preset position to the second transmission module includes: within the first time when the first transmission module 200 transports the next first printing component to the first preset position, the first driving motor 210 drives the first robot arm 230 to move a first distance on the first slide rail 220, so that the first clamp 240 moves the previous first printing component to the second transmission module, and returns to the top of the first preset position; detect the first posture information of the next first printing component at the first preset position by the first visual detection device; generate a first drive signal according to the first posture information; drive the first clamp 240 to rotate a first angle relative to the first mechanical arm 230 by the first drive signal, so that the first clamp 240 and the next first printing component are in a preset relative posture; control the first moving component 241 between the first mechanical arm 230 and the first clamp 240 to move a second distance in the third direction, and control the first clamp 240 to clamp the next first printing component; after controlling the first clamp 240 to reset, drive the first mechanical arm 230 to move a first distance on the first slide rail 220 by the first drive motor 210, so that the first clamp 240 transfers the next first printing component to the second transmission module.

[0037] Specifically, refer to Figure 3-4 The first loading module is composed of a first slide rail 220, a first driving motor 210 and a first manipulator, and the first manipulator includes a first clamping claw 240 and a first mechanical arm 230, and the first mechanical arm 230 is slidably connected to the first slide rail 220 and can move on the slide rail. The first mechanical arm 230 is responsible for driving the first clamping claw 240 to perform grabbing and placing actions, and the first visual detection device provided on the first mechanical arm 230 is used to obtain the position and posture information of the first printing component.

[0038] Specifically, the first slide rail 220 is fixedly arranged on the first frame 100, and the first transmission module 200 is arranged on the side of the first frame 100. Within the first time when the first transmission module 200 transports the next first printing component to the first preset position, the first driving motor 210 starts to work. The first driving motor 210 provides power for the movement of the first mechanical arm 230 on the first slide rail 220, and drives the first mechanical arm 230 to move a first distance on the first slide rail 220. At this time, the first clamp 240 is in a state of grabbing the previous first printing component. As the first mechanical arm 230 moves, the first clamp 240 transfers the previous first printing component to the second transmission module, and returns to the top of the first preset position after the transfer is completed. This step realizes the transfer of the previous first printing component and prepares for grabbing the next first printing component, thereby improving work efficiency and enabling continuous operation. The first visual detection device is used to detect the posture of the next first printed component at the first preset position; the first visual detection device usually uses a camera, a sensor and other equipment (the specific equipment is not limited here), which can identify the position, angle, shape and other information of the first printed component, so as to obtain the first posture information of the next first printed component at the first preset position.

[0039] According to the first posture information obtained by the first visual detection device, the system analyzes and processes to generate a corresponding first driving signal. The signal includes instructions for controlling the action of the first clamping jaw 240, such as rotation angle, gripping force and other information, to ensure that the first clamping jaw 240 can accurately cooperate with the next first printing component.

[0040] The first driving signal is transmitted to the first clamp 240, driving the first clamp 240 to rotate a first angle relative to the first mechanical arm 230. By rotating the first clamp 240, the first clamp 240 and the next first printed component are in a preset relative posture, that is, the position and angle of the first clamp 240 match the first printed component, ensuring that the first clamp 240 can accurately grasp the first printed component, avoiding grasping failure or damage to the first printed component due to posture mismatch.

[0041] The first moving assembly 241 between the first mechanical arm 230 and the first clamping jaw 240 is controlled to move a second distance in the third direction. The first moving assembly 241 can be a linear guide rail, a cylinder or other device, which can realize the movement of the first clamping jaw 240 on the third direction axis. After moving the second distance, the first clamping jaw 240 reaches a suitable position, and then the first rotating motor 242 drives the first clamping jaw 240 to clamp the next first printing component.

[0042] After the first printing component is clamped, the first clamping claw 240 is controlled to reset to restore it to the initial state. Then, the first driving motor 210 drives the first mechanical arm 230 to move the first distance on the first slide rail 220 again. As the first mechanical arm 230 moves, the first clamping claw 240 transfers the next first printing component to the second transmission module, completing the transfer operation of the next first printing component. The second transmission module is also arranged on the first frame 100, located below the first slide rail 220, and a plurality of first bases 250 for placing the first printing component are arranged on the second transmission module. The first printing component is accurately placed on the first base 250 by identifying the first base 250. When the positioning device arranged on the first frame 100 recognizes that the first base 250 is located at the preset position for placing the first printing component, the first base 250 is stopped from moving, and in the process of placing the first printing component on the first base 250, the first base 250 is positioned in real time by the first visual detection device on the first mechanical arm 230, so as to ensure that the first printing component is accurately placed on the first base 250.

[0043] Through the above precise operation steps, the first loading module can efficiently and accurately transfer the first printing component from the first preset position to the second transmission module.

[0044] In some optional embodiments, the developing roller installation module includes a developing roller conveying module 400, a developing roller loading module and a third transmission module, and the controlling the developing roller installation module to install the developing roller 401 on the first printing component to obtain the first developing printing component includes: conveying the developing roller 401 to the third preset position by the developing roller conveying module 400; controlling the developing roller loading module to move the developing roller 401 from the third preset position to the fifth preset position within the time when the third transmission module transfers the first printing component to the fourth preset position, and the fourth position and the fifth preset position overlap with each other in the third direction; and controlling the developing roller loading module to move the developing roller 401 from the fifth preset position to the first printing component to obtain the first developing printing component.

[0045] Specifically, refer to Figure 3 The developing roller installation module is composed of a developing roller conveying module 400, a developing roller loading module and a third transmission module. The developing roller conveying module 400 is responsible for conveying the developing roller 401 to a specified position; the developing roller loading module is used to grab the developing roller 401 and move it to a suitable installation position; and the third transmission module is responsible for conveying the first printing component to the position required for installation.

[0046] The developing roller conveying module 400 can be composed of a conveyor belt, a mechanical arm or other conveying equipment. Its main task is to obtain the developing roller 401 from the storage area of ​​the developing roller 401 or the previous process, and accurately convey it to the third preset position. The third preset position is an intermediate stop point of the developing roller 401 during the installation process, which provides a fixed position for the subsequent grasping operation of the developing roller loading module, so that the developing roller loading module can accurately grasp the developing roller 401.

[0047] During the time when the third transmission module transmits the first printing component to the fourth preset position, the developing roller feeding module is controlled to move the developing roller 401 from the third preset position to the fifth preset position in parallel. While the third transmission module transmits the first printing component to the fourth preset position, the developing roller feeding module works synchronously to move the developing roller 401 from the third preset position to the fifth preset position. This effectively saves time and improves assembly efficiency.

[0048] The fourth position and the fifth preset position overlap each other in the third direction. When the first printing component reaches the fourth preset position and the developing roller 401 reaches the fifth preset position, they are at the same position in the third direction, thereby facilitating the accurate installation of the developing roller 401. The developing roller loading module is a device with a mechanical claw, which will grab the developing roller 401 from the third preset position and move it to the fifth preset position according to a preset program; during the movement, it is necessary to ensure that the posture and position of the developing roller 401 are accurate to avoid deviation during the installation process.

[0049] When the first printing component is located at the fourth preset position and the developing roller 401 is located at the fifth preset position and overlaps in the third direction, the developing roller loading module will continue to operate to accurately move the developing roller 401 to the first printing component. Specifically, the developing roller 401 will be installed at the powder outlet of the toner cartridge on the first printing component. After completion, the first developing printing component is obtained. During the installation process, the developing roller 401 must be precisely matched with the powder outlet of the toner cartridge to ensure that the toner can smoothly pass through the developing roller 401 for the developing operation. In order to ensure the installation accuracy, the developing roller loading module is equipped with corresponding sensors, positioning devices and other equipment to monitor the position of the developing roller 401 and the first printing component in real time, and adjust the posture according to the monitoring results.

[0050] In some optional embodiments, referring to Figure 3The second loading module includes a loading motor 320, a loading slide rail 310 and a loading robot. The loading robot includes a loading robot arm and a loading clamp 300. The loading slide rail 310 is arranged on the first frame 100. The loading motor 320 drives the loading robot to slide on the loading slide rail 310, so that the loading clamp 300 clamps the first printing component from the second preset position to the third transmission module of the developing roller installation module.

[0051] In some optional embodiments, the developing roller feeding module includes a second slide rail 440, a second drive motor 430 and a second manipulator, the second manipulator includes a second clamping claw 410 and a second mechanical arm 420, the second mechanical arm 420 is slidably connected to the second slide rail 440, the second mechanical arm 420 is used to drive the second clamping claw 410, and the second mechanical arm 420 is also provided with a second visual detection device, and the control of the developing roller installation module to install the developing roller 401 on the first printing component to obtain the first developing printing component includes: During the second time when the developing roller conveying module 400 conveys the next developing roller 401 to the third preset position, the second driving motor 430 drives the second mechanical arm 420 to move a third distance on the second slide rail 440, so that the second clamping claw 410 transfers the previous developing roller 401 to the previous first printing component and returns to the top of the third preset position; the second visual detection device detects the second posture information of the next developing roller 401 at the third preset position; generates a second driving signal according to the second posture information; and drives the second clamping claw 410 to rotate a second angle relative to the second mechanical arm 420 by the second driving signal, so that the second clamping claw 410 and the next developing roller 401 are rotated to the second position relative to the second mechanical arm 420. The developing rollers 401 overlap on the third direction axis; the second moving component between the second mechanical arm 420 and the second clamp 410 is controlled to move a fourth distance in the third direction, and the second clamp 410 is controlled to clamp the next developing roller 401; after the second clamp 410 is controlled to reset, the second mechanical arm 420 is driven by the second drive motor 430 to move a third distance on the second slide rail 440, so that the second clamp 410 moves the next developing roller 401 to the fifth preset position; the second moving component and the second clamp 410 are controlled to move the next developing roller 401 from the fifth preset position to the next first printing component to obtain the next first developing printing component.

[0052] Specifically, refer to Figure 3The developing roller conveying module 400 is composed of a second slide rail 440, a second driving motor 430 and a second manipulator. The second manipulator further comprises a second clamping claw 410 and a second mechanical arm 420. The second mechanical arm 420 is slidably connected to the second slide rail 440, and can be driven to move on the slide rail by a second driving motor 430 connected to the mechanical arm. The second clamping claw 410 motor on the mechanical arm can drive the second clamping claw 410 to complete the grasping of the developing roller 401. At the same time, the second visual detection device equipped on the second mechanical arm 420 is used to detect the posture information of the developing roller 401, so as to adjust the second clamping claw 410 according to the posture information of the developing roller 401 to accurately clamp the developing roller 401.

[0053] During the second time when the developing roller conveying module 400 conveys the next developing roller 401 to the third preset position, the second driving motor 430 is started. The second driving motor 430 provides power for the movement of the second mechanical arm 420 on the second slide rail 440, and drives the second mechanical arm 420 to move a third distance on the second slide rail 440. At this time, the second clamping claw 410 is in the state of grabbing the previous developing roller 401. As the second mechanical arm 420 moves, the second clamping claw 410 transfers the previous developing roller 401 to the previous first printing component to complete the installation, and then returns to the top of the third preset position; the installation of the previous developing roller 401 is realized, and the second mechanical arm returns to the initial position, ready for grabbing the next developing roller 401, ensuring the continuity and efficiency of the operation.

[0054] When the second clamping jaw 410 returns to the upper part of the third preset position, the second visual detection device detects the next developing roller 401 located at the third preset position. The second visual detection device uses a camera or other optical sensors (specifically not limited here) to identify the position, angle, shape and other information of the developing roller 401, thereby obtaining the second posture information of the next developing roller 401 at the third preset position. The action of the second clamping jaw 410 is adjusted according to the second posture information to ensure the accuracy of the grasping.

[0055] According to the second posture information obtained by the second visual detection device, the system analyzes and processes and generates a corresponding second driving signal. The signal includes instructions for controlling the action of the second clamping jaw 410, such as the rotation angle of the second clamping jaw 410, the gripping force and other information, to ensure that the second clamping jaw 410 can accurately cooperate with the next developing roller 401. Through accurate signal generation and control, the installation accuracy and efficiency of the developing roller 401 can be improved.

[0056] The second driving signal is transmitted to the second clamping jaw 410, driving the second clamping jaw 410 to rotate a second angle relative to the second mechanical arm 420. The second clamping jaw 410 and the next developing roller 401 overlap on the third directional axis. The position and angle of the second clamping jaw 410 match the developing roller 401, ensuring accurate alignment when grabbing the developing roller 401, avoiding grasping failure or damage to the developing roller 401 due to mismatched posture. The second moving component between the second mechanical arm 420 and the second clamping jaw 410 is controlled to move a fourth distance in the third direction. The second moving component can be a linear guide, a cylinder or other device, which can realize the movement of the second clamping jaw 410 on the third directional axis. After moving the fourth distance, the second clamping jaw 410 reaches a suitable position, and then the second rotating motor drives the second clamping jaw 410 to clamp the next developing roller 401.

[0057] After the second clamping jaw 410 clamps the next developing roller 401, the second clamping jaw 410 is controlled to return to the initial state. Then, the second driving motor 430 drives the second mechanical arm 420 to move the third distance on the second slide rail 440 again. As the second mechanical arm 420 moves, the second clamping jaw 410 moves the next developing roller 401 to the fifth preset position. The fifth preset position is a preparation position for installing the developing roller 401 on the first printing component, ensuring that the developing roller 401 is in a suitable position before installation.

[0058] The second moving assembly and the second clamping claw 410 are controlled to move the next developing roller 401 from the fifth preset position to the next first printing component. The second moving assembly and the second clamping claw 410 are precisely controlled to ensure that the developing roller 401 can be accurately installed on the first printing component, and the next first developing printing component is obtained after the installation is completed. Through the above precise operation steps, the developing roller conveying module 400 can efficiently and accurately install the developing roller 401 on the first printing component.

[0059] In some optional embodiments, the developing roller conveying module 400 includes a supporting base, a fixed frame 402, a movable plate 403, a horizontal motor and a vertical motor, the fixed frame 402 is arranged on the supporting base, the horizontal motor and the vertical motor are arranged in the fixed frame 402, and the movable plate 403 is arranged on the horizontal motor and the vertical motor, and the developing roller 401 is conveyed to the third preset position by the developing roller conveying module 400, including: controlling the horizontal motor to drive the movable plate 403 to move a first preset distance in the negative direction of the first direction axis, and then conveying the previous developing roller 401 to the third preset position; after the developing roller feeding module is moved from the third preset position After the previous developing roller 401 is moved away from the position: the vertical motor is controlled to drive the movable plate 403 to move a second preset distance in the negative direction of the third direction axis, so that the next developing roller 401 is located on the fixed frame 402; after the horizontal motor is controlled to drive the movable plate 403 to move a first preset distance in the positive direction of the first direction axis, the vertical motor is controlled to drive the movable plate 403 to move a second preset distance in the positive direction of the third direction axis, so that the movable plate 403 supports the next developing roller 401; after the horizontal motor is controlled to drive the movable plate 403 to move a first preset distance in the negative direction of the first direction axis, the next developing roller 401 is transported to the third preset position.

[0060] Specifically, refer to Figure 3 and Figure 5 The developing roller conveying module 400 is composed of a supporting base, a fixed frame 402, a movable plate 403, a horizontal motor and a vertical motor. The supporting base plays a role in stabilizing the entire module; the fixed frame 402 is installed on the supporting base to provide installation space for the horizontal motor and the vertical motor; the horizontal motor and the vertical motor are arranged inside the fixed frame 402, and are used to drive the movable plate 403 to move in the horizontal direction (first direction axis) and the vertical direction (third direction axis) respectively; the movable plate 403 is installed on the horizontal motor and the vertical motor, and the position is changed by the drive of the motor, thereby completing the conveying task of the developing roller 401.

[0061] The horizontal motor is controlled to start, and the horizontal motor drives the moving plate 403 to move the first preset distance (B to A) in the negative direction of the first direction axis. During the movement, the moving plate 403 moves with the last developing roller 401. After moving to the first preset distance, the last developing roller 401 is accurately transported to the third preset position. This position is the designated position where the developing roller 401 waits to be taken away by the developing roller feeding module for the next installation operation.

[0062] After the developing roller feeding module moves the last developing roller 401 from the third preset position, it is necessary to prepare for conveying the next developing roller 401. The specific steps are as follows: Vertical downward movement (A to D): The vertical motor is controlled to start, and the vertical motor drives the movable plate 403 to move a second preset distance in the negative direction of the third axis. This operation causes the movable plate 403 to descend, so that the next developing roller 401 can be located on the fixed frame 402, preparing for the subsequent lifting of the next developing roller 401.

[0063] Horizontal back movement (D to C) and vertical upward movement (C to B): First, the horizontal motor is controlled to drive the moving plate 403 to move a first preset distance in the positive direction of the first direction axis, so that the moving plate 403 returns to a suitable position so as to support the next developing roller 401. Then, the vertical motor is controlled to drive the moving plate 403 to move a second preset distance in the positive direction of the third direction axis, so that the moving plate 403 rises and supports the next developing roller 401.

[0064] Transporting the next developing roller 401 (B to A): Control the horizontal motor again to drive the moving plate 403 to move the first preset distance in the negative direction of the first direction axis. As the moving plate 403 moves, the next developing roller 401 is transported to the third preset position, thus completing the transport task of the next developing roller 401, waiting for the developing roller loading module to take it away for installation.

[0065] By cooperatively driving the movable plate 403 to move in different directions at preset distances through the horizontal motor and the vertical motor, the developing roller conveying module 400 can systematically convey the developing roller 401 to the third preset position in sequence, thereby ensuring the continuity and accuracy of the supply of the developing roller 401, and providing stable support for the subsequent installation of the developing roller 401, so that the entire laser printer assembly process can be carried out efficiently and orderly.

[0066] Step S200 , controlling the first end cover installation module to install the end cover on the first side of the developing and printing component to obtain a second developing and printing component, wherein the end cover is used to fix the position of the developing roller 401 .

[0067] Specifically, the end cap is located in the loading area, and the gripping device of the first end cap installation module will move to this area. The gripping device accurately grasps the end cap according to the preset program and parameters. During the gripping process, it is necessary to ensure that the gripping force is moderate, so that the end cap can be firmly grasped without causing damage to the end cap. The positioning device will position the developer and print component to determine its precise position and posture on the workbench, which can be achieved through sensors (such as optical sensors, laser sensors, etc.). The sensor will detect the feature points or edges of the developer and print component and feed back the detected information to the control system. The control system calculates the actual position of the developer and print component based on this information, and compares it with the preset installation position, thereby adjusting the relative position of the gripping device and the developer and print component.

[0068] After determining the position of the developer and print component, the drive device drives the gripper device to move the end cap to the first side of the developer and print component. When approaching the installation position, the installation module aligns the end cap with the installation interface on the developer and print component with precise movements. Then, through appropriate pressure and operation, the end cap is accurately installed on the first side of the developer and print component. After the installation is completed, the installation module will perform an installation inspection. The sensor can detect whether the end cap is installed in place, such as checking whether the gap between the end cap and the developer and print component meets the requirements, or checking whether the end cap is firmly fixed on the developer and print component. If a problem is found in the installation, the installation module will adjust or reinstall it.

[0069] In some optional embodiments, the first end cap installation module includes a first end cap conveying device 540, a second end cap conveying device 550 and a screw-on device, the first end cap conveying device 540 and the second end cap conveying device 550 are arranged side by side on the first side of the third transmission module, and the screw-on device moves between the first end cap conveying device 540 and the second end cap conveying device 550; the control of the first end cap installation module to install the end cap on the first side of the developing and printing component to obtain the second developing and printing component includes: after the first end cap conveying device 540 conveys the end cap to the developing and printing component corresponding to the first end cap conveying device 540, controlling the screw-on device to move to the first screw-on device above the first end cap conveying device 540 The screw position is controlled, and the screw-on device is controlled to screw the end cap at the first screw-on position so that the end cap is installed on the developing and printing component corresponding to the first end cap conveying device 540; during the time when the screw-on device installs the end cap on the developing and printing component corresponding to the first end cap conveying device 540, the end cap is conveyed to the developing and printing component corresponding to the first end cap conveying device 540 by the second end cap conveying device 550; the screw-on device is controlled to move to the second screw-on position above the second end cap conveying device 550, and the screw-on device is controlled to screw the end cap at the second screw-on position so that the end cap is installed on the developing and printing component corresponding to the second end cap conveying device 550.

[0070] Specifically, refer to Figure 6The first end cap installation module is composed of a first end cap conveying device 540, a second end cap conveying device 550 and a screwing device. The first end cap conveying device 540 and the second end cap conveying device 550 are arranged side by side on the first side of the third transmission module, and their function is to convey the end cap to the corresponding developer and print component. The screwing device can move between the two conveying devices and is responsible for fixing the end cap on the developer and print component by screwing, thereby completing the installation of the end cap and obtaining the second developer and print component.

[0071] The first end cap conveying device 540 conveys the end cap to the corresponding developer and print component. This process may be carried out with the help of conveying equipment such as a conveyor belt and a robotic arm (specific details are not limited) to accurately place the end cap at the appropriate position of the developer and print component. Control the screw-on device to move to the first screw-on position above the first end cap conveying device 540. The screw-on device can be moved by means of guide rails, sliders and other structures. After moving to the specified position, the screw tightening mechanism 560 is started to screw the end cap. By rotating the screw, the end cap is firmly installed on the developer and print component, completing this part of the installation work.

[0072] Convey the second end cap in parallel: while the screwing device is installing the end cap on the developer printing component corresponding to the first end cap conveying device 540, the second end cap conveying device 550 starts to work. It uses its own conveying function to convey the end cap to the developer printing component corresponding to the first end cap conveying device 540; through parallel operation (i.e., using the screwing time to allow the second end cap conveying device 550 to convey the end cap to the developer printing component; similarly, when screwing the developer printing component corresponding to the second end cap conveying device 550, the end cap is also conveyed to the developer printing component by the first end cap conveying device 540), it can effectively improve work efficiency and reduce the overall installation time.

[0073] After the second end cap conveying device 550 completes the conveying of the end cap, the screwing device is controlled to move to the second screwing position above the second end cap conveying device 550. Similarly, the screwing device will accurately move to the position along the preset path. After reaching the second screwing position, the screwing device starts the screw tightening mechanism 560 again to screw the end cap. By tightening the screws, the end cap is firmly installed on the developing and printing component corresponding to the second end cap conveying device 550, and finally the second developing and printing component with the end cap fully installed is obtained. The screwing device includes an upper screw slide rail 510, an upper screw main arm 520, and an upper screw motor 530 arranged on the upper screw main arm 520. The screw adsorbing member 840 at the lower end of the upper screw main arm 520 is rotated by the upper screw motor 530, so that the screw on the screw adsorbing member 840 is driven into the end cap. The upper screw slide rail 510 is provided with a corresponding motor to drive the upper screw main arm 520 to slide on the upper screw slide rail 510.

[0074] By rationally arranging the working order and parallel operation of each device, the efficiency and continuity of the end cap installation are achieved. The first end cap conveying device 540 and the second end cap conveying device 550 convey the end cap alternately, and the screwing device flexibly moves between the two and completes the screwing operation, which greatly improves the production efficiency and ensures the installation quality of the end cap of the developing and printing components during the assembly process of the laser printer.

[0075] Step S300, controlling the powder knife installation module to install the powder knife on the second printing component to obtain a first photosensitive printing component.

[0076] Specifically, refer to Figure 7 The powder knife installation module consists of a gripping device, a positioning device, a driving device and a control system. The gripping device is used to grab and fix the powder knife, which can be a mechanical gripper or a suction cup, etc. The positioning device can accurately determine the position and posture of the second printing component and the powder knife to ensure the accuracy of the installation, such as using sensors (such as optical sensors, laser sensors); the driving device provides power for the installation action, which can be composed of a motor, a cylinder, etc.; the control system coordinates and controls the entire installation process to ensure that each component works according to the predetermined procedures and parameters.

[0077] The powder knife is located in the corresponding feeding area. The control system sends instructions to move the grabbing device to the area and accurately grab and fix the powder knife according to the preset program and parameters.

[0078] When the powder knife is moved to the preset position above the second component, the second printing component is accurately positioned by the positioning device. The characteristic points or edges of the second printing component are detected by the sensor, or the corresponding contour information is detected by the visual detection device, and the detected information is fed back to the control system. The control system calculates the actual position of the second printing component based on this information and compares it with the preset installation position, thereby adjusting the relative position of the gripping device and the second printing component to ensure that the powder knife can be accurately installed at the specified position.

[0079] After determining the position of the second printing component, the driving device will drive the gripping device to move the powder knife to the installation position of the second printing component. When approaching the installation position, the installation module accurately aligns the powder knife with the installation interface on the second printing component. Then, through appropriate pressure and operation, the powder knife is accurately installed on the second printing component.

[0080] After installation is complete, the installation module will perform an installation check. The sensor can detect whether the powder knife is installed in place, such as checking whether the gap between the powder knife and the second printing part meets the requirements, or checking whether the powder knife is firmly fixed to the second printing part. If any problems are found in the installation, the installation module can adjust or reinstall it.

[0081] In some optional embodiments, the powder knife installation module includes a powder knife conveying module 620, a fourth transmission module and a powder knife loading module, and the control of the powder knife installation module to install the powder knife on the second printing component to obtain the first photosensitive printing component includes: conveying the powder knife to a sixth preset position through the powder knife conveying module 620; conveying the second printing component to a seventh preset position through the fourth transmission module, and the seventh position and the sixth position overlap in the third direction; controlling the powder knife loading module to move the powder knife from the sixth preset position to the second printing component to obtain the first photosensitive printing component.

[0082] Specifically, the powder knife installation module is composed of a powder knife conveying module 620, a fourth transmission module and a powder knife loading module. The powder knife conveying module 620 conveys the powder knife to a specified position; the fourth transmission module conveys the second printing component to a suitable installation position; and the powder knife loading module transfers the powder knife from the conveying position and installs it on the second printing component. The powder knife loading module is specifically arranged on the second frame 600.

[0083] The powder knife conveying module 620 can be composed of a conveyor belt, a mechanical arm or other conveying equipment. The powder knife conveying module 620 obtains the powder knife from the storage area of ​​the powder knife or the previous process, and then accurately conveys the powder knife to the sixth preset position according to the preset path and parameters. The sixth preset position is a preset position of the powder knife during the installation process, which is convenient for the powder knife feeding module to accurately clamp and take out the powder knife.

[0084] The fourth transmission module is also a device for conveying components, which receives the second printing component and conveys it to the seventh preset position. The fourth transmission module is also arranged on the second frame 600. The seventh position and the sixth position overlap in the third direction. When the powder knife is in the sixth preset position and the second printing component is in the seventh preset position, they are in the same position in the third direction, which enables the powder knife feeding module to more conveniently and accurately transfer the powder knife from the sixth preset position to the second printing component.

[0085] The powder knife feeding module is a device equipped with a mechanical claw or a suction cup. It will grab the powder knife from the sixth preset position according to the preset program, and then accurately transfer the powder knife to the installation position on the second printing component. During the transfer process, it is necessary to ensure that the posture and position of the powder knife are accurate to avoid deviations during the installation process. The specific powder knife feeding module includes a powder knife feeding manipulator, a powder knife feeding slide 625 and a powder knife feeding motor 621, and the powder knife feeding manipulator includes a powder knife feeding clamp 622 and a powder knife feeding mechanical arm 624. The powder knife feeding clamp 622 moves on the third axial axis through the third moving component 623, and the powder knife feeding clamp 622 is driven by the third rotating motor to grab the powder knife. The powder knife feeding motor 621 drives the powder knife feeding mechanical arm 624 to slide on the powder knife feeding slide 625. After the powder knife is accurately installed on the second printing component, the first photosensitive printing component is obtained.

[0086] Through the above-mentioned powder knife installation steps, the powder knife installation module can efficiently and accurately install the powder knife on the second printing component, so as to obtain the first photosensitive printing component that meets the requirements. The modules cooperate with each other in the whole process, and the steps are closely connected. By accurately controlling the movement and conveying position of each module, the assembly accuracy and efficiency are improved, the error rate is reduced, and the normal operation of the laser printer is ensured.

[0087] In some optional embodiments, the second printing component is delivered to the second printing component loading module through the second printing component conveying module 610, the second printing component moving assembly 613 of the second printing component loading module moves the second printing component on the third axial axis, and after the second printing component clamp 614 clamps the second printing component, the second printing component robot arm 615 of the second printing component robot is driven by the second printing component driving motor 612 to slide on the second printing component slide rail 611, thereby transferring the second printing component to the second printing component transmission module 616, and the second printing component transmission module 616 transmits the second printing component to the photosensitive drum installation module.

[0088] Step S400, controlling the photosensitive drum installation module to install the photosensitive drum on the first photosensitive printing component to obtain a second photosensitive printing component.

[0089] Specifically, the photosensitive drum installation module determines the exact position of the first photosensitive printing component and moves the photosensitive drum toward the first photosensitive printing component. When approaching the installation position, the photosensitive drum installation module aligns the photosensitive drum with the installation interface on the first photosensitive printing component with extremely high precision. Then, through appropriate pressure and precise operation, the photosensitive drum is accurately installed on the first photosensitive printing component.

[0090] In some optional embodiments, the photosensitive drum installation module includes a photosensitive drum conveying module 630, a fifth transmission module and a photosensitive drum loading module, and the control of the photosensitive drum installation module to install the photosensitive drum on the first photosensitive printing component to obtain the second photosensitive printing component includes: conveying the photosensitive drum to an eighth preset position through the photosensitive drum conveying module 630; conveying the first photosensitive printing component to a ninth preset position through the fifth transmission module, and the eighth position and the ninth position overlap in a third direction; and controlling the photosensitive drum loading module to move the photosensitive drum from the eighth preset position to the second printing component to obtain the second photosensitive printing component.

[0091] Specifically, refer to Figure 7 The photosensitive drum installation module is composed of a photosensitive drum conveying module 630, a fifth transmission module and a photosensitive drum loading module. The photosensitive drum conveying module 630 is responsible for conveying the photosensitive drum to a specified position; the fifth transmission module is responsible for conveying the first photosensitive printing component to a specific position; and the photosensitive drum loading module is responsible for moving the photosensitive drum from the conveying position to the first photosensitive printing component to complete the installation.

[0092] The photosensitive drum conveying module 630 can complete the conveying task by means of a conveyor belt, a mechanical arm, etc. The photosensitive drum conveying module 630 accurately conveys the photosensitive drum to the eighth preset position according to a preset path and parameters.

[0093] After receiving the first photosensitive printing component, the fifth transmission module will transport it to the ninth preset position according to the set program. The eighth position and the ninth position overlap in the third direction, so that the photosensitive drum loading module can more conveniently and accurately transfer the photosensitive drum from the eighth preset position to the first photosensitive printing component, reducing the adjustment difficulty of the loading module during the transfer process and improving the efficiency and accuracy of installation.

[0094] The photosensitive drum loading module is equipped with a gripping device such as a mechanical claw or a suction cup. According to the corresponding instructions, the photosensitive drum is grabbed from the eighth preset position. During the grabbing process, it is necessary to ensure that the grabbing force is moderate to avoid damage to the photosensitive drum. After successful grabbing, the loading module will accurately transfer the photosensitive drum to the installation position on the first photosensitive printing component. During the transfer process, it is necessary to ensure that the posture of the photosensitive drum is correct to ensure smooth installation. When the photosensitive drum is accurately installed on the first photosensitive printing component, the second photosensitive printing component is obtained.

[0095] Specifically, the photosensitive drum loading module includes a photosensitive drum loading robot, a photosensitive drum loading slide rail 635 and a photosensitive drum loading motor 631. The photosensitive drum loading robot includes a photosensitive drum loading claw 632 and a photosensitive drum loading mechanical arm 634. The photosensitive drum loading claw 632 moves on the third axis through the fourth moving component 633, and the photosensitive drum loading claw 632 is driven by the fourth rotating motor to grab the photosensitive drum. The photosensitive drum loading motor 631 drives the photosensitive drum loading mechanical arm 634 to slide on the photosensitive drum loading slide rail 635.

[0096] Step S500, controlling the third assembly mechanism 500 to mount the second developing printing component on the second photosensitive printing component to obtain a laser printer.

[0097] Specifically, the third assembly mechanism 500 includes a gripping device, a positioning system, a driving device, and a control system. The gripping device is responsible for firmly grasping the second developing and printing component, which may be in the form of a mechanical gripper, a vacuum suction cup, etc.; the positioning system uses sensors (such as optical sensors, laser rangefinders, etc.) to accurately determine the position and posture of the second developing and printing component and the second photosensitive printing component; the driving device is generally composed of a motor, a cylinder, etc., to provide power for the installation action; the control system coordinates and accurately controls the entire installation process to ensure that each component operates according to the predetermined program and parameters.

[0098] The second developing printing component and the second photosensitive printing component are respectively transported by the corresponding conveying modules to the working area of ​​the third assembly mechanism 500. Under the command of the control system, the grabbing device moves to the storage position of the second developing printing component, and accurately grabs the component according to the preset force and method to ensure that the component is not damaged during the grabbing process. The corresponding posture information is obtained by high-precision positioning of the second developing printing component and the second photosensitive printing component, such as obtaining the position, angle and other information of the two components through sensors or visual detection devices, and feeding back these data to the control system.

[0099] The control system calculates the relative position deviation between the two components based on the feedback information, and then drives the gripping device and related components to make fine adjustments so that the mounting interface of the second developing printing component and the second photosensitive printing component are accurately aligned. Under the control of the control system, the driving device drives the gripping device to slowly move the second developing printing component toward the second photosensitive printing component.

[0100] When approaching the installation position, the moving speed and force are further precisely controlled to smoothly install the second developing printing component onto the second photosensitive printing component. During the installation process, it is necessary to ensure that each connection part is tightly fitted, such as good electrical connection and stable mechanical structure.

[0101] After installation, the positioning system will check the installed parts again to verify the accuracy and stability of the installation. The inspection content includes whether the installation position is accurate, whether the connection is firm, whether the matching clearance between parts meets the requirements, etc. If any problems are found, the control system will issue instructions for adjustment or reinstallation.

[0102] In some optional embodiments, referring to Figure 8 The third assembly mechanism 500 includes an assembly feeding module, a first assembly transmission module 700 and a second assembly transmission module 740. The assembly feeding module includes an assembly feeding manipulator, an assembly feeding slide rail 710 and an assembly feeding motor 730. The assembly feeding manipulator includes an assembly feeding clamp 780 and an assembly feeding mechanical arm 720. The assembly feeding clamp 780 moves on the third axial axis through the fifth moving component 770, and the assembly feeding clamp 780 is driven by the fifth rotating motor 760 to grab the second developing and printing component. The assembly feeding motor 730 drives the assembly feeding mechanical arm 720 to slide on the assembly feeding slide rail 710, thereby moving the second developing and printing component to the second photosensitive printing component on the second assembly transmission module 740, and the second developing and printing component is installed on the second photosensitive printing component to obtain a laser printer. The second photosensitive printing component is specifically fixed in position by the second base 750 on the second assembly transmission module 740.

[0103] In some optional embodiments, the assembly equipment further includes a toner filling module, the toner filling module includes a first powder filling conveying module 810, a second powder filling conveying module 811, a toner filling module, a sealing module and a pressurizing module, and the control of the developing roller installation module to install the developing roller 401 on the first printing component before obtaining the first developing printing component also includes: conveying one or more of the first printing components to the second powder filling conveying module 811 through the first powder filling conveying module 810; conveying one or more of the first printing components to the toner filling module through the second powder filling conveying module 811; controlling the The toner filling module fills toner into the toner cartridge on one or more of the first printing components; the one or more first printing components filled with toner are conveyed to the sealing module through the second toner filling and conveying module 811; the sealing module is controlled to place a toner cover on the opening of the toner cartridge on one or more of the first printing components; the one or more first printing components after sealing are conveyed to the pressurizing module through the second toner filling and conveying module 811; the pressurizing module is controlled to pressurize the toner cover on one or more of the first printing components so that the toner cover seals the opening of the toner cartridge.

[0104] Specifically, refer to Fig. 9The first powder filling and conveying module 810, the second powder filling and conveying module 811, the toner filling module, the sealing module and the pressurizing module are all arranged in the third frame 800. One or more first printing components are conveyed to the second powder filling and conveying module 811 through the first powder filling and conveying module 810. The first powder filling and conveying module 810 can be conveyed by a conveyor belt, a mechanical arm or the like to ensure that the first printing component can safely and accurately reach the second powder filling and conveying module 811, so as to prepare for the subsequent powder filling operation.

[0105] The second toner filling and conveying module 811 conveys the received one or more first printing components to the toner filling module. The stability and accuracy of the conveying need to be ensured so that the first printing component can be accurately positioned at the working position of the toner filling module.

[0106] The toner filling module is controlled to fill toner into one or more toner cartridges on the first printing component. The toner filling module is equipped with a precise metering device and a conveying pipeline, and can accurately control the filling amount of toner according to the capacity and demand of the toner cartridge, ensuring that each toner cartridge can obtain an appropriate amount of toner.

[0107] The second powder filling and conveying module 811 plays a role again, conveying one or more first printing components after being filled with toner to the sealing module. The sealing module is controlled to place the toner cover on the opening of the toner cartridge on one or more first printing components. The sealing module uses mechanical clamps or suction cups and other devices to accurately grab the toner cover and place it in a suitable position. The second powder filling and conveying module 811 continues to convey the one or more first printing components after sealing to the pressurizing module. The pressurizing module is controlled to pressurize the toner cover on one or more first printing components so that the toner cover seals the opening of the toner cartridge. The pressurizing module usually applies appropriate pressure according to the material and structure of the toner cartridge to ensure a tight seal between the toner cover and the toner cartridge to prevent toner leakage.

[0108] Through the above operations, the toner filling module can efficiently and accurately fill the toner box of the first printing component with toner and seal it, providing the necessary conditions for the subsequent installation of the developing roller 401 and the normal operation of the printer. The automation and precise control of the entire process not only improves production efficiency, but also ensures the quality of toner filling and the sealing of the toner box, thereby improving the performance and reliability of the printer.

[0109] In some optional embodiments, the first end of the first powder filling and conveying module 810 is provided with a first pushing component, the second end of the second powder filling and conveying module 811 is provided with a second pushing component, the toner filling module is provided with a first number of toner filling components, the toner filling component includes a toner storage tank 831, the first end of the toner storage tank 831 is provided with a pushing rod, the first end of the toner storage tank 831 is provided with a toner filling port, the toner filling port is provided with an electric switch 830, the sealing module is provided with a first number of sealing components, the sealing component includes an adsorbent 840 and a positioning component 842, the pressurizing module includes a first number of pressurizing components, the pressurizing component includes a pressurizing cylinder 851 and a limiting cylinder 850, and the method further includes: after conveying the first number of the first printing components to the first end of the first powder filling and conveying module 810; controlling the first pushing component to move the first number of the first printing components to the first end of the first powder filling and conveying module 810; two ends; conveying a first quantity of the first printing components to a first quantity of the toner filling components through the second powder filling and conveying module 811, controlling the electric switch 830 to open the toner filling port, and pouring a preset capacity of toner from the toner filling port into the toner box through the pushing rod in the toner storage tank 831; conveying a first quantity of the first printing components after being filled with toner to a first quantity of the sealing components through the second powder filling and conveying module 811, controlling the adsorbing member 840 to adsorb the toner cover and then transfer it to the positioning member 842, and placing the toner cover on the opening of the toner box positioned by the positioning member 842; conveying the first quantity of the first printing components after sealing to a first quantity of the pressurizing components through the second powder filling and conveying module 811, controlling the limiting cylinder 850 to cover the first printing component, and controlling the pressurizing cylinder 851 to pressurize the toner cover so that the toner cover seals the opening of the toner box.

[0110] Specifically, the first powder filling and conveying module 810: The first end is equipped with a first moving component 241, whose function is to move the first printing component from the first end to the second end, playing the role of initial component transfer.

[0111] The second powder filling and conveying module 811: The second end has a second moving component, which is mainly responsible for conveying the first printing component between each process to ensure the continuity of the entire process.

[0112] Toner filling module: includes a first number of toner filling components, each component has a toner storage tank 831. A push rod is provided at one end of the storage tank for pushing the toner; a toner filling port with an electric switch 830 is also provided, and the toner filling can be accurately controlled by controlling the electric switch 830.

[0113] Sealing module: There are a first number of sealing components, each component is composed of a suction member 840 and a positioning member 842. The suction member 840 is used to suction the toner cover, and the positioning member 842 is used to accurately position the opening of the toner box so as to accurately place the toner cover.

[0114] Pressurizing module: includes a first number of pressurizing components, each component is composed of a pressurizing cylinder 851 and a limiting cylinder 850. The limiting cylinder 850 is used to fix the first printing component, and the pressurizing cylinder 851 pressurizes the toner cover to ensure the sealing of the toner cartridge.

[0115] The first quantity of first printing components is conveyed to the first end of the first powder filling and conveying module 810. The first pushing assembly is controlled to transfer the first quantity of first printing components from the first end of the first powder filling and conveying module 810 to the first end of the second powder filling and conveying module 811. Specifically, the first pushing assembly includes a first pushing plate 820 and a first pushing slide 821. The first pushing plate 820 is provided with a first pushing motor. The first pushing plate 820 is pushed by the first pushing motor so that the first pushing plate 820 slides on the first pushing slide 821, thereby pushing the first quantity of first printing components to the second toner conveying module. Specifically, the first printing components are placed on the fixed mold 812, and the fixed mold 812 moves on the first toner conveying module and the second toner conveying module.

[0116] The second powder filling and conveying module 811 conveys the first number of first printing components to the first number of toner filling components. The electric switch 830 is controlled to open the toner filling port, and the toner of a preset capacity is filled into the toner box from the toner filling port using the push rod in the toner storage tank 831. The design of the push rod can accurately control the filling amount of toner, and the electric switch 830 can flexibly control the timing of toner filling.

[0117] The second powder filling and conveying module 811 conveys the first number of first printing components filled with toner to the first number of sealing components. The suction member 840 is controlled to suction the toner cover and transfer it to the positioning member 842, and then the toner cover is placed on the toner box opening positioned by the positioning member 842. The cooperation between the suction member 840 and the positioning member 842 ensures the accuracy of the placement of the toner cover. The suction member 840 is also provided with a sealing motor 841, which drives the suction member 840 to move on the third directional axis, thereby moving the toner cover to the toner box opening.

[0118] The second powder filling and conveying module 811 conveys the first printed components of the first quantity after sealing to the first quantity of pressurizing components. The control limiting cylinder 850 sleeves the first printed component, and then controls the pressurizing cylinder 851 to pressurize the toner cover, so that the toner cover seals the opening of the toner cartridge. The limiting cylinder 850 ensures the stability of the first printed component during the pressurizing process, and ensures the stable position of the toner cover on the opening of the toner cartridge, preventing the toner cover from shifting and resulting in poor sealing effect. The pressurizing cylinder 851 provides sufficient pressure to achieve sealing.

[0119] Convey the first printed components of the first quantity to the second end of the second powder filling and conveying module 811. Control the second pushing component to transfer the first printed components of the first quantity from the second end of the second powder filling and conveying module 811 to the second end of the first powder filling and conveying module 810, so as to take out the first printed components after toner filling is completed, and continue to place the first printed components without toner filling on the fixed mold 812, and then convey them to the first end of the first powder filling and conveying module through the first powder filling and conveying module to complete the subsequent toner filling operation. Specifically, the second pushing component includes a second pushing plate 822 and a second pushing slide rail 823. A second pushing motor is arranged on the second pushing plate 822. By driving the second pushing plate 822 through the second pushing motor, the second pushing plate 822 slides on the second pushing slide rail 823, so as to push the first printed components of the first quantity to the first toner conveying module.

[0120] Implementing the embodiments of the present invention has the following beneficial effects: when assembling a laser printer, the developing roller 401 is installed on the first printing component by controlling the developing roller installation module to obtain a first developing printing component, wherein a toner cartridge is provided on the first printing component, and the developing roller 401 is installed at the powder outlet of the toner cartridge; the second developing printing component is obtained by controlling the first end cover installation module to install the end cover on the first side of the developing printing component, wherein the end cover is used to fix the position of the developing roller 401; the first photosensitive printing component is obtained by controlling the powder knife installation module to install the powder knife on the second printing component; the second photosensitive printing component is obtained by controlling the photosensitive drum installation module to install the photosensitive drum on the first photosensitive printing component; and the laser printer is obtained by controlling the third assembling mechanism 500 to install the second developing printing component on the second photosensitive printing component. In the technical solution of the present embodiment, by coordinating and controlling the developing roller installation module and the first end cover installation module of the first assembly mechanism, the second developing and printing component can be automatically assembled. At the same time, by coordinating and controlling the photosensitive drum installation module and the powder knife installation module of the second assembly mechanism, the second photosensitive printing component can be automatically assembled. Finally, by coordinating and controlling the first assembly mechanism, the second assembly mechanism and the third assembly mechanism 500, the third assembly mechanism 500 installs the second developing and printing component on the second photosensitive printing component to obtain a laser printer. Compared with traditional manual assembly processing, the present embodiment can effectively improve the assembly quality and assembly efficiency of the laser printer.

[0121] In addition, an embodiment of the present invention provides an assembly device for a laser printer, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0122] The processor and the memory may be connected via a bus or other means.

[0123] It should be noted that the computer in this embodiment may correspond to include: Figure 1 The memory and processor in the embodiment shown can constitute Figure 1 Part of the system architecture platform in the illustrated embodiment, both belong to the same inventive concept, so both have the same implementation principles and beneficial effects, and will not be described in detail here.

[0124] The non-transient software program and instructions required to implement the uplink co-channel interference elimination method of the above embodiment are stored in the memory. When executed by the processor, the assembly method of the laser printer of the above embodiment is executed, for example, the above described Figure 1 Method steps S100 to S500 in.

[0125] In addition, one embodiment of the present invention further provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are used to execute the laser printer assembly method of the laser printer assembly device, for example, the above-described Figure 1 Method steps S100 to S500 in.

[0126] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media generally include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0127] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A method for assembling a laser printer, characterized in that: Applied to an assembly device, the assembly device includes a first assembly mechanism, a second assembly mechanism and a third assembly mechanism, the first assembly mechanism includes a developing roller installation module and a first end cover installation module, the second assembly mechanism includes a photosensitive drum installation module and a powder knife installation module, and the assembly method of the laser printer includes: Controlling the developing roller installation module to install the developing roller on the first printing component to obtain a first developing printing component, wherein a toner cartridge is provided on the first printing component, and the developing roller is installed at a toner outlet of the toner cartridge; Controlling the first end cap installation module to install the end cap on the first side of the developing and printing component to obtain a second developing and printing component, wherein the end cap is used to fix the position of the developing roller; Controlling the powder knife installation module to install the powder knife on the second printing component to obtain a first photosensitive printing component; Controlling the photosensitive drum installation module to install the photosensitive drum on the first photosensitive printing component to obtain a second photosensitive printing component; The laser printer is obtained by controlling the third assembly mechanism to install the second developing printing component on the second photosensitive printing component.

2. The method for assembling a laser printer according to claim 1, characterized in that: The first assembly mechanism further includes a first component conveying device, the first component conveying device includes a first feeding module, a second feeding module, a first transmission module and a second transmission module, and the control of the developing roller installation module to install the developing roller on the first printing component before obtaining the first developing printing component further includes: The first printing component is transported to a first preset position by the first transmission module; Controlling the first loading module to transfer the first printing component from a first preset position to the second transmission module; transporting the first printing component to a second preset position through the second transmission module; The second loading module is controlled to move the first printing component from a second preset position to the developing roller installation module.

3. The method for assembling a laser printer according to claim 2, characterized in that: The first loading module includes a first slide rail, a first drive motor and a first manipulator, the first manipulator includes a first clamp and a first mechanical arm, the first mechanical arm is slidably connected to the first slide rail, the first mechanical arm is used to drive the first clamp, and the first mechanical arm is also provided with a first visual detection device, and the control of the first loading module to transfer the first printing component from a first preset position to the second transmission module includes: During a first time when the first transmission module delivers the next first printing component to the first preset position, the first driving motor drives the first mechanical arm to move a first distance on the first slide rail, so that the first clamping claw transfers the previous first printing component to the second transmission module and returns to the upper side of the first preset position; Detecting the first posture information of the next first printing component at the first preset position by the first visual detection device; Generate a first driving signal according to the first posture information; Drive the first gripper to rotate relative to the first mechanical arm by a first driving signal to a first angle, so that the first gripper and the next first printing component are in a preset relative posture; Controlling a first moving assembly between the first mechanical arm and the first clamping claw to move a second distance in a third direction, and controlling the first clamping claw to clamp the next first printing component; After the first clamp is controlled to reset, the first driving motor drives the first mechanical arm to move a first distance on the first slide rail, so that the first clamp transfers the next first printing component to the second transmission module.

4. The method for assembling a laser printer according to claim 1, characterized in that: The developing roller installation module comprises a developing roller conveying module, a developing roller feeding module and a third transmission module, and the controlling the developing roller installation module to install the developing roller on the first printing component to obtain the first developing printing component comprises: The developing roller is conveyed to a third preset position by the developing roller conveying module; During the time when the third transmission module transmits the first printing component to the fourth preset position, the developing roller feeding module is controlled to move the developing roller from the third preset position to the fifth preset position, and the fourth position and the fifth preset position overlap each other in the third direction; The first developing and printing component is obtained by controlling the developing roller feeding module to move the developing roller from the fifth preset position to the first printing component.

5. The method for assembling a laser printer according to claim 4, characterized in that: The developing roller feeding module comprises a second slide rail, a second driving motor and a second manipulator, the second manipulator comprises a second clamping claw and a second mechanical arm, the second mechanical arm is slidably connected to the second slide rail, the second mechanical arm is used to drive the second clamping claw, and the second mechanical arm is also provided with a second visual detection device, and the first developing printing component is obtained after the developing roller installation module is controlled to install the developing roller on the first printing component, including: During the second time when the developing roller conveying module conveys the next developing roller to the third preset position, the second driving motor drives the second mechanical arm to move a third distance on the second slide rail, so that the second clamping claw conveys the previous developing roller to the previous first printing component and returns to the upper side of the third preset position; Detecting second position information of the next developing roller at a third preset position by the second visual detection device; Generate a second drive signal according to the second posture information; The second clamping claw is driven to rotate relative to the second mechanical arm by a second angle by the second driving signal, so that the second clamping claw and the next developing roller overlap on the third direction axis; Controlling a second moving assembly between the second mechanical arm and the second clamping claw to move a fourth distance in a third direction, and controlling the second clamping claw to clamp a next developing roller; After the second clamping claw is controlled to reset, the second driving motor drives the second mechanical arm to move a third distance on the second slide rail, so that the second clamping claw moves the next developing roller to a fifth preset position; The next first developing and printing component is obtained by controlling the second moving assembly and the second clamping claw to move the next developing roller from the fifth preset position to the next first printing component.

6. The method for assembling a laser printer according to claim 4, characterized in that: The developing roller conveying module comprises a supporting base, a fixing frame, a moving plate, a horizontal motor and a vertical motor, wherein the fixing frame is arranged on the supporting base, the horizontal motor and the vertical motor are arranged in the fixing frame, and the moving plate is arranged on the horizontal motor and the vertical motor, and the developing roller is conveyed to the third preset position by the developing roller conveying module, comprising: Controlling the horizontal motor to drive the movable plate to move a first preset distance in the negative direction of the first direction axis, and then conveying the last developing roller to a third preset position; After the developing roller feeding module moves the last developing roller away from the third preset position: Controlling the vertical motor to drive the movable plate to move a second preset distance in the negative direction of the third axial direction so that the next developing roller is located on the fixed frame; After controlling the horizontal motor to drive the movable plate to move a first preset distance in the positive direction of the first direction axis, controlling the vertical motor to drive the movable plate to move a second preset distance in the positive direction of the third direction axis, so that the movable plate supports the next developing roller; After the horizontal motor is controlled to drive the movable plate to move a first preset distance in the negative direction of the first direction axis, the next developing roller is conveyed to a third preset position.

7. The method for assembling a laser printer according to claim 4, characterized in that: The first end cap installation module comprises a first end cap conveying device, a second end cap conveying device and a screwing device, wherein the first end cap conveying device and the second end cap conveying device are arranged side by side on the first side of the third transmission module, and the screwing device moves between the first end cap conveying device and the second end cap conveying device; The controlling the first end cap installation module to install the end cap on the first side of the developing and printing component to obtain the second developing and printing component comprises: After the first end cap conveying device conveys the end cap to the developer and print component corresponding to the first end cap conveying device, control the screwing device to move to a first screwing position above the first end cap conveying device, and control the screwing device to screw the end cap at the first screwing position, so that the end cap is installed on the developer and print component corresponding to the first end cap conveying device; During the time when the screw-on device installs the end cap on the developer and print component corresponding to the first end cap conveying device, the end cap is conveyed to the developer and print component corresponding to the first end cap conveying device by the second end cap conveying device; The screw-on device is controlled to move to a second screw-on position above the second end cover conveying device, and the screw-on device is controlled to screw the end cover at the second screw-on position so that the end cover is installed on the developing and printing component corresponding to the second end cover conveying device.

8. The method for assembling a laser printer according to claim 1, characterized in that: The powder knife installation module includes a powder knife conveying module, a fourth transmission module and a powder knife feeding module, and the control of the powder knife installation module to install the powder knife on the second printing component to obtain the first photosensitive printing component includes: The powder discharge knife is conveyed to a sixth preset position by the powder discharge knife conveying module; The second printing component is conveyed to a seventh preset position by the fourth transmission module, and the seventh position and the sixth position overlap in the third direction; The first photosensitive printing component is obtained by controlling the powder knife loading module to move the powder knife from the sixth preset position to the second printing component.

9. The method for assembling a laser printer according to claim 1, characterized in that: The photosensitive drum installation module includes a photosensitive drum conveying module, a fifth transmission module and a photosensitive drum feeding module, and the control of the photosensitive drum installation module to install the photosensitive drum on the first photosensitive printing component to obtain the second photosensitive printing component includes: The photosensitive drum is transported to an eighth preset position by the photosensitive drum transport module; The first photosensitive printing component is conveyed to a ninth preset position by the fifth transmission module, and the eighth position and the ninth position overlap in the third direction; The photosensitive drum loading module is controlled to transfer the photosensitive drum from the eighth preset position to the second printing component to obtain the second photosensitive printing component.

10. The method for assembling a laser printer according to claim 1, characterized in that: The assembly equipment further includes a toner filling module, which includes a first toner filling and conveying module, a second toner filling and conveying module, a toner filling module, a sealing module and a pressurizing module. After the developing roller installation module is controlled to install the developing roller on the first printing component and before obtaining the first developing printing component, the device further includes: Conveying one or more of the first printing components to the second powder filling and conveying module through the first powder filling and conveying module; Conveying one or more of the first printing components to the toner filling module through the second toner filling and conveying module; Controlling the toner filling module to fill toner into the toner cartridges on one or more of the first printing components; The one or more first printing components filled with toner are conveyed to the sealing module through the second toner filling and conveying module; Controlling the sealing module to place a toner cover on an opening of the toner cartridge on one or more of the first printing components; The sealed one or more first printing components are conveyed to the pressurizing module through the second powder filling and conveying module; The pressurizing module is controlled to pressurize the toner cover on one or more of the first printing components so that the toner cover seals the opening of the toner cartridge.

11. The method for assembling a laser printer according to claim 10, characterized in that: The first end of the first powder filling and conveying module is provided with a first pushing component, the second end of the second powder filling and conveying module is provided with a second pushing component, the carbon powder filling module is provided with a first number of carbon powder filling components, the carbon powder filling component includes a carbon powder storage tank, the first end of the carbon powder storage tank is provided with a pushing rod, the first end of the carbon powder storage tank is provided with a carbon powder filling port, the carbon powder filling port is provided with an electric switch, the sealing module is provided with a first number of sealing components, the sealing component includes an adsorbent and a positioning component, the pressurizing module includes a first number of pressurizing components, the pressurizing component includes a pressurizing cylinder and a limiting cylinder, and the method further includes: After conveying a first quantity of the first printing components to a first end of the first powder filling and conveying module; Controlling the first pushing assembly to move a first quantity of the first printing components to the second end of the first powder filling and conveying module; The first printing components are conveyed to the first toner filling assembly by the second toner filling and conveying module, the electric switch is controlled to open the toner filling port, and a preset volume of toner is poured into the toner cartridge from the toner filling port by the push rod in the toner storage tank; The first printing components filled with toner are conveyed to the sealing components of the first quantity by the second toner filling and conveying module, the adsorbing component is controlled to adsorb the toner cover and then transfer it to the positioning component, and the toner cover is placed on the opening of the toner box positioned by the positioning component; The first number of the sealed first printing components are conveyed to the first number of the pressurizing components through the second powder filling and conveying module. After the limiting cylinder is controlled to cover the first printing components, the pressurizing cylinder is controlled to pressurize the toner cover so that the toner cover seals the opening of the toner box.

12. An assembly device for a laser printer, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the laser printer assembly method according to any one of claims 1 to 11 when executing the computer program.

13. A computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, and the computer executable instructions are used to execute the assembly method of the laser printer according to any one of claims 1-11.

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