An automated production equipment for assembling gyrotron components

Abstract

The present invention discloses an automated production equipment for assembling gyrotron components, characterized in that it includes a loading robot, a loading tool library, a parts platform, an assembly platform, a press mechanism, a blanking robot, and a blanking tool library; the loading robot places the gyrotron components on the assembly platform in an assembly order by cooperating with a plurality of loading claw assemblies; the press mechanism is used to apply a preset pressure to the gyrotron components during the assembly process and form pre-assembled gyrotron components; the blanking robot loads solder to the gyrotron components during the assembly process and unloads the assembled gyrotron components through a plurality of solder suction assemblies. The entire automated production equipment for assembling gyrotron components can automatically assemble and solder gyrotron components, can meet the requirements of automated production, realize efficient automated assembly of gyrotron components, replace the traditional manual assembly of gyrotrons, and improve the assembly efficiency and assembly accuracy of gyrotron components.

Description

Technical Field

[0001] The invention belongs to the technical field of gyrotron component assembly production, and in particular relates to automated gyrotron component assembly production equipment. Background Art

[0002] Gyrotrons, including gyrotrons, gyroklystrons, and gyro-traveling-wave tubes, belong to the category of vacuum electronic devices. Taking the gyro-traveling-wave tube as an example, its operating principle is based on the cyclotron resonance of relativistic electrons in a strong magnetic field. When the electron velocity matches the phase of the electromagnetic wave, the electron transfers energy to the electromagnetic wave, thereby amplifying the microwave signal.

[0003] Traditional manual assembly methods for gyrotrons present numerous drawbacks. Manual assembly requires the use of numerous fixtures to ensure concentricity between components. However, the tedious assembly and removal of these fixtures hinders ease of assembly and significantly reduces efficiency. Furthermore, the continuous development of new tube shapes necessitates the production of numerous new fixtures, significantly increasing production costs.

[0004] In order to solve the above problems and realize the efficient and precise assembly of gyrotron components, it is imperative to design an automated production equipment for assembling gyrotron components. Summary of the Invention

[0005] Based on the problems existing in the above background technology, the present invention proposes an automated production equipment for assembling gyrotron components, which improves the assembly efficiency and assembly accuracy of gyrotron components and solves the problems of cumbersome operation, low efficiency and high cost in traditional manual assembly of gyrotrons.

[0006] The embodiment of the present invention is implemented as follows: The present invention provides an automated production equipment for assembling gyroscopic tube components, which includes a loading robot, a loading tool library, a parts material table, an assembly platform, a press mechanism, a blanking robot and a blanking tool library;

[0007] The parts platform is used to carry the gyrotron parts;

[0008] The loading tool library is provided with a plurality of loading jaw assemblies of different models;

[0009] The loading robot places the gyrotron parts on the assembly platform in the assembly order by cooperating with the plurality of loading gripper assemblies; the pressing mechanism of the press is used to apply a preset pressure to the gyrotron parts during the assembly process and form a pre-assembled gyrotron component;

[0010] The blanking tool library is provided with a solder placement table, a blanking clamp assembly and multiple solder suction assemblies of different models; solder is placed on the solder placement table; the blanking robot blanks the pre-assembled gyroscopic tube components through the blanking clamp assembly; the blanking robot loads solder to the gyroscopic tube parts in the assembly process through multiple solder suction assemblies.

[0011] Furthermore, the parts platform includes a loading rack, which includes a plurality of brackets arranged at horizontal intervals, and two adjacent brackets are fixedly connected by a crossbeam, and a mounting plate is provided on the top of each bracket; at least one material tray installation station is provided between two adjacent mounting plates, and each material tray installation station is installed and fixed with a material tray, and each material tray is provided with a plurality of circular grooves for carrying the gyroscopic tube parts.

[0012] Furthermore, a tray sensor is provided on one side of each tray installation station, and the tray sensor is fixedly connected to the top of the mounting plate; the crossbeam between the two adjacent brackets is located at the top position of the rear side of the bracket, and the distance between the two adjacent brackets is greater than the width of the AGV feeding car; each tray installation station is provided with four supporting blocks fixedly connected to the two mounting plates respectively, and the four supporting blocks are arranged in a rectangular arrangement, wherein the tops of the two diagonal supporting blocks are provided with positioning pins; each tray has a square structure, and a positioning hole that cooperates with the positioning pin is provided at the diagonal of the lower end of the tray.

[0013] Furthermore, the loading tool library includes a first supporting platform, and a plurality of the loading clamping jaw assemblies are arranged on the first supporting platform.

[0014] Furthermore, the assembly platform includes a marble platform frame, a bottom positioning platform assembly, a middle assembly clamp assembly, and an upper assembly clamp assembly; the marble platform frame includes a horizontally arranged first marble platform and two vertically arranged second and third marble platforms;

[0015] The bottom positioning platform assembly is arranged on the top horizontal surface of the first marble platform, and the bottom positioning platform assembly is used to center and position the cylindrical component mold;

[0016] The middle assembly jaw assembly and the upper assembly jaw assembly are respectively arranged on the vertical surfaces of one side of the second marble platform and the third marble platform. The middle assembly jaw assembly and the upper assembly jaw assembly are used to clamp the gyroscopic tube parts of different diameters for assembly.

[0017] Furthermore, a gripper delivery platform is positioned on the top horizontal surface of the first marble platform;

[0018] The bottom positioning platform assembly includes a component placement platform horizontally arranged on the top horizontal surface of the first marble platform, and the component placement platform is provided with a first synchronous clamping mechanism for clamping and positioning the gyroscopic tube parts;

[0019] The middle assembly jaw assembly and the upper assembly jaw assembly each include a lifting and transplanting mechanism and a second synchronous clamping mechanism arranged on the lifting and transplanting mechanism; the lifting and transplanting mechanism can drive the second synchronous clamping mechanism to perform vertical lifting movement and horizontal transplanting movement; the second synchronous clamping mechanism is used to clamp gyroscopic tube parts of different diameters.

[0020] Furthermore, the loading jaw assembly, the unloading jaw assembly, the first synchronous clamping mechanism and the second synchronous clamping mechanism all include a double-nut reverse linear module, a pressure sensor, a servo motor and a pair of V-shaped jaws. The openings of the pair of V-shaped jaws are arranged opposite to each other, the servo motor drives the double-nut reverse linear module to work, and the double-nut reverse linear module drives the pair of V-shaped jaws to move toward or away from each other at the same time; the pressure sensor is arranged on the clamping surface of a pair of V-shaped jaws.

[0021] Furthermore, the press pressing mechanism includes a reaction frame and multiple long press tubes of different lengths; a one-way movable module is provided on the top of the reaction frame, a servo electric cylinder is provided on the one-way movable module, and the output end of the servo electric cylinder is provided with a pressure head located at the top of the upper assembly clamping jaw assembly, and a pressure sensor is provided between the pressure head and the output end of the servo electric cylinder; multiple long press tubes are arranged on the first supporting platform.

[0022] Furthermore, a press long tube temporary storage platform and a 3D vision component are respectively provided on the top horizontal surface and the side wall of the first marble platform.

[0023] Furthermore, the loading robot and the multiple loading clamping jaw assemblies, as well as the unloading robot and the unloading clamping jaw assembly and the solder suction assembly are all electrically connected with quick plug connections.

[0024] The beneficial effects of the present invention are as follows: the automated production equipment for assembling gyrotron components provided by the present invention can automatically assemble gyrotron parts and load solder, can meet the requirements of automated production, realize efficient automated assembly of gyrotron components, replace the traditional manual assembly of gyrotrons, improve the assembly efficiency and assembly accuracy of gyrotron components, and solve the problems of cumbersome operation, low efficiency and high cost in the traditional manual assembly of gyrotrons. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without inventive work. The above and other objects, features and advantages of the present invention will become more apparent through the accompanying drawings. The same reference numerals indicate the same parts throughout the drawings. The drawings are not intentionally scaled to their actual sizes, and the focus is on illustrating the main purpose of the present invention.

[0026] Figure 1 This is a schematic diagram of the overall structure of an automated production equipment for assembling gyrotron components.

[0027] Figure 2 This is a structural diagram of the loading tool library.

[0028] Figure 3 It is a structural diagram of the parts material platform.

[0029] Figure 4 Schematic diagram of the structure of the bearing block.

[0030] Figure 5 This is a top-down structural diagram of the material tray.

[0031] Figure 6 Schematic diagram of the structure of the assembly platform and press mechanism.

[0032] Figure 7 This is a schematic diagram of the three-dimensional structure of the press mechanism after omitting the reaction frame.

[0033] Figure 8 This is a structural diagram of the blanking tool library.

[0034] Among them, 1. loading robot; 2. loading tool library; 21. loading claw assembly; 22. first load platform;

[0035] 3. Parts platform; 31. Loading rack; 32. Bracket; 33. Crossbeam; 34. Mounting plate; 35. Tray installation station; 36. Tray; 37. Circular groove; 38. Tray sensor; 39. Carrying block; 310. Positioning pin; 311. Positioning hole;

[0036] 4. Assembly platform; 41. Marble platform rack; 42. Bottom positioning platform assembly; 43. Middle assembly clamp assembly; 44. Upper assembly clamp assembly; 45. First marble platform; 46. Second marble platform; 47. Third marble platform; 48. Clamp delivery platform; 49. Component placement platform; 410. First synchronous clamping mechanism; 411. Lifting and transplanting mechanism; 412. Second synchronous clamping mechanism;

[0037] 5. Pressing mechanism; 51. Reaction frame; 52. Pressing tube; 53. One-way moving module; 54. Servo cylinder; 55. Press head; 56. Pressure sensor;

[0038] 6. Unloading robot;

[0039] 7. Unloading tool library; 71. Solder placement table; 72. Unloading clamp assembly; 73. Solder suction assembly;

[0040] 8. 3D vision components;

[0041] 9. Temporary placement platform for long pipes of press. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0044] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0045] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0046] Please refer to Figure 1 As shown, the present invention provides an automated production equipment for assembling gyrotron components, including a loading robot 1, a loading tool library 2, a parts material platform 3, an assembly platform 4, a press pressing mechanism 5, a blanking robot 6 and a blanking tool library 7; the parts material platform 3 is used to carry gyrotron components; a plurality of loading clamping jaw assemblies 21 of different models are provided on the loading tool library 2; the loading robot 1 places the gyrotron components on the assembly platform 4 according to the assembly sequence by cooperating with the plurality of loading clamping jaw assemblies 21; the press pressing mechanism 5 is used to apply a preset pressure to the gyrotron components during the assembly process and form a pre-assembled gyrotron component; as shown Figure 8As shown, the blanking tool library 7 is provided with a solder placement table 71, a blanking clamp assembly 72 and multiple solder suction assemblies 73 of different models; solder is placed on the solder placement table 71; the blanking robot 6 blanks the pre-assembled gyroscopic tube components through the blanking clamp assembly 72; the blanking robot 6 loads solder to the gyroscopic tube parts in the assembly process through multiple solder suction assemblies 73.

[0047] Preferably, but not limited to, electrical quick-connect connections are used between the loading robot 1 and the multiple loading gripper assemblies 21, and between the unloading robot 6 and the unloading gripper assembly 72 and the solder suction assembly 73. Electrical quick-connect connections are a technology that achieves efficient connectivity of circuits or fluid pathways through rapid plugging and unplugging. In this embodiment, bayonet-type electrical quick-connect connections are used between the loading robot 1 and the multiple loading gripper assemblies 21, and between the unloading robot 6 and the unloading gripper assembly 72 and the solder suction assembly 73.

[0048] like Figure 2 As shown, the loading tool magazine 2 includes a first loading platform 22 , on which a plurality of loading clamping claw assemblies 21 are arranged.

[0049] like Figure 3 As shown, as a specific arrangement of the parts material platform 3, the parts material platform 3 includes a loading rack 31, which includes a plurality of brackets 32 arranged at intervals horizontally. Two adjacent brackets 32 are fixedly connected by a crossbeam 33, and a mounting plate 34 is provided on the top of each bracket 32; at least one tray installation station 35 is provided between two adjacent mounting plates 34, and each tray installation station 35 is fixedly installed with a tray 36, and each tray 36 is provided with a plurality of circular grooves 37 for carrying the gyroscopic tube parts. Specifically, the circular grooves 37 are customized according to the shape and size of the gyroscopic tube parts, which can ensure the stability of the placement of the gyroscopic tube parts, reduce errors in the assembly process, and improve assembly accuracy.

[0050] In actual use, the parts table 3 is adapted to the loading robot 1, and all the different gyrotron parts in a single gyrotron component are placed separately in different circular grooves 37 of the material tray 36. The loading robot 1 can quickly and accurately find and pick up the required parts according to the preset program, which can meet the requirements of automated production and realize efficient automated assembly of gyrotron components. Compared with manual assembly, which requires searching and picking up parts in a large number of fixtures, the picking time is greatly shortened and the assembly efficiency is improved. It avoids the use of a large number of fixtures in traditional manual assembly, reduces the cost of making new fixtures due to the development of new tube types, and reduces the production cost of gyrotrons.

[0051] A tray sensor 38 is provided on one side of each tray installation station 35. The tray sensor 38 is an ultrasonic position sensor, a radar position sensor or a laser position sensor, and is used to detect whether the tray 36 is in the correct position.

[0052] The tray sensor 38 is fixedly connected to the top of the mounting plate 34; the crossbeam 33 between two adjacent brackets 32 is located at the top rear side of the bracket 32, and the distance between two adjacent brackets 32 is greater than the width of the AGV feeding vehicle, which is convenient for the AGV feeding vehicle to load the tray 36 to the tray installation station 35 or unload the tray 36 to the tray installation station 35, which can meet the production requirements of automated loading and unloading.

[0053] like Figure 4 and Figure 5 As shown, each tray installation station 35 is equipped with four supporting blocks 39, each fixedly connected to two mounting plates 34. The four supporting blocks 39 are arranged in a rectangular shape, with locating pins 310 located at the tops of the two diagonal supporting blocks 39. Each tray 36 is square in structure, with locating holes 311 located at the diagonal corners of the lower end of the tray 36, which cooperate with the locating pins 310. This ensures that the tray 36 is precisely positioned and installed on the tray installation station 35. Furthermore, the locating pins 310 cooperate with the locating holes 311 to correct deviations in the tray 36 and improve its positioning accuracy. This enables the automated guided vehicle (AGV) to automatically transport the trays 36 and ensures the accuracy of the robot's positioning, grasping parts, and assembly.

[0054] like Figure 1 and Figure 6 As shown, the assembly platform 4 includes a marble platform frame 41, a bottom positioning platform assembly 42, a middle assembly clamp assembly 43, and an upper assembly clamp assembly 44; the marble platform frame 41 includes a horizontally arranged first marble platform 45 and two vertically arranged second marble platforms 46 and a third marble platform 47; they are used to ensure the stability of the mechanism during operation and the position accuracy between each structure.

[0055] The bottom positioning platform assembly 42 is disposed on the top horizontal surface of the first marble platform 45 , and the bottom positioning platform assembly 42 is used to center and position the cylindrical component mold;

[0056] The middle assembly jaw assembly 43 and the upper assembly jaw assembly 44 are respectively arranged on the vertical surfaces of one side of the second marble platform 46 and the third marble platform 47. The middle assembly jaw assembly 43 and the upper assembly jaw assembly 44 are used to clamp the gyroscopic tube parts of different diameters for assembly.

[0057] A 3D vision component 8 is provided on the side wall of the first marble platform 45. The 3D vision component 8 includes a 3D camera, a mounting bracket 32 ​​and a vision control system for locating the center of the solder sheet and calculating the offset compensation value.

[0058] A gripper delivery platform 48 is positioned on the top horizontal surface of the first marble platform 45 ; the gripper delivery platform 48 is used to position and place coil components, facilitates assembly of coil components and ensures freedom during the loading process of cylindrical components.

[0059] As a specific arrangement of the bottom positioning platform assembly 42, the middle assembly jaw assembly 43 and the upper assembly jaw assembly 44, the bottom positioning platform assembly 42 includes a component placement platform 49 horizontally arranged on the top horizontal plane of the first marble platform 45, and a first synchronous clamping mechanism 410 for clamping and positioning the gyrotube parts is provided on the component placement platform 49.

[0060] The middle assembly jaw assembly 43 and the upper assembly jaw assembly 44 each include a lifting and transplanting mechanism 411 and a second synchronous clamping mechanism 412 arranged on the lifting and transplanting mechanism 411; the lifting and transplanting mechanism 411 can drive the second synchronous clamping mechanism 412 to perform vertical lifting movement and horizontal transplanting movement; the second synchronous clamping mechanism 412 is used to clamp gyroscopic tube parts of different diameters.

[0061] like Figure 6 and Figure 7 As shown, the press mechanism 5 includes a reaction frame 51 and multiple press tubes 52 of varying lengths. A unidirectional movable module 53 is mounted on top of the reaction frame 51, on which a servo electric cylinder 54 is mounted. A pressure head 55 located at the top of the upper assembly jaw assembly 44 is mounted at the output end of the servo electric cylinder 54, with a pressure sensor 56 disposed between the pressure head 55 and the output end of the servo electric cylinder 54. The multiple press tubes 52 are mounted on the first support platform 22. The unidirectional movable module 53 can drive the servo electric cylinder 54 and the pressure head 55 connected to the servo electric cylinder 54 to move, aligning them with the gyrotron components or the press tubes 52 to achieve precise compression of the gyrotron components. The pressure sensor 56 can monitor the pressure applied by the pressure head 55 to the gyrotron components. The provision of multiple press tubes 52 of varying lengths allows for adaptability to gyrotrons of varying lengths, enabling compression of assembled gyrotrons of varying lengths.

[0062] A temporary placement platform 9 for the long press tubes is provided on the top horizontal surface of the first marble platform 45 , which is used for adjusting the position of the loading robot 1 gripping the long press tubes 52 when the long press tubes 52 are loaded and unloaded.

[0063] In the present invention, the feeding jaw assembly 21, the unloading jaw assembly 72, the first synchronous clamping mechanism 410 and the second synchronous clamping mechanism 412 all include a double-nut reverse linear module, a pressure sensor, a servo motor and a pair of V-shaped jaws. The openings of the pair of V-shaped jaws are arranged relative to each other. The servo motor drives the double-nut reverse linear module to work, and the double-nut reverse linear module drives the pair of V-shaped jaws to move toward or away from each other at the same time. The pressure sensor is arranged on the clamping surface of the pair of V-shaped jaws. The V-shaped jaws can perform centering clamping on gyroscopic tube parts of different diameters, and can realize the assembly of any gyroscopic tube components of the same type, thereby improving the assembly efficiency and assembly accuracy of the gyroscopic tube components, and further improving the versatility of the gyroscopic tube component assembly.

[0064] Specifically, the solder suction assembly 73 includes two synchronized telescopic mechanisms, each comprised of a double-nut reverse linear module, a connecting rod telescoping mechanism, four vacuum rods, and a servo motor. These mechanisms drive the solder suction assembly 73 to extend and retract, allowing the four rods to form circles of varying diameters to absorb solder sheets of varying diameters. Multiple models of solder suction assemblies 73 are available to accommodate different solder sheet sizes.

[0065] The actual workflow of an automated production equipment for gyrotron component assembly includes:

[0066] 1. Loading process: The AGV feeding vehicle places the tray 36 containing the gyroscopic tube parts on the tray installation station 35 of the parts material table 3; the loading robot 1 and the loading clamp assembly 21 are connected by a robot tool quick changer, the loading robot 1 picks up and transports the loading clamp assembly 21, the loading clamp assembly 21 clamps the gyroscopic tube parts on the tray 36, the loading robot 1 transports the gyroscopic tube parts to the clamp delivery platform 48, the loading clamp assembly 21 performs secondary clamping and positioning on the gyroscopic tube parts, the loading robot 1 returns to the standby position, and the loading is completed.

[0067] 2. Component mold assembly process: the loading robot 1 picks up and carries the loading clamp assembly 21, the loading clamp assembly 21 clamps the clamp delivery platform 48, the loading robot 1 carries the component mold on the clamp delivery platform 48 to the middle assembly clamp part delivery position, the second synchronous clamping mechanism 412 in the middle assembly clamp assembly 43 clamps the component mold on the clamp delivery platform 48, the loading robot 1 sends the clamp delivery platform 48 back, the loading robot 1 returns to the standby position, the lifting and transferring mechanism 411 in the middle assembly clamp assembly 43 sends the component mold to the component placement platform 49 in the bottom positioning platform assembly 42, the synchronous clamping mechanism in the middle assembly clamp assembly 43 is released, the lifting and transferring mechanism 411 in the middle assembly clamp assembly 43 returns to the middle assembly clamp receiving position, the first synchronous clamping mechanism 410 in the bottom positioning platform assembly 42 clamps the component mold for positioning, and the component mold assembly is completed;

[0068] 3. Parts assembly process: When the assembly height is less than 500 mm, the loading robot 1 picks up and carries the loading clamp assembly 21, and the loading clamp assembly 21 clamps the clamp delivery platform 48. The loading robot 1 carries the parts on the clamp delivery platform 48 to the middle assembly clamp part delivery position. The second synchronous clamping mechanism 412 in the middle assembly clamp assembly 43 clamps the gyroscopic tube parts on the clamp delivery platform 48. The loading robot 1 returns the clamp delivery platform 48 and returns to the standby position. The lifting and transferring mechanism 411 in the middle assembly clamp assembly 43 sends the gyroscopic tube parts to the specified height for assembly. The second synchronous clamping mechanism 412 in the middle assembly clamp assembly 43 is released, and the lifting and transferring mechanism 411 in the middle assembly clamp assembly 43 returns to the middle assembly clamp receiving position. The parts assembly is completed.

[0069] Furthermore, the parts assembly process: the assembly height is ≥500mm, the lifting and transferring mechanism 411 in the middle assembly clamping jaw assembly 43 moves to the part support position, the second synchronous clamping mechanism 412 in the middle assembly clamping jaw assembly 43 clamps the part for support positioning, the loading robot 1 picks up and transports the loading clamping jaw assembly 21, the loading clamping jaw assembly 21 clamps the clamp delivery platform 48, the loading robot 1 transports the gyro tube part on the clamp delivery platform 48 to the upper assembly clamp part delivery position, the second synchronous clamping mechanism 412 in the upper assembly clamping jaw assembly 44 clamps the clamp delivery platform 48 The loading robot 1 sends the gripper delivery platform 48 back, and the loading robot 1 returns to the standby position. The lifting and transferring mechanism 411 in the upper assembly gripper assembly 44 sends the parts to the specified height for assembly. The second synchronous clamping mechanism 412 in the upper assembly gripper assembly 44 is released, and the lifting and transferring mechanism 411 in the upper assembly gripper assembly 44 returns to the upper assembly gripper receiving position. The second synchronous clamping mechanism 412 in the middle assembly gripper assembly 43 is released, and the lifting and transferring mechanism 411 in the middle assembly gripper assembly 43 returns to the middle assembly gripper receiving position. The assembly of the rotary tube parts is completed.

[0070] 4. Solder assembly process: The unloading robot 6 is connected to the solder suction component 73 and the solder suction component 73 by a robot tool quick changer. The unloading robot 6 picks up and transports the solder suction component 73. The solder suction component 73 absorbs the solder sheet on the solder placement table 71. The unloading robot 6 transports the solder sheet to the photo position above the 3D vision component 8. The 3D vision component 8 takes a photo to locate the solder sheet and calculates the offset compensation. The unloading robot 6 transports the solder to the gyrotron part on the gripper delivery platform 48 for solder sheet assembly. The unloading robot 6 returns to the standby position, and the solder assembly is completed.

[0071] 5. The working process of the press pressing mechanism 5 is divided into three parts: the press long tube 52 loading process, the press pressing process and the press long tube 52 recovery process. Among them, the selection of the press long tube 52 is determined according to the height of the parts to be pressed.

[0072] The loading process of the press long tube 52: the loading robot 1 picks up and transports the loading clamp assembly 21, the loading clamp assembly 21 clamps the press long tube 52 and places the press long tube 52 on the first load platform 22, the loading robot 1 transports the press long tube 52 to the press long tube temporary storage platform 9 to adjust the clamping position, the middle assembly clamp assembly 43 and the upper assembly clamp assembly 44 move to the avoidance position for the press long tube 52, the loading robot 1 transports the press long tube 52 and places it on the rotary tube part to be pressed, the loading robot 1 returns to the standby position, the middle assembly clamp assembly 43 and the upper assembly clamp assembly 44 move to the support position for the press long tube 52, the second synchronous clamping mechanism 412 in the middle assembly clamp assembly 43 and the upper assembly clamp assembly 44 clamps, and the loading of the press long tube 52 is completed.

[0073] Pressing process: the one-way movable module 53 moves to the press pressing position, the servo electric cylinder 54 is started to drive the pressure head 55 to apply a preset pressure to the top of the press long tube 52 for a preset time, and then the one-way movable module 53 is reset, and the press pressing is completed.

[0074] Recovery process of the press long tube 52: the second synchronous clamping mechanism 412 in the middle assembly jaw assembly 43 and the upper assembly jaw assembly 44 is released, the middle assembly jaw assembly 43 and the upper assembly jaw assembly 44 move to the avoidance position for the press long tube 52, the loading robot 1 transports the press long tube 52 to the press long tube temporary storage platform 9 to adjust the clamping position, the loading robot 1 transports the press long tube 52 to the first load-bearing platform 22, the loading robot 1 returns to the standby position, the middle assembly jaw assembly 43 and the upper assembly jaw assembly 44 move to the standby position, and the recovery of the press long tube 52 is completed.

[0075] 6. Unloading process: The unloading robot 6 and the unloading clamp assembly 72 are connected by a robot tool quick changer. The unloading robot 6 picks up and carries the unloading clamp assembly 72. The first synchronous clamping mechanism 410 in the bottom positioning platform assembly 42 is released. The unloading clamp assembly 72 clamps the components on the bottom positioning platform assembly 42. The unloading robot 6 carries the components to the solder tray 36. The unloading robot 6 returns to the standby position and unloading is completed.

[0076] In summary, the automated production equipment for assembling gyrotron components provided by the present invention can automatically assemble gyrotron parts and load solder, can meet the requirements of automated production, realize efficient automated assembly of gyrotron components, replace the traditional manual assembly of gyrotrons, improve the assembly efficiency and assembly accuracy of gyrotron components, and solve the problems of cumbersome operation, low efficiency and high cost in traditional manual assembly of gyrotrons.

[0077] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An automated production equipment for assembling gyrotron components, characterized in that: Including loading robot, loading tool library, parts material table, assembly platform, press pressing mechanism, unloading robot and unloading tool library; The parts platform is used to carry the gyrotron parts; The loading tool library is provided with a plurality of loading jaw assemblies of different models; The loading robot places the gyrotron parts on the assembly platform in the assembly order by cooperating with the plurality of loading gripper assemblies; the pressing mechanism of the press is used to apply a preset pressure to the gyrotron parts during the assembly process and form a pre-assembled gyrotron component; The blanking tool library is provided with a solder placement table, a blanking clamp assembly and a plurality of solder suction assemblies of different models; solder is placed on the solder placement table; the blanking robot blanks the pre-assembled gyrotron components through the blanking clamp assembly; the blanking robot loads solder to the gyrotron parts in the assembly process through the plurality of solder suction assemblies; The assembly platform includes a marble platform frame, a bottom positioning platform assembly, a middle assembly clamp assembly, and an upper assembly clamp assembly; the marble platform frame includes a horizontally arranged first marble platform and two vertically arranged second and third marble platforms; The bottom positioning platform assembly is arranged on the top horizontal surface of the first marble platform, and the bottom positioning platform assembly is used to center and position the cylindrical component mold; The middle assembly jaw assembly and the upper assembly jaw assembly are respectively arranged on the vertical surfaces of one side of the second marble platform and the third marble platform, and the middle assembly jaw assembly and the upper assembly jaw assembly are used to clamp the gyroscopic tube parts of different diameters for assembly; A gripper delivery platform is positioned on the top horizontal surface of the first marble platform; The bottom positioning platform assembly includes a component placement platform horizontally arranged on the top horizontal surface of the first marble platform, and the component placement platform is provided with a first synchronous clamping mechanism for clamping and positioning the gyroscopic tube parts; The middle assembly jaw assembly and the upper assembly jaw assembly each include a lifting and transplanting mechanism and a second synchronous clamping mechanism disposed on the lifting and transplanting mechanism; the lifting and transplanting mechanism can drive the second synchronous clamping mechanism to perform vertical lifting and horizontal transplanting movements; the second synchronous clamping mechanism is used to clamp gyroscopic tube parts of different diameters; The feeding jaw assembly, the unloading jaw assembly, the first synchronous clamping mechanism and the second synchronous clamping mechanism each include a double-nut reverse linear module, a pressure sensor, a servo motor and a pair of V-shaped jaws. The openings of the pair of V-shaped jaws are arranged opposite to each other. The servo motor drives the double-nut reverse linear module to work, and the double-nut reverse linear module drives the pair of V-shaped jaws to move toward or away from each other at the same time. The pressure sensor is arranged on the clamping surface of the pair of V-shaped jaws. The press pressing mechanism includes a reaction frame and multiple long press tubes of different lengths; a one-way movable module is provided on the top of the reaction frame, a servo electric cylinder is provided on the one-way movable module, and the output end of the servo electric cylinder is provided with a pressure head located at the top of the upper assembly clamping jaw assembly, and a pressure sensor is provided between the pressure head and the output end of the servo electric cylinder; multiple long press tubes are arranged on the first supporting platform.

2. The gyrotron component assembly automated production equipment according to claim 1, characterized in that: The parts material platform includes a loading rack, which includes a plurality of brackets arranged at horizontal intervals, and two adjacent brackets are fixedly connected by a crossbeam, and a mounting plate is provided on the top of each bracket; at least one material tray installation station is provided between two adjacent mounting plates, and each material tray installation station is installed and fixed with a material tray, and each material tray is provided with a plurality of circular grooves for carrying the gyroscopic tube parts.

3. The automated production equipment for gyroscopic tube assembly according to claim 2, characterized in that: A tray sensor is provided on one side of each tray installation station, and the tray sensor is fixedly connected to the top of the mounting plate; the crossbeam between the two adjacent brackets is located at the top position of the rear side of the bracket, and the distance between the two adjacent brackets is greater than the width of the AGV feeding car; each tray installation station is provided with four supporting blocks fixedly connected to the two mounting plates respectively, and the four supporting blocks are arranged in a rectangular arrangement, wherein the tops of the two diagonal supporting blocks are provided with locating pins; each tray has a square structure, and a locating hole that cooperates with the locating pin is provided at the diagonal of the lower end of the tray.

4. The automated production equipment for assembling gyroscopic tube components according to claim 3, characterized in that: The loading tool library includes the first supporting platform, and a plurality of the loading clamping claw assemblies are arranged on the first supporting platform.

5. The automated production equipment for assembling gyroscopic tube components according to claim 1, characterized in that: The top horizontal surface and side wall of the first marble platform are respectively provided with a press long tube temporary storage platform and a 3D vision component.

6. The automated production equipment for assembling gyroscopic tube components according to any one of claims 1 to 5, characterized in that: The loading robot and the plurality of loading clamping jaw assemblies, as well as the unloading robot and the unloading clamping jaw assembly and the solder suction assembly are all electrically connected with quick plug connections.

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