Method and device for automatically assembling and detecting full-automatic ink vehicle

Abstract

The invention relates to the technical field of printing equipment manufacturing, and provides a full-automatic ink vehicle automatic assembly detection method and device. The method comprises the steps that a preset number of ink box linings are placed on a material tray, and a grabbing mechanism grabs a single ink box lining at a time and moves the single ink box lining to a lining feeding position; the filter screen guide grabbing clamp grabs the guide block grabbing mechanism to move a combined body containing a lining, a guide block and a filter screen to a filter screen hot riveting station, the combined body is moved to a filter screen cooling station after the filter screen is fixed through hot riveting, the combined body is moved to a filter screen concentricity checking station after the filter screen is tightly riveted, the guide block is taken away by rotating a filter screen guide block clamping jaw, and the filter screen is subjected to concentricity checking. Triggering a visual detection device to detect the concentricity of the filter screen and the lining; a combined body of the OK material position is moved to a synthesis material taking position through the overturning clamping jaw; a preset number of shells are placed on a material tray, a product clamping jaw grabs the shells to a feeding station, a rotating disc rotates to a visual inspection station, whether the elastic pieces are riveted tightly or not is detected, and if riveting of the elastic pieces reaches the standard, shell assemblies are moved to a waiting station to wait for material receiving of synthesis equipment.

Description

Technical Field

[0001] The present application relates to the technical field of printing equipment manufacturing, and in particular to a method and device for automatic assembly and detection of a fully automatic ink carriage. Background Art

[0002] The ink carriage is a key component in inkjet printers that carries ink cartridges and enables precise inkjet movement. Its assembly accuracy and reliability directly affect print quality. The traditional ink carriage assembly process has the following technical bottlenecks: 1. Inefficiency due to manual intervention: In existing technologies, the assembly of ink cartridge linings and filters, and the installation of shell shrapnel, mostly rely on manual loading and preliminary positioning. Only a single component can be processed at a time, and manual transfer is required between processes. This results in a long processing cycle for each component, making it difficult to meet the efficiency requirements of large-scale production.

[0003] 2. Independent testing processes lead to lagging quality control: Key parameters such as filter mesh riveting strength, spring clip fit, and glue dispensing uniformity are often tested offline and cannot be linked to the assembly process in real time. For example, testing filter mesh concentricity requires manual removal of the guide block and offline measurement, resulting in a high rate of missed detections. Furthermore, defective products cannot be automatically removed in subsequent processes, causing them to flow into the next assembly stage and increasing rework costs.

[0004] 3. Poor coordination among multiple processes and insufficient positioning accuracy: The composite hot riveting of the lining and the outer shell relies on manual alignment and lacks an automated positioning and correction mechanism. The coaxiality deviation of the inner and outer shells often exceeds 0.3mm, resulting in faults such as loose ink cartridges and ink leakage during the operation of the ink carriage. At the same time, process parameters such as dispensing and hot riveting cannot be dynamically adjusted according to real-time detection data, affecting the consistency of the component structural strength.

[0005] 4. Fragmented processes and lack of closed-loop control across the entire process: Each workstation on the existing assembly line (such as loading, testing, and hot riveting) operates independently, without a coordinated feedback loop between process parameters and test results. For example, if glue dispensing fails to meet standards, the subsequent hot riveting process cannot be automatically interrupted, resulting in a continuous flow of defective products. The overall yield rate is only around 85%, which is difficult to meet the reliability requirements of high-end printing equipment.

[0006] Therefore, a method is urgently needed to solve at least one of the above problems. Summary of the Invention

[0007] The present application provides a fully automatic ink carriage automatic assembly and detection method and device, which aims to solve the problems of low efficiency caused by manual intervention in the traditional ink carriage assembly process, independent detection links, poor coordination of multiple processes, and process fragmentation.

[0008] In a first aspect, an embodiment of the present application provides a fully automatic ink carriage automatic assembly detection method, the method comprising: A preset number of ink cartridge liners are placed on the material tray, and the gripping mechanism grabs a single ink cartridge liner at a time and moves it to the liner loading position; the filter guide gripping clamp grabs the guide block, places the liner on the loading position base, and places the guide block; the robotic arm places the filter screen on the filter screen placement position, and the gripping mechanism carries the assembly of the liner, guide block, and filter screen to the filter screen hot riveting station. After the filter screen is fixed by hot riveting, it is moved to the filter screen cooling station, and the filter screen is tested to see if it is riveted while cooling. After the filter screen is riveted, the assembly is moved to the filter screen concentricity inspection position. The guide block is removed by rotating the filter screen guide block clamp, triggering the visual inspection device to check the concentricity of the filter screen and the lining. If it meets the standard, it is grabbed to the OK material level. The assembly at the OK material level is moved to the composite material removal position by turning the clamp; A preset number of shells are placed on the material tray. The product gripper grabs the shells and brings them to the loading position. The turntable drives the shells through the spring clip placement position, spring clip tightening position, and spring clip hot riveting position in sequence, completing the placement, tightening, and hot riveting of the spring clips. The turntable rotates to the visual inspection position to check whether the spring clips are riveted. If the spring clips are riveted to standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material. The shell receiving shaft moves to the shell unloading position, receives the shell with the shrapnel riveted to the standard and then moves to the waiting position, where it is grabbed by the shell picking gripper and placed on the turntable glue dispensing waiting position; the turntable rotates to the glue dispensing position for glueing, and rotates to the glue dispensing visual inspection position for glue dispensing inspection. If the glue dispensing inspection does not meet the standard, the finished product gripper will grab the corresponding shell component to the NG position at the subsequent finished product unloading position; if the glue dispensing inspection meets the standard, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the combination of the synthesis picking position and the shell are hot-riveted together.

[0009] In some embodiments, the robotic arm is a 3-axis robotic arm; the robotic arm places the filter screen on the filter screen placement position, and the grabbing mechanism carries the assembly equipped with the lining, guide block and filter screen to the filter screen hot riveting station, including: the robotic arm identifies the position of the filter screen through a visual positioning system and accurately grabs it, placing the filter screen on the preset filter screen placement position; after placing the lining and guide block, the grabbing mechanism fixes the assembly through vacuum adsorption or mechanical clamps, and moves to the filter screen hot riveting station according to a preset trajectory to ensure that the relative position accuracy of the filter screen and the lining meets the hot riveting process requirements.

[0010] In some embodiments, the filter screen cooling station is provided with an air-cooling or water-cooling cooling device, and the filter screen is immediately subjected to gradient cooling after hot riveting; after the filter screen is fixed by hot riveting, it is moved to the filter screen cooling station, and the filter screen is cooled and detected while being riveted, including: during the cooling process, a pressure sensor or a visual detection device is used to synchronously detect whether there are riveting defects such as looseness, offset or incomplete welding at the joint between the filter screen and the lining, thereby forming a parallel processing flow of cooling and detection, thereby shortening the single component processing cycle.

[0011] In some embodiments, the assembly is moved to the filter concentricity inspection position, the guide block is removed by rotating the filter guide block clamp, and the visual inspection device is triggered to detect the concentricity of the filter and the liner, including: the rotating filter guide block clamp is driven by a servo motor to achieve 360-degree rotation, and a preset torque is applied when the clamp contacts the guide block, so that the guide block is separated from the liner and accurately removed; after the guide block is removed, the visual inspection device uses an industrial camera to shoot a cross-sectional image of the filter and the liner, and calculates the concentricity deviation value of the two based on the image processing algorithm to avoid physical obstruction and positioning interference of the guide block on the detection.

[0012] In some embodiments, a preset number of shells are placed on a material tray, the product gripper grabs the shell to the loading position, and the turntable drives the shell to pass through the shrapnel placement position, the shrapnel pushing position, and the shrapnel hot riveting position in sequence to complete the placement, pushing and hot riveting of the shrapnel, including: the turntable is a dividing turntable, which drives the shell to enter each station in sequence according to the preset angle accuracy; at the shrapnel placement position, the shrapnel is accurately placed in the preset card slot of the shell by a vibration plate or a mechanical gripper; at the shrapnel pushing position, the shrapnel is pushed to the positioning reference surface that fits the inner wall of the shell with a constant pressure by a pneumatic push rod; at the shrapnel hot riveting station, the shrapnel fixing point is heated and pressurized by the hot rivet head to form a hot melt connection between the shrapnel and the shell.

[0013] In some embodiments, the turntable rotates to a visual inspection station to detect whether the spring clip is riveted, including: the visual inspection station is provided with a coaxial light source and a high-precision linear array camera to perform multi-angle imaging detection on the integrity of the weld mark at the riveted joint of the spring clip, the offset of the spring clip and the fit with the shell; through a preset riveting quality judgment threshold, it automatically distinguishes between the spring clip riveting standard and the non-standard state, and the detection results are fed back to the gripper control system in real time to execute the corresponding diversion action.

[0014] In some embodiments, the turntable rotates to the glue dispensing position for gluing, and rotates to the glue dispensing visual inspection position for glue dispensing inspection, including: the glue dispensing position is provided with a screw pump or a jet glue dispensing device, and the shell is coated with sealant or adhesive according to the preset glue dispensing path and glue quantity parameters; the glue dispensing visual inspection position obtains the glue dispensing contour through a structured light three-dimensional scanner, and detects the width, height and continuity of the glue line. If unsatisfactory conditions such as glue breakage, insufficient glue quantity or overflow are detected, a defect mark is generated and associated with the flow path of the corresponding shell to ensure that defective products are accurately removed at the finished product unloading position.

[0015] In some embodiments, if the glue dispensing is detected to meet the standards, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the assembly from the synthesis material taking position and the outer shell are hot riveted together, including: the inner and outer shell synthesis hot riveting station is provided with a positioning tool, and the assembly from the synthesis material taking position and the outer shell are secondary positioned, and the alignment deviation between the two is detected by an infrared sensor and corrected in real time; during the hot riveting process, a segmented heating mode is adopted, the connecting column is first preheated to the set temperature, and then pulse pressure is applied to complete the hot melt connection, and at the same time, the temperature stability of the hot rivet head is monitored in real time by a temperature sensor to ensure that the structural strength of the inner and outer shell components after synthesis meets the design requirements.

[0016] In some embodiments, if the glue spot detection is up to standard, the turntable is rotated to the inner and outer shell synthesis hot riveting station, and the combination of the synthesis material taking position and the shell are hot riveted together, it also includes: rotating the hot-riveted combination and the shell to the synthesis hot riveting detection station; detecting the synthesis hot riveting effect, if it does not meet the standard, the finished product clamp will grab the synthesized semi-finished product to the NG material position, and if it meets the standard, it will grab it to the finished product tray; when the glue spot visual detection does not meet the standard, the shell placement action is not performed, and the corresponding station remains in a non-action state when there is no material.

[0017] In a second aspect, the present application provides a fully automatic ink carriage automatic assembly and detection device, the device comprising: The ink cartridge placement unit is used to place a preset number of ink cartridge liners on the material tray. The gripping mechanism grabs a single ink cartridge liner at a time and moves it to the liner loading position. The filter guide gripping clamp grabs the guide block, places the liner on the loading position base, and places the guide block. The robotic arm places the filter screen on the filter screen placement position. The gripping mechanism carries the assembly of the liner, guide block, and filter screen to the filter screen hot riveting station. After the filter screen is fixed by hot riveting, it is moved to the filter screen cooling station. While cooling, it is tested whether the filter screen is riveted tightly. The concentricity detection unit is used to move the assembly to the concentricity inspection position after the filter screen is riveted. The guide block is removed by rotating the filter guide block clamp, triggering the visual inspection device to detect the concentricity of the filter screen and the lining. If the standard is met, the assembly is grabbed to the OK material level. The assembly at the OK material level is moved to the composite material removal position by flipping the clamp; The material preparation unit is used to place a preset number of shells on the material tray. The product gripper grabs the shells and moves them to the loading position. The turntable drives the shells through the spring clip placement position, the spring clip tightening position, and the spring clip hot riveting position in sequence, completing the placement, tightening and hot riveting of the spring clips. The turntable rotates to the visual inspection position to check whether the spring clips are riveted. If the spring clips are riveted to the standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material. The hot riveting synthesis unit is used to move the shell receiving shaft to the shell unloading position, receive the shell with the shrapnel riveted to the standard, and then move to the waiting position, where it is grabbed by the shell picking clamp and placed on the turntable glue dispensing waiting position; the turntable rotates to the glue dispensing position for glue, and rotates to the glue dispensing visual inspection position for glue dispensing inspection. If the glue dispensing is not up to standard, the finished product clamp will grab the corresponding shell component to the NG position at the subsequent finished product unloading position; if the glue dispensing is up to standard, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the combination at the synthesis picking position is hot riveted to the shell.

[0018] The present invention provides a fully automated ink carriage assembly and inspection method and device. This method integrates liner pre-processing (filter assembly, concentricity testing), shell processing (shrapnel installation, riveting testing), and composite assembly (glue dispensing, hot riveting, and multi-stage testing) into a unified process. Using a gripping mechanism, indexing turntable, and robotic arm, the system achieves fully automated material flow. A single loading cycle can process up to 15 liners / shells, shortening the processing cycle for each component and improving production efficiency. The system simultaneously checks the riveting status while the filter cools down, performs visual contour inspection immediately after glue dispensing, and verifies structural strength in real time after composite hot riveting, creating a real-time closed-loop control system of "assembly-testing-diversion." By utilizing a visual positioning system (such as the filter positioning system of an Epson 3-axis robotic arm), a servo-motor-driven guide block separation mechanism, and a composite hot riveting positioning tool with real-time correction by infrared sensors, the system controls the concentricity deviation of key components to within 0.05 mm, improving the coaxiality of the inner and outer shells and fundamentally addressing issues such as ink leakage and loose components caused by insufficient assembly precision. The filter screen is cooled and riveted in parallel, and the turntable operates simultaneously at multiple stations (such as shrapnel placement, tightening, and hot riveting continuous processing), which reduces invalid waiting time. Compared with the traditional process, it reduces 3 transfer stations and 2 manual intervention links, simplifies the process flow, and reduces the equipment footprint.

[0019] In summary, the present invention has broken through the technical bottleneck of balancing efficiency and precision in traditional processes through the deep integration of automated assembly and multi-level detection, providing a reliable process solution for the large-scale production of high-end ink vehicles, and significantly improving the manufacturing quality and production efficiency of core components of printing equipment.

[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 This is a schematic flow chart of the steps of a fully automatic ink carriage automatic assembly and detection method provided by one embodiment of the present application; Figure 2 This is a structural diagram of a fully automatic ink carriage automatic assembly and detection device provided in one embodiment of the present application; Figure 3 This is a schematic structural diagram of a fully automatic ink carriage automatic assembly and detection device provided in one embodiment of the present application; Figure 4 This is a schematic structural diagram of a fully automatic ink carriage automatic assembly and detection device provided in one embodiment of the present application.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0025] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0026] It should be understood that, in order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, terms such as "first" and "second" are used to distinguish between identical or similar items having substantially the same functions and effects. Those skilled in the art will understand that terms such as "first" and "second" do not limit the quantity or order of execution, and that terms such as "first" and "second" do not necessarily define differences.

[0027] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0028] It will also be understood that the term "and / or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0029] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0030] The ink carriage is a key component in inkjet printers that carries ink cartridges and enables precise inkjet movement. Its assembly accuracy and reliability directly affect print quality. The traditional ink carriage assembly process has the following technical bottlenecks: 1. Inefficiency due to manual intervention: In existing technologies, the assembly of ink cartridge linings and filters, and the installation of shell shrapnel, mostly rely on manual loading and preliminary positioning. Only a single component can be processed at a time, and manual transfer is required between processes. This results in a long processing cycle for each component, making it difficult to meet the efficiency requirements of large-scale production.

[0031] 2. Independent testing processes lead to lagging quality control: Key parameters such as filter mesh riveting strength, spring clip fit, and glue dispensing uniformity are often tested offline and cannot be linked to the assembly process in real time. For example, testing filter mesh concentricity requires manual removal of the guide block and offline measurement, resulting in a high rate of missed detections. Furthermore, defective products cannot be automatically removed in subsequent processes, causing them to flow into the next assembly stage and increasing rework costs.

[0032] 3. Poor coordination among multiple processes and insufficient positioning accuracy: The composite hot riveting of the lining and the outer shell relies on manual alignment and lacks an automated positioning and correction mechanism. The coaxiality deviation of the inner and outer shells often exceeds 0.3mm, resulting in faults such as loose ink cartridges and ink leakage during the operation of the ink carriage. At the same time, process parameters such as dispensing and hot riveting cannot be dynamically adjusted according to real-time detection data, affecting the consistency of the component structural strength.

[0033] 4. Fragmented processes and lack of closed-loop control across the entire process: Each workstation on the existing assembly line (such as loading, testing, and hot riveting) operates independently, without a coordinated feedback loop between process parameters and test results. For example, if glue dispensing fails to meet standards, the subsequent hot riveting process cannot be automatically interrupted, resulting in a continuous flow of defective products. The overall yield rate is only around 85%, which is difficult to meet the reliability requirements of high-end printing equipment.

[0034] Therefore, a method is urgently needed to solve at least one of the above problems.

[0035] To resolve the above, please refer to Figure 1 The embodiment of the present application provides a fully automatic ink carriage automatic assembly detection method, which is applied to Figure 2 At the same time, it should be noted that each information involved in the method provided by this application is extracted with the authorization of the relevant user and in compliance with relevant regulations, and will not infringe on the user's privacy.

[0036] The provided fully automatic ink carriage automatic assembly and detection method includes steps S101 to S104. The details are as follows: Step S101. Place a preset number of ink cartridge liners on the material tray, and the grabbing mechanism grabs a single ink cartridge liner at a time and moves it to the liner loading position; the filter guide grabbing clamp grabs the guide block, places the liner on the loading position base, and places the guide block; the robotic arm places the filter on the filter placement position, and the grabbing mechanism carries the assembly of the liner, guide block and filter to the filter hot riveting station, and after the filter is fixed by hot riveting, moves to the filter cooling station, and checks whether the filter is riveted while cooling.

[0037] Specifically, by realizing the automatic loading, positioning and hot riveting of the ink cartridge liner, guide block and filter screen, the filter screen riveting quality inspection is completed simultaneously to form the preliminary processing of the lining assembly.

[0038] Liner loading and guide block positioning: A preset number (such as 15) of cartridge liners are loaded on the material tray. The grabbing mechanism (such as pneumatic grippers or vacuum suction cups) grabs a single liner at a time and moves it to the liner loading position through a linear guide rail; the filter guide grabbing clamp (integrated servo motor-driven rotating mechanism) grabs the guide block from the guide block hopper and accurately places it in the positioning groove of the loading position base to ensure that the matching tolerance between the guide block and the liner is ≤0.02mm.

[0039] The automated installation and hot riveting of the filter screen is carried out by a 3-axis robotic arm equipped with a visual positioning system (industrial camera + image processing algorithm). The position of the filter screen in the material tray is identified, and the filter screen is grabbed by vacuum adsorption and placed in the preset filter placement position (positioning accuracy ±0.1mm). The gripping mechanism fixes the "liner + guide block + filter screen" combination (using mechanical gripper adaptive clamping or vacuum adsorption to maintain stability), and moves it along a preset trajectory (such as a Cartesian coordinate system path) to the filter screen hot riveting station. The hot rivet head is heated at 180℃±5℃ for 3 seconds, and a constant pressure of 50N is applied to complete the hot melt connection between the filter screen and the liner.

[0040] Simultaneous detection of cooling and riveting status After hot riveting, the assembly is immediately moved to the filter cooling station and quickly cooled by an air cooling device (wind speed 5m / s gradient cooling) or a water cooling circulation system (water temperature 25℃±2℃); during the cooling process, a pressure sensor is placed close to the edge of the filter to detect the bonding force of the riveted joint (threshold ≥80N), or a visual inspection device is used to capture an image of the weld mark to identify whether there are defects such as cracks and offsets, forming a "cooling-detection" parallel processing flow.

[0041] Step S102. After the filter screen is riveted, the assembly is moved to the filter screen concentricity inspection position, the guide block is removed by rotating the filter screen guide block clamp, and the visual inspection device is triggered to detect the concentricity of the filter screen and the lining; if it meets the standard, it is grabbed to the OK material level, and the assembly at the OK material level is moved to the synthetic material taking position by flipping the clamp.

[0042] Specifically, the guide block is removed by an automated mechanism, the concentricity of the filter screen and the liner is accurately measured using a visual inspection device, and qualified and unqualified assemblies are automatically separated according to the inspection results.

[0043] After the guide block is automatically disassembled and moved to the filter concentricity inspection position through the assembly, the filter guide block clamp (driven by a servo motor, speed 100rpm) is rotated to contact the guide block, and a preset torque (such as 0.5N*m) is applied to separate the guide block from the liner. The clamp accurately removes the guide block and returns it to the silo for recycling.

[0044] After the concentricity visual inspection is completed by removing the guide block, the industrial camera (resolution 2048×2048 pixels) of the visual inspection device takes cross-sectional images of the filter and the lining, extracts the center coordinates of the two through edge detection algorithms (such as the Canny operator), and calculates the concentricity deviation value (threshold ≤ 0.1mm); if the standard is met (OK), the gripping mechanism moves the assembly to the OK material position, and after flipping the gripper (rotating 180° to adjust the posture), it moves to the synthesis material position to wait for synthesis with the shell; if the standard is not met (NG), it is moved to the NG material position for separate processing.

[0045] The positioning error caused by manual removal of the guide block is avoided, and the concentricity detection accuracy is improved from ±0.2mm of manual measurement to ±0.03mm, ensuring that the coaxiality of the filter screen and the lining meets the sealing requirements of the ink carriage fluid channel; the detection results drive the diversion action in real time, and defective products can be rejected without manual intervention, shortening the flow time by 5 seconds per piece, preventing unqualified lining assemblies from entering the shell synthesis process, and reducing subsequent rework costs by more than 60%.

[0046] Step S103. Place a preset number of shells on the material tray, the product gripper grabs the shell to the loading position, and the turntable drives the shell to pass through the shrapnel placement position, shrapnel tightening position, and shrapnel hot riveting position in sequence to complete the placement, tightening and hot riveting of the shrapnel; the turntable rotates to the visual inspection position to detect whether the shrapnel is riveted. If the shrapnel riveting meets the standards, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material.

[0047] Specifically, the shell is driven by a dividing turntable to sequentially complete the placement, tightening, hot riveting and quality inspection of the shrapnel, realizing the automation of the entire process of shell pretreatment.

[0048] The shrapnel installation station works collaboratively by using product grippers to grab the shells from the shell material tray (5 at a time) and place them at the loading position. The indexing turntable (positioning accuracy ±5″) rotates at 60° intervals, and sequentially sends the shells to the shrapnel placement position, the tightening position, and the hot riveting position. The shrapnel placement position uses a vibration plate (frequency 50Hz) or a mechanical gripper to accurately place the shrapnel into the preset slot of the shell (position tolerance ±0.15mm). The pneumatic push rod at the tightening position pushes the shrapnel to the positioning reference surface that fits the inner wall of the shell with a constant force of 20N, ensuring that the fitting gap between the shrapnel and the shell is ≤0.05mm. The hot riveting head (temperature 200℃±3℃, pressure 80N) at the hot riveting station heats the shrapnel fixing point for 2 seconds to form a hot melt connection.

[0049] The visual inspection of the shrapnel riveting quality is carried out by rotating the turntable to the visual inspection station. A coaxial light source (color temperature 5000K) illuminates the shrapnel riveting point, and a high-precision linear array camera (scanning speed 1000 lines / second) collects multi-angle images to detect the integrity of the weld mark, the shrapnel offset (threshold ≤ 0.2mm) and the fit with the shell. The test results are fed back to the gripper control system in real time. The shells that meet the standards are moved to the waiting position, and those that do not meet the standards are removed by the gripper and moved to the NG temporary storage area.

[0050] The indexing turntable enables continuous operation of "placement-tightening-hot riveting-inspection", compressing the single shell processing cycle to 8 seconds per piece, which is 2.5 times more efficient than traditional single-station intermittent production. The pneumatic tightening and hot riveting parameters are precisely controlled, improving the compliance rate of the spring clip fit and avoiding abnormal noise or structural failure of the ink carriage caused by loose spring clips. Real-time linkage of detection: Visual inspection results directly control diversion, eliminating missed inspections, and increasing the shell pre-treatment yield from 85% to over 98%.

[0051] Step S104. The shell receiving shaft moves to the shell unloading position, receives the shell with the spring riveted to the standard, and then moves to the waiting position, where it is grabbed by the shell picking clamp and placed on the turntable glue waiting position; the turntable rotates to the glue dispensing position for glueing, and rotates to the glue dispensing visual inspection position for glue dispensing inspection. If the glue dispensing inspection does not meet the standard, the finished product clamp will grab the corresponding shell component to the NG position at the subsequent finished product unloading position; if the glue dispensing inspection meets the standard, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the combination of the synthesis picking position and the shell are hot-riveted together.

[0052] Specifically, after completing the quality inspection of the outer shell glue dispensing, the qualified outer shell and lining assembly are automatically synthesized, and a high-strength connection between the inner and outer shells is achieved through precise positioning and hot riveting process.

[0053] The shell dispensing and visual inspection are carried out by the shell receiving shaft to receive the shell with the shrapnel that meets the standards from the waiting position, and move it to the turntable dispensing waiting position, and the turntable drives the shell into the dispensing position; the screw pump dispensing device (accuracy ±1% of the glue amount) applies sealant according to the preset path (such as a circular trajectory), and the glue line width is controlled at 1.5mm±0.1mm; the dispensing visual inspection position obtains the glue line contour through the structured light 3D scanner (accuracy ±0.05mm) to detect defects such as glue breakage, insufficient glue (threshold <1.2mm) or overflow; if the dispensing does not meet the standards, the system marks the corresponding shell ID, and the finished product gripper removes it to the NG material position at the subsequent unloading position; if it meets the standards, the turntable drives the shell to the inner and outer shell synthesis hot riveting station.

[0054] The hot riveting of the inner and outer shell synthesis uses an infrared sensor (accuracy of ±0.02mm) to detect the alignment deviation of the lining assembly and the outer shell at the synthesis material collection position through the positioning tool, and corrects the X / Y / Z axis position in real time; the hot riveting head adopts a segmented heating mode: first preheating to 150℃ (for 2 seconds) to soften the connecting column, and then pulse heating to 220℃ (peak pressure 100N, for 3 seconds) to complete the hot melt connection. The temperature sensor monitors the temperature fluctuation of the hot riveting head in real time (±2℃); after synthesis, the component is moved to the finished product unloading position and awaits final inspection.

[0055] The dispensing test results automatically block the flow of defective products, preventing unqualified shells from entering the synthesis process, and reducing ineffective hot riveting operations by 30% compared to traditional processes; infrared positioning correction and segmented hot riveting processes control the coaxiality deviation of the inner and outer shells within 0.08mm, and the pull-out strength of the connecting column is increased from 50N in the traditional process to over 80N, meeting the vibration reliability requirements during high-speed printing; the test data is fed back to the dispensing and hot riveting equipment in real time, automatically optimizing parameters such as glue quantity and temperature, realizing adaptive adjustment of the assembly process and stable yield.

[0056] In some embodiments, the robotic arm is a 3-axis robotic arm; the robotic arm places the filter screen on the filter screen placement position, and the grabbing mechanism carries the assembly equipped with the lining, guide block and filter screen to the filter screen hot riveting station, including: the robotic arm identifies the position of the filter screen through a visual positioning system and accurately grabs it, placing the filter screen on the preset filter screen placement position; after placing the lining and guide block, the grabbing mechanism fixes the assembly through vacuum adsorption or mechanical clamps, and moves to the filter screen hot riveting station according to a preset trajectory to ensure that the relative position accuracy of the filter screen and the lining meets the hot riveting process requirements.

[0057] The three-axis robotic arm and the visual positioning system are used to achieve precise gripping and positioning of the filter. Combined with the combined fixing technology of the gripping mechanism, the relative position accuracy of the filter and the lining before hot riveting is ensured.

[0058] Robotic arm visual positioning and grasping: A 3-axis robotic arm is used, with a 5-megapixel industrial camera and a ring light source (wavelength 525nm) at the end to form a visual positioning system. The camera captures images of the filter tray, identifies the filter edge features through the Halcon image processing algorithm, and calculates the deviation between the actual position and the theoretical coordinates (within the range of ±0.2mm on the X / Y axis). The robotic arm adjusts the end posture based on the deviation value, grasps the filter by vacuum adsorption (suction force ≥10N), and places it in the preset filter placement position (positioning pin accuracy ±0.05mm).

[0059] Assembly fixation and trajectory movement: The gripping mechanism uses a pneumatic mechanical gripper (such as SMC MHS4-20D), with an elastic silicone pad (friction coefficient ≥ 0.8) installed on the inner wall of the gripper. After the liner and guide block are placed, the clamping force (set value 20N±2N) is fed back via a pressure sensor (accuracy ±1N) to ensure the stability of the assembly. The movement trajectory is planned along the Cartesian coordinate system (acceleration ≤ 0.5m / s²) and is driven by a servo motor (resolution 1.8° / step) to move to the filter hot riveting station. During movement, the relative position of the filter and liner is monitored in real time via a laser displacement sensor (accuracy ±0.02mm). Trajectory correction is triggered when the deviation exceeds 0.1mm.

[0060] The combination of visual positioning and robotic arm control increases the filter placement accuracy from ±0.5mm in manual operation to ±0.1mm, meeting the high-precision requirements of the hot riveting process for the relative position of components (threshold ≤0.2mm); the robotic arm and gripping mechanism operate independently, and the filter gripping and lining loading are processed in parallel, shortening the pre-processing time of a single component by 3 seconds and improving the overall cycle time by 20%; the vacuum adsorption method is suitable for filter screens of different materials (such as metal mesh and nylon mesh), and the elastic design of the mechanical gripper is compatible with the lining size tolerance (±0.3mm), improving the versatility of the equipment.

[0061] In some embodiments, the filter screen cooling station is provided with an air-cooling or water-cooling cooling device, and the filter screen is immediately subjected to gradient cooling after hot riveting; after the filter screen is fixed by hot riveting, it is moved to the filter screen cooling station, and the filter screen is cooled and detected while being riveted, including: during the cooling process, a pressure sensor or a visual detection device is used to synchronously detect whether there are riveting defects such as looseness, offset or incomplete welding at the joint between the filter screen and the lining, thereby forming a parallel processing flow of cooling and detection, thereby shortening the single component processing cycle.

[0062] Gradual cooling is performed immediately after the filter is hot-riveted, and parallel processing of cooling and riveting detection is achieved through pressure sensors or visual inspection, shortening the single component processing cycle.

[0063] The gradient cooling device is equipped with a dual-channel air cooling device (such as Schneider blower, air volume 50L / s) at the filter cooling station, and the temperature is reduced in two stages: first pre-cooling with 40℃±5℃ hot air for 1 second (to reduce thermal stress), and then forced cooling with 25℃±2℃ cold air for 3 seconds to reduce the filter temperature from 180℃ to below 50℃; or a water cooling circulation system (such as APC chiller, water temperature 20℃±1℃) is used, through the heat-conducting aluminum plate (thickness 5mm, thermal conductivity coefficient ≥200W / (m*K)) in contact with the assembly, to achieve 80% cooling within 3 seconds.

[0064] A miniature pressure sensor (range 0-200N, accuracy ±1%) is installed at the cooling station. The contact contacts the edge of the filter screen and detects the restoring force after applying a pre-pressure of 5N. If the restoring force is less than 80N, it is judged as poor riveting. An industrial camera (frame rate 100fps) captures the hot rivet weld marks, and uses deep learning algorithms (such as YOLOv5) to identify defects such as cracks and missing materials. The detection time is ≤0.5 seconds per piece. Cooling and detection are carried out simultaneously, and the detection results are uploaded to the PLC control system in real time. The defective product marking signal triggers the diversion action within 0.2 seconds.

[0065] In some embodiments, the assembly is moved to the filter concentricity inspection position, the guide block is removed by rotating the filter guide block clamp, and the visual inspection device is triggered to detect the concentricity of the filter and the liner, including: the rotating filter guide block clamp is driven by a servo motor to achieve 360-degree rotation, and a preset torque is applied when the clamp contacts the guide block, so that the guide block is separated from the liner and accurately removed; after the guide block is removed, the visual inspection device uses an industrial camera to shoot a cross-sectional image of the filter and the liner, and calculates the concentricity deviation value of the two based on the image processing algorithm to avoid physical obstruction and positioning interference of the guide block on the detection.

[0066] The guide block is automatically removed by a rotating clamp driven by a servo motor. After eliminating physical obstructions, the concentricity deviation between the filter screen and the liner is accurately calculated using a visual inspection algorithm.

[0067] Guide block disassembly mechanism: The rotating filter screen guide block clamp is driven by a servo motor (power 50W, speed range 0-300rpm). The end of the clamp is provided with anti-slip grooves (surface roughness Ra≤1.6μm). When it contacts the guide block, it rotates 15° clockwise with a torque of 0.5N*m to separate the guide block from the snap-on structure of the lining. The clamp has a built-in force sensor (accuracy ±0.2N) to monitor the resistance in real time during the separation process. If it exceeds 10N, it is judged as stuck, triggering an alarm and stopping the action to avoid damage to the lining.

[0068] Concentricity visual inspection: After the guide block is removed, the telecentric lens (distortion rate <0.1%) of the visual inspection device captures the axial cross-sectional image of the filter and liner with a pixel resolution of 0.02mm / pixel. The Hough circle detection algorithm is used to extract the center coordinates of the filter inner hole (diameter φ8mm±0.05mm) and the liner reference hole (diameter φ10mm±0.05mm). The concentricity deviation is calculated as follows: The judgment threshold is set to ≤0.1mm; deviations are marked as NG. X1 and Y1 represent the horizontal and vertical coordinates of the filter's inner hole center in a two-dimensional plane (the inspection coordinate system) (unit: mm). A visual inspection device (industrial camera) captures a cross-sectional image of the filter and lining. Image processing algorithms (such as Hough circle detection) are used to extract the edge contour of the filter's inner hole and calculate its geometric center coordinates (X1, Y1).

[0069] X2 and Y2 represent the horizontal and vertical coordinates of the center of the liner reference hole in the same detection coordinate system (unit: mm). Similarly, the edge contour of the liner reference hole (usually the positioning hole or center hole on the liner) is extracted through image processing algorithms, and its geometric center coordinates (X2, Y2) are calculated.

[0070] D represents the linear distance between the center of the filter's inner hole and the center of the liner's reference hole, also known as the concentricity deviation (unit: mm). By calculating D, we can determine whether the coaxiality of the filter and liner meets process requirements (the threshold is typically D ≤ 0.1 mm). If D exceeds the threshold, the concentricity between the two components is substandard and the component must be rejected.

[0071] In some embodiments, a preset number of shells are placed on a material tray, the product gripper grabs the shell to the loading position, and the turntable drives the shell to pass through the shrapnel placement position, the shrapnel pushing position, and the shrapnel hot riveting position in sequence to complete the placement, pushing and hot riveting of the shrapnel, including: the turntable is a dividing turntable, which drives the shell to enter each station in sequence according to the preset angle accuracy; at the shrapnel placement position, the shrapnel is accurately placed in the preset card slot of the shell by a vibration plate or a mechanical gripper; at the shrapnel pushing position, the shrapnel is pushed to the positioning reference surface that fits the inner wall of the shell with a constant pressure by a pneumatic push rod; at the shrapnel hot riveting station, the shrapnel fixing point is heated and pressurized by the hot rivet head to form a hot melt connection between the shrapnel and the shell.

[0072] The indexing turntable is used to drive the shell to pass through the shrapnel placement, pushing and hot riveting stations in sequence, and the automatic installation and fixation of the shrapnel is achieved through devices such as a vibration plate and a pneumatic push rod.

[0073] Indexing turntable and workstation layout: The indexing turntable (such as the Tanzi precision cam indexer, with a positioning accuracy of ±15") has six workstations, three of which are shrapnel processing stations (placement position, tightening position, and hot riveting station). The turntable diameter is 300mm, and the spacing between adjacent workstations is 60°. The product gripper grabs five shells at a time (evenly arranged with a spacing of 50mm) and places them in the positioning groove of the turntable's upper material position (dimensional tolerance ±0.1mm).

[0074] Shrapnel installation process: Placement position: The vibration plate (frequency 50Hz, amplitude 0.5mm) transports the shrapnel to the discharge port, and the mechanical gripper (such as SMC air gripper MHZ2-20D) grabs it at a speed of 0.3m / s and places it precisely according to the shell slot angle (45°±1°), with a position deviation of ≤0.15mm; Pushing position: The pneumatic push rod (stroke 10mm, thrust 20N±2N) moves along the radial direction of the shell to push the shrapnel to fit the inner wall. After pushing it tightly, the laser displacement sensor (accuracy ±0.03mm) is used to detect the protrusion of the shrapnel (standard value 1.0mm±0.05mm); Hot riveting station: The hot rivet head (made of brass, Teflon-plated surface) is heated to 200℃±3℃, and 80N pressure is applied to the shrapnel fixing point for 2 seconds to form a weld bulge with a diameter of 2.5mm±0.2mm.

[0075] In some embodiments, the turntable rotates to a visual inspection station to detect whether the spring clip is riveted, including: the visual inspection station is provided with a coaxial light source and a high-precision linear array camera to perform multi-angle imaging detection on the integrity of the weld mark at the riveted joint of the spring clip, the offset of the spring clip and the fit with the shell; through a preset riveting quality judgment threshold, it automatically distinguishes between the spring clip riveting standard and the non-standard state, and the detection results are fed back to the gripper control system in real time to execute the corresponding diversion action.

[0076] At the visual inspection station, multi-angle imaging inspection is performed on the shrapnel riveted joints using a coaxial light source and a linear array camera. The riveting quality is automatically determined based on the preset threshold and diversion is driven.

[0077] Visual inspection hardware configuration: A coaxial light source (such as CCS CL-2000, color temperature 5500K, uniformity ≥95%) vertically illuminates the shrapnel riveting area to eliminate reflection interference; a high-precision line array camera (resolution 12k pixels, scanning speed 10kHz) scans along the length of the shrapnel, with an acquisition accuracy of 0.02mm / pixel and a single scanning time of ≤0.2 seconds.

[0078] Detection algorithm and diversion control: Image preprocessing: Noise is removed through median filtering, and edge detection is used to extract the weld mark contour. The weld area (standard value ≥3mm²), spring offset (deviation from the shell slot baseline ≤0.2mm), and fit (gap ≤0.05mm) are calculated. Decision logic: If any parameter is out of tolerance, it is marked as NG. The detection results are transmitted to the PLC in real time via the Profinet bus, controlling the movement of the gripper at the next workstation on the turntable. Qualified shells are sent to the waiting position by the transfer mechanism, and NG parts are pushed to the waste hopper by the rejection cylinder (stroke 50mm, response time ≤0.1 second).

[0079] In some embodiments, the turntable rotates to the glue dispensing position for gluing, and rotates to the glue dispensing visual inspection position for glue dispensing inspection, including: the glue dispensing position is provided with a screw pump or a jet glue dispensing device, and the shell is coated with sealant or adhesive according to the preset glue dispensing path and glue quantity parameters; the glue dispensing visual inspection position obtains the glue dispensing contour through a structured light three-dimensional scanner, and detects the width, height and continuity of the glue line. If unsatisfactory conditions such as glue breakage, insufficient glue quantity or overflow are detected, a defect mark is generated and associated with the flow path of the corresponding shell to ensure that defective products are accurately removed at the finished product unloading position.

[0080] A screw pump dispensing device is used to apply sealant to the outer shell, and a structured light 3D scanner is used to detect the dispensing contour, achieving full quantitative detection of dispensing quality and accurate removal of defective products.

[0081] Implementation of the dispensing process: A screw pump dispensing machine (needle diameter 0.5mm) is installed at the dispensing station, applying silicone (viscosity 5000cps) according to a preset G-code path (such as a circular trajectory around the shell connection surface, with a radius deviation of ±0.05mm). The glue line height is controlled at 0.8mm±0.1mm. During the dispensing process, the pump pressure is monitored in real time by a pressure sensor (range 0-10bar, accuracy ±0.5%). In the event of abnormal fluctuations (exceeding the set value ±10%), the system automatically pauses and issues an alarm.

[0082] Glue dispensing visual inspection: A structured light 3D scanner (such as Gocator 2420, with an accuracy of ±0.05mm) is installed at the glue dispensing visual inspection position to project 7 linear lasers onto the glue line surface to collect 3D point cloud data. The software algorithm calculates the glue line width (standard value 1.5mm±0.1mm), continuity (breakpoint length > 0.3mm is judged as glue breakage), and overflow amount (overflow is judged as exceeding the shell edge by more than 0.2mm). The inspection time is ≤0.3 seconds per piece. If the inspection fails to meet the standards, the system generates a defect mark (such as shell ID + station number), which is associated with the grasping logic of the finished product gripper, and NG products are preferentially eliminated at the subsequent unloading position.

[0083] In some embodiments, if the glue dispensing is detected to meet the standards, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the assembly from the synthesis material taking position and the outer shell are hot riveted together, including: the inner and outer shell synthesis hot riveting station is provided with a positioning tool, and the assembly from the synthesis material taking position and the outer shell are secondary positioned, and the alignment deviation between the two is detected by an infrared sensor and corrected in real time; during the hot riveting process, a segmented heating mode is adopted, the connecting column is first preheated to the set temperature, and then pulse pressure is applied to complete the hot melt connection, and at the same time, the temperature stability of the hot rivet head is monitored in real time by a temperature sensor to ensure that the structural strength of the inner and outer shell components after synthesis meets the design requirements.

[0084] The alignment deviation of the inner and outer shells is corrected by the infrared sensor of the positioning tool, and the hot riveting process with segmented heating mode is combined to ensure the structural strength and coaxiality requirements of the synthesized components.

[0085] Secondary positioning and deviation correction: The positioning fixture is equipped with 3 groups of infrared radiation sensors (accuracy ±0.02mm) to detect the offset of the lining assembly and the shell in the X / Y / Z axis respectively: X / Y axis: The sensor is 5mm away from the edge of the workpiece. When the deviation is greater than 0.1mm, the servo cylinder (stroke 10mm, resolution 0.01mm) automatically fine-tunes; Z axis: The pressure sensor (accuracy ±0.5N) detects the contact force to ensure that the parallelism of the two fitting surfaces is ≤0.05mm / m.

[0086] Segmented heating hot riveting process: Preheating stage: The hot riveting head is heated to 150℃ (for 2 seconds) to soften the surface of the connecting column (material ABS) and reduce stress concentration in subsequent pulse heating; Pulse heating stage: The temperature is raised to 220℃±2℃, and a pressure of 100N is applied (controlled by a servo press, with an accuracy of ±1%) for 3 seconds to form a welding surface with a diameter of 4mm±0.2mm; The temperature sensor (K-type thermocouple, with an accuracy of ±1℃) provides real-time feedback on the hot riveting head temperature and triggers an emergency stop when overheating to avoid plastic carbonization caused by overheating (the carbonization rate of the traditional process is 3%, now reduced to below 0.1%).

[0087] In some embodiments, if the glue spot detection is up to standard, the turntable is rotated to the inner and outer shell synthesis hot riveting station, and the combination of the synthesis material taking position and the shell are hot riveted together, it also includes: rotating the hot-riveted combination and the shell to the synthesis hot riveting detection station; detecting the synthesis hot riveting effect, if it does not meet the standard, the finished product clamp will grab the synthesized semi-finished product to the NG material position, and if it meets the standard, it will grab it to the finished product tray; when the glue spot visual detection does not meet the standard, the shell placement action is not performed, and the corresponding station remains in a non-action state when there is no material.

[0088] A new inspection station is added after the synthesis hot riveting to make a final judgment on the synthesis effect. Combined with the dispensing inspection results, the entire process of defective products is blocked, and empty stations are automatically identified to avoid misoperation.

[0089] Composite hot riveting inspection station: equipped with a tensile test module (range 0-200N, accuracy ±1%), which applies 50N axial tension to the synthesized inner and outer shell components. The displacement sensor (accuracy ±0.01mm) detects the separation amount. If it is greater than 0.1mm, it is judged as a poor hot riveting. At the same time, the industrial camera captures the morphology of the hot riveted bumps to identify defects such as cold solder joints and material shortages. The inspection time is ≤1 second per piece.

[0090] Diversion logic and empty station processing: Components that meet the inspection standards are grabbed by the finished product gripper (such as the igus drag chain gripper) and placed on the finished product tray (capacity of 50 pieces per tray), and NG products are moved to the NG material position (marked by a red warning light); when the dispensing inspection fails to meet the standards, the system marks the corresponding shell ID and does not perform the placement action at the synthesis station. When the turntable detects that there is no material at the corresponding station, the photoelectric sensor (response time ≤ 0.05 seconds) triggers the "empty station skip" logic to avoid equipment loss caused by empty action of the hot rivet head.

[0091] In some embodiments, a universal cross-station inspection model is constructed for multiple types of defects such as filters, shrapnel, and glue dispensing. Through transfer learning, it can quickly adapt to different inspection scenarios, solving the pain point that traditional visual inspection models require repeated training.

[0092] Hardware and data layer: Deploy edge computing servers and connect industrial cameras at each workstation (with a uniform resolution of 1280×1024) to capture defect images in real time (50,000 images per day). Establish a multimodal defect database, annotating 12 types of defects, including filter weld cracks (5,000 images), shrapnel offset (8,000 images), and dispensing glue breakage (6,000 images). Use data enhancement (rotation, noise addition, and contrast adjustment) to expand the training set to 100,000 images.

[0093] Algorithm layer design: The basic model uses the YOLOv8n lightweight network. After pre-training on the COCO dataset, the first five layers of the backbone network are frozen for the filter station. Only the detection head parameters are fine-tuned (learning rate 1e-4), and adaptation is completed in 2 hours. When detecting shrapnel, the feature extraction layer of the filter model is reused, and a new attention mechanism module (CBAM) is added to focus on the edge details of the shrapnel. The detection data of the edge nodes of each station are integrated through federated learning (the global model is updated weekly).

[0094] Application layer deployment: Detection latency is ≤50ms / frame, and an alarm is triggered when the defect category confidence level is ≥0.95. Real-time viewing of detection heat maps (displaying the locations of high-frequency defects) is supported on mobile devices. Abnormal images are automatically uploaded to the cloud knowledge base for process engineers to analyze the root cause (for example, the correlation rate of weld cracks caused by temperature fluctuations in the hot rivet head is 85%).

[0095] In some embodiments, to address the bottleneck of multi-station collaboration on the turntable, a reinforcement learning algorithm is introduced to dynamically optimize the station rhythm to solve the problem of uneven equipment utilization under the traditional fixed rhythm.

[0096] System modeling: Define the state space: including 15-dimensional state variables such as the equipment load of each workstation (0-100%), the length of the work-in-process queue (0-50 pieces), and the real-time beat deviation (±5 seconds); action space: adjust the turntable indexing speed (5-20 rpm), allocate buffer stations to cache materials (1-3 stations), and dynamically switch the gripper grasping strategy (single grasp / double grasp); reward function: use the global beat time (target ≤10 seconds / piece), equipment load balance (variance ≤15%), and material backlog (≤5 pieces) as optimization targets, and calculate the cumulative reward value every 5 seconds.

[0097] The Proximal Policy Optimization (PPO) algorithm was pre-trained for 2 million steps in a digital twin simulation environment, simulating over 100 abnormal scenarios, including sudden turntable load changes (e.g., occasional jams at the dispensing station) and equipment failures (e.g., timeouts in the hot rivet head). The edge controller collects station data in real time (at a 100Hz frequency), inputs the trained policy network via state encoding, and outputs the optimal scheduling action (decision latency ≤ 20ms). The turntable drive motor was upgraded to a servo motor (supporting dynamic speed adjustment with an accuracy of ±0.01°), and the buffer station was equipped with an AGV temporary storage platform (capacity for 20 units), with motion synchronization achieved via the EtherCAT bus.

[0098] See also Figure 3 As shown, Figure 3 2 is a schematic diagram of the structure of a fully automatic ink carriage assembly and testing device 200 provided in an embodiment of the present application. This fully automatic ink carriage assembly and testing device 200 is used to perform the steps of the fully automatic ink carriage assembly and testing method described in each of the above embodiments. This fully automatic ink carriage assembly and testing device 200 can be a single server or a server cluster, or it can be a terminal, such as a handheld terminal, a laptop computer, a wearable device, or a robot.

[0099] like Figure 3 As shown, the fully automatic ink carriage automatic assembly and detection device 200 includes: The ink cartridge placement unit 201 is used to place a preset number of ink cartridge liners on the material tray. The gripping mechanism grabs a single ink cartridge liner at a time and moves it to the liner loading position. The filter guide gripping clamp grabs the guide block, places the liner on the loading position base, and places the guide block. The robotic arm places the filter on the filter placement position. The gripping mechanism carries the assembly of the liner, guide block, and filter to the filter hot riveting station. After the filter is fixed by hot riveting, it is moved to the filter cooling station. During the cooling, the filter is checked to see if it is riveted. The concentricity detection unit 202 is used to move the assembly to the concentricity inspection position after the filter screen is riveted. The guide block is removed by rotating the filter guide block clamp, triggering the visual inspection device to check the concentricity of the filter screen and the liner. If the standard is met, the assembly is grasped to the OK material level. The assembly at the OK material level is moved to the composite material removal position by flipping the clamp. The material preparation unit 203 is used to place a preset number of shells on the material tray. The product gripper grabs the shells and moves them to the loading position. The turntable drives the shells through the spring clip placement position, the spring clip tightening position, and the spring clip hot riveting position in sequence, completing the placement, tightening and hot riveting of the spring clips. The turntable rotates to the visual inspection position to check whether the spring clips are riveted. If the spring clips are riveted to the standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material. The hot riveting synthesis unit 204 is used to move the shell receiving shaft to the shell unloading position, receive the shell with the spring riveted to the standard, and then move to the waiting position, where it is grabbed by the shell picking clamp and placed on the turntable glue dispensing waiting position; the turntable rotates to the glue dispensing position for glue, and rotates to the glue dispensing visual inspection position for glue dispensing inspection. If the glue dispensing is not up to standard, the finished product clamp will grab the corresponding shell component to the NG position at the subsequent finished product unloading position; if the glue dispensing is up to standard, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the combination at the synthesis picking position is hot riveted to the shell.

[0100] In some embodiments, the robotic arm is a 3-axis robotic arm; the robotic arm places the filter screen on the filter screen placement position, and the grabbing mechanism carries the assembly equipped with the lining, guide block and filter screen to the filter screen hot riveting station, including: the robotic arm identifies the position of the filter screen through a visual positioning system and accurately grabs it, placing the filter screen on the preset filter screen placement position; after placing the lining and guide block, the grabbing mechanism fixes the assembly through vacuum adsorption or mechanical clamps, and moves to the filter screen hot riveting station according to a preset trajectory to ensure that the relative position accuracy of the filter screen and the lining meets the hot riveting process requirements.

[0101] In some embodiments, the filter screen cooling station is provided with an air-cooling or water-cooling cooling device, and the filter screen is immediately subjected to gradient cooling after hot riveting; after the filter screen is fixed by hot riveting, it is moved to the filter screen cooling station, and the filter screen is cooled and detected while being riveted, including: during the cooling process, a pressure sensor or a visual detection device is used to synchronously detect whether there are riveting defects such as looseness, offset or incomplete welding at the joint between the filter screen and the lining, thereby forming a parallel processing flow of cooling and detection, thereby shortening the single component processing cycle.

[0102] In some embodiments, the assembly is moved to the filter concentricity inspection position, the guide block is removed by rotating the filter guide block clamp, and the visual inspection device is triggered to detect the concentricity of the filter and the liner, including: the rotating filter guide block clamp is driven by a servo motor to achieve 360-degree rotation, and a preset torque is applied when the clamp contacts the guide block, so that the guide block is separated from the liner and accurately removed; after the guide block is removed, the visual inspection device uses an industrial camera to shoot a cross-sectional image of the filter and the liner, and calculates the concentricity deviation value of the two based on the image processing algorithm to avoid physical obstruction and positioning interference of the guide block on the detection.

[0103] In some embodiments, a preset number of shells are placed on a material tray, the product gripper grabs the shell to the loading position, and the turntable drives the shell to pass through the shrapnel placement position, the shrapnel pushing position, and the shrapnel hot riveting position in sequence to complete the placement, pushing and hot riveting of the shrapnel, including: the turntable is a dividing turntable, which drives the shell to enter each station in sequence according to the preset angle accuracy; at the shrapnel placement position, the shrapnel is accurately placed in the preset card slot of the shell by a vibration plate or a mechanical gripper; at the shrapnel pushing position, the shrapnel is pushed to the positioning reference surface that fits the inner wall of the shell with a constant pressure by a pneumatic push rod; at the shrapnel hot riveting station, the shrapnel fixing point is heated and pressurized by the hot rivet head to form a hot melt connection between the shrapnel and the shell.

[0104] In some embodiments, the turntable rotates to a visual inspection station to detect whether the spring clip is riveted, including: the visual inspection station is provided with a coaxial light source and a high-precision linear array camera to perform multi-angle imaging detection on the integrity of the weld mark at the riveted joint of the spring clip, the offset of the spring clip and the fit with the shell; through a preset riveting quality judgment threshold, it automatically distinguishes between the spring clip riveting standard and the non-standard state, and the detection results are fed back to the gripper control system in real time to execute the corresponding diversion action.

[0105] In some embodiments, the turntable rotates to the glue dispensing position for gluing, and rotates to the glue dispensing visual inspection position for glue dispensing inspection, including: the glue dispensing position is provided with a screw pump or a jet glue dispensing device, and the shell is coated with sealant or adhesive according to the preset glue dispensing path and glue quantity parameters; the glue dispensing visual inspection position obtains the glue dispensing contour through a structured light three-dimensional scanner, and detects the width, height and continuity of the glue line. If unsatisfactory conditions such as glue breakage, insufficient glue quantity or overflow are detected, a defect mark is generated and associated with the flow path of the corresponding shell to ensure that defective products are accurately removed at the finished product unloading position.

[0106] In some embodiments, if the glue dispensing is detected to meet the standards, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the assembly from the synthesis material taking position and the outer shell are hot riveted together, including: the inner and outer shell synthesis hot riveting station is provided with a positioning tool, and the assembly from the synthesis material taking position and the outer shell are secondary positioned, and the alignment deviation between the two is detected by an infrared sensor and corrected in real time; during the hot riveting process, a segmented heating mode is adopted, the connecting column is first preheated to the set temperature, and then pulse pressure is applied to complete the hot melt connection, and at the same time, the temperature stability of the hot rivet head is monitored in real time by a temperature sensor to ensure that the structural strength of the inner and outer shell components after synthesis meets the design requirements.

[0107] In some embodiments, if the glue spot detection is up to standard, the turntable is rotated to the inner and outer shell synthesis hot riveting station, and the combination of the synthesis material taking position and the shell are hot riveted together, it also includes: rotating the hot-riveted combination and the shell to the synthesis hot riveting detection station; detecting the synthesis hot riveting effect, if it does not meet the standard, the finished product clamp will grab the synthesized semi-finished product to the NG material position, and if it meets the standard, it will grab it to the finished product tray; when the glue spot visual detection does not meet the standard, the shell placement action is not performed, and the corresponding station remains in a non-action state when there is no material.

[0108] It should be noted that, those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the fully automatic ink carriage automatic assembly and detection device and each module described above can refer to the corresponding contents in the various embodiments of the above-mentioned fully automatic ink carriage automatic assembly and detection method, and will not be repeated here.

[0109] The above-mentioned fully automatic ink carriage automatic assembly detection method can be implemented in the form of a computer program. The computer program can be used in Figure 3 Run on the device shown.

[0110] See also Figure 4 , Figure 4 The fully automatic ink carriage automatic assembly and detection device provided in an embodiment of the present application is a schematic block diagram of the structure. The fully automatic ink carriage automatic assembly and detection device includes a processor, a memory, and a network interface connected via a device bus, wherein the memory may include a storage medium and an internal memory.

[0111] The storage medium can store an operating device and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any one of the fully automatic ink carriage automatic assembly detection methods.

[0112] The processor is used to provide computing and control capabilities to support the operation of the entire fully automatic ink carriage automatic assembly and testing equipment.

[0113] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any one of the fully automatic ink carriage automatic assembly and detection methods.

[0114] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of part of the structure related to the solution of the present application, and does not constitute a limitation on the terminal to which the solution of the present application is applied. The specific fully automatic ink carriage automatic assembly and detection equipment may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0115] It should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0116] In one embodiment, the processor is configured to execute a computer program stored in the memory to implement the following steps: A preset number of ink cartridge liners are placed on the material tray, and the gripping mechanism grabs a single ink cartridge liner at a time and moves it to the liner loading position; the filter guide gripping clamp grabs the guide block, places the liner on the loading position base, and places the guide block; the robotic arm places the filter screen on the filter screen placement position, and the gripping mechanism carries the assembly of the liner, guide block, and filter screen to the filter screen hot riveting station. After the filter screen is fixed by hot riveting, it is moved to the filter screen cooling station, and the filter screen is tested to see if it is riveted while cooling. After the filter screen is riveted, the assembly is moved to the filter screen concentricity inspection position. The guide block is removed by rotating the filter screen guide block clamp, triggering the visual inspection device to check the concentricity of the filter screen and the lining. If it meets the standard, it is grabbed to the OK material level. The assembly at the OK material level is moved to the composite material removal position by turning the clamp; A preset number of shells are placed on the material tray. The product gripper grabs the shells and brings them to the loading position. The turntable drives the shells through the spring clip placement position, spring clip tightening position, and spring clip hot riveting position in sequence, completing the placement, tightening, and hot riveting of the spring clips. The turntable rotates to the visual inspection position to check whether the spring clips are riveted. If the spring clips are riveted to standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material. The shell receiving shaft moves to the shell unloading position, receives the shell with the shrapnel riveted to the standard and then moves to the waiting position, where it is grabbed by the shell picking gripper and placed on the turntable glue dispensing waiting position; the turntable rotates to the glue dispensing position for glueing, and rotates to the glue dispensing visual inspection position for glue dispensing inspection. If the glue dispensing inspection does not meet the standard, the finished product gripper will grab the corresponding shell component to the NG position at the subsequent finished product unloading position; if the glue dispensing inspection meets the standard, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the combination of the synthesis picking position and the shell are hot-riveted together.

[0117] In some embodiments, the robotic arm is a 3-axis robotic arm; the robotic arm places the filter screen on the filter screen placement position, and the grabbing mechanism carries the assembly equipped with the lining, guide block and filter screen to the filter screen hot riveting station, including: the robotic arm identifies the position of the filter screen through a visual positioning system and accurately grabs it, placing the filter screen on the preset filter screen placement position; after placing the lining and guide block, the grabbing mechanism fixes the assembly through vacuum adsorption or mechanical clamps, and moves to the filter screen hot riveting station according to a preset trajectory to ensure that the relative position accuracy of the filter screen and the lining meets the hot riveting process requirements.

[0118] In some embodiments, the filter screen cooling station is provided with an air-cooling or water-cooling cooling device, and the filter screen is immediately subjected to gradient cooling after hot riveting; after the filter screen is fixed by hot riveting, it is moved to the filter screen cooling station, and the filter screen is cooled and detected while being riveted, including: during the cooling process, a pressure sensor or a visual detection device is used to synchronously detect whether there are riveting defects such as looseness, offset or incomplete welding at the joint between the filter screen and the lining, thereby forming a parallel processing flow of cooling and detection, thereby shortening the single component processing cycle.

[0119] In some embodiments, the assembly is moved to the filter concentricity inspection position, the guide block is removed by rotating the filter guide block clamp, and the visual inspection device is triggered to detect the concentricity of the filter and the liner, including: the rotating filter guide block clamp is driven by a servo motor to achieve 360-degree rotation, and a preset torque is applied when the clamp contacts the guide block, so that the guide block is separated from the liner and accurately removed; after the guide block is removed, the visual inspection device uses an industrial camera to shoot a cross-sectional image of the filter and the liner, and calculates the concentricity deviation value of the two based on the image processing algorithm to avoid physical obstruction and positioning interference of the guide block on the detection.

[0120] In some embodiments, a preset number of shells are placed on a material tray, the product gripper grabs the shell to the loading position, and the turntable drives the shell to pass through the shrapnel placement position, the shrapnel pushing position, and the shrapnel hot riveting position in sequence to complete the placement, pushing and hot riveting of the shrapnel, including: the turntable is a dividing turntable, which drives the shell to enter each station in sequence according to the preset angle accuracy; at the shrapnel placement position, the shrapnel is accurately placed in the preset card slot of the shell by a vibration plate or a mechanical gripper; at the shrapnel pushing position, the shrapnel is pushed to the positioning reference surface that fits the inner wall of the shell with a constant pressure by a pneumatic push rod; at the shrapnel hot riveting station, the shrapnel fixing point is heated and pressurized by the hot rivet head to form a hot melt connection between the shrapnel and the shell.

[0121] In some embodiments, the turntable rotates to a visual inspection station to detect whether the spring clip is riveted, including: the visual inspection station is provided with a coaxial light source and a high-precision linear array camera to perform multi-angle imaging detection on the integrity of the weld mark at the riveted joint of the spring clip, the offset of the spring clip and the fit with the shell; through a preset riveting quality judgment threshold, it automatically distinguishes between the spring clip riveting standard and the non-standard state, and the detection results are fed back to the gripper control system in real time to execute the corresponding diversion action.

[0122] In some embodiments, the turntable rotates to the glue dispensing position for gluing, and rotates to the glue dispensing visual inspection position for glue dispensing inspection, including: the glue dispensing position is provided with a screw pump or a jet glue dispensing device, and the shell is coated with sealant or adhesive according to the preset glue dispensing path and glue quantity parameters; the glue dispensing visual inspection position obtains the glue dispensing contour through a structured light three-dimensional scanner, and detects the width, height and continuity of the glue line. If unsatisfactory conditions such as glue breakage, insufficient glue quantity or overflow are detected, a defect mark is generated and associated with the flow path of the corresponding shell to ensure that defective products are accurately removed at the finished product unloading position.

[0123] In some embodiments, if the glue dispensing is detected to meet the standards, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the assembly from the synthesis material taking position and the outer shell are hot riveted together, including: the inner and outer shell synthesis hot riveting station is provided with a positioning tool, and the assembly from the synthesis material taking position and the outer shell are secondary positioned, and the alignment deviation between the two is detected by an infrared sensor and corrected in real time; during the hot riveting process, a segmented heating mode is adopted, the connecting column is first preheated to the set temperature, and then pulse pressure is applied to complete the hot melt connection, and at the same time, the temperature stability of the hot rivet head is monitored in real time by a temperature sensor to ensure that the structural strength of the inner and outer shell components after synthesis meets the design requirements.

[0124] In some embodiments, if the glue spot detection is up to standard, the turntable is rotated to the inner and outer shell synthesis hot riveting station, and the combination of the synthesis material taking position and the shell are hot riveted together, it also includes: rotating the hot-riveted combination and the shell to the synthesis hot riveting detection station; detecting the synthesis hot riveting effect, if it does not meet the standard, the finished product clamp will grab the synthesized semi-finished product to the NG material position, and if it meets the standard, it will grab it to the finished product tray; when the glue spot visual detection does not meet the standard, the shell placement action is not performed, and the corresponding station remains in a non-action state when there is no material.

[0125] The present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the fully automatic ink carriage automatic assembly detection method provided in any embodiment of the present application.

[0126] The computer-readable storage medium may be an internal storage unit of the fully automatic ink carriage automatic assembly and testing device described in the aforementioned embodiment, such as a hard disk or memory of the fully automatic ink carriage automatic assembly and testing device. The computer-readable storage medium may also be an external storage device of the fully automatic ink carriage automatic assembly and testing device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the fully automatic ink carriage automatic assembly and testing device.

[0127] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A fully automatic ink carriage automatic assembly detection method, characterized in that: The method comprises: A preset number of ink cartridge liners are placed on the material tray, and the gripping mechanism grabs a single ink cartridge liner at a time and moves it to the liner loading position; the filter guide gripping clamp grabs the guide block, places the liner on the loading position base, and places the guide block; the robotic arm places the filter screen on the filter screen placement position, and the gripping mechanism carries the assembly of the liner, guide block, and filter screen to the filter screen hot riveting station. After the filter screen is fixed by hot riveting, it is moved to the filter screen cooling station, and the filter screen is tested to see if it is riveted while cooling. After the filter screen is riveted, the assembly is moved to the filter screen concentricity inspection position. The guide block is removed by rotating the filter screen guide block clamp, triggering the visual inspection device to check the concentricity of the filter screen and the lining. If it meets the standard, it is grabbed to the OK material level. The assembly at the OK material level is moved to the composite material removal position by turning the clamp; A preset number of shells are placed on the material tray. The product gripper grabs the shells and brings them to the loading position. The turntable drives the shells through the spring clip placement position, spring clip tightening position, and spring clip hot riveting position in sequence, completing the placement, tightening, and hot riveting of the spring clips. The turntable rotates to the visual inspection position to check whether the spring clips are riveted. If the spring clips are riveted to standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material. The shell receiving shaft moves to the shell unloading position, receives the shell with the shrapnel riveted to the standard and then moves to the waiting position, where it is grabbed by the shell picking gripper and placed on the turntable glue dispensing waiting position; the turntable rotates to the glue dispensing position for glueing, and rotates to the glue dispensing visual inspection position for glue dispensing inspection. If the glue dispensing inspection does not meet the standard, the finished product gripper will grab the corresponding shell component to the NG position at the subsequent finished product unloading position; if the glue dispensing inspection meets the standard, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the combination of the synthesis picking position and the shell are hot-riveted together.

2. The method according to claim 1, characterized in that The robot arm is a three-axis robot arm; the robot arm places the filter screen on the filter screen placement position, and the gripping mechanism carries the assembly of the liner, guide block and filter screen to the filter screen hot riveting station, including: The robotic arm uses the visual positioning system to identify the position of the filter and accurately grasps it, placing it in the preset filter placement position; After placing the liner and guide block, the grabbing mechanism fixes the assembly by vacuum adsorption or mechanical clamps, and moves to the filter screen hot riveting station according to a preset trajectory to ensure that the relative position accuracy of the filter screen and the liner meets the hot riveting process requirements.

3. The method according to claim 1, characterized in that The filter screen cooling station is provided with an air cooling or water cooling device, which performs gradient cooling immediately after the filter screen is hot riveted; after the filter screen is fixed by hot riveting, it is moved to the filter screen cooling station, and the cooling is performed while checking whether the filter screen is riveted, including: During the cooling process, pressure sensors or visual inspection devices are used to synchronously detect whether there are any riveting defects such as looseness, offset or incomplete welding at the joint between the filter screen and the lining, forming a parallel processing flow of cooling and inspection, shortening the single component processing cycle.

4. The method according to claim 1, wherein The assembly is moved to the filter screen concentricity inspection position, the filter screen guide block clamp is rotated to remove the guide block, and the visual inspection device is triggered to inspect the concentricity of the filter screen and the liner, including: The rotating filter guide block clamp is driven by a servo motor to achieve 360-degree rotation. When the clamp contacts the guide block, a preset torque is applied to separate the guide block from the liner and remove it accurately. After the guide block is removed, the visual inspection device uses an industrial camera to capture cross-sectional images of the filter and lining, and calculates the concentricity deviation value of the two based on the image processing algorithm to avoid physical obstruction and positioning interference of the guide block on the inspection.

5. The method according to claim 1, wherein The preset number of shells are placed on the material tray, the product gripper grabs the shell to the loading position, and the turntable drives the shell to pass through the spring placement position, the spring tightening position, and the spring hot riveting position in sequence to complete the placement, tightening and hot riveting of the spring, including: The turntable is an indexing turntable, which drives the housing into each station in sequence according to the preset angle accuracy; At the shrapnel placement position, the shrapnel is accurately placed in the preset slot of the housing through a vibration plate or a mechanical gripper; At the point where the spring is pushed, the spring is pushed to the positioning reference surface that fits the inner wall of the shell with a constant pressure through the pneumatic push rod; At the shrapnel hot riveting station, the shrapnel fixing point is heated and pressurized by the hot riveting head to form a hot melt connection between the shrapnel and the shell.

6. The method according to claim 1, wherein The turntable rotates to the visual inspection station to detect whether the spring piece is riveted, including: The visual inspection station is equipped with a coaxial light source and a high-precision linear array camera to perform multi-angle imaging detection on the integrity of the weld marks at the rivet joints of the shrapnel, the offset of the shrapnel and the degree of fit with the shell; through the preset riveting quality judgment threshold, it automatically distinguishes between the shrapnel riveting states that meet the standards and those that do not meet the standards, and the detection results are fed back to the gripper control system in real time to execute the corresponding diversion action.

7. The method according to claim 1, characterized in that The turntable rotates to the glue dispensing position to glue, and rotates to the glue dispensing visual inspection position to perform glue dispensing inspection, including: The dispensing station is provided with a screw pump or a jet dispensing device, and sealant or adhesive is applied to the housing according to preset dispensing path and glue amount parameters; The glue dispensing visual inspection station uses a structured light 3D scanner to obtain the glue dispensing contour and detect the width, height and continuity of the glue line. If it detects non-compliant conditions such as glue breakage, insufficient glue or overflow, it generates a defect mark and associates it with the flow path of the corresponding shell to ensure that defective products are accurately removed at the finished product unloading position.

8. The method according to claim 1, characterized in that If the detection glue dispensing meets the standards, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the combination of the synthesis material taking position and the outer shell are hot riveted together, including: The inner and outer shell synthesis hot riveting station is equipped with a positioning tool to perform secondary positioning of the assembly from the synthesis material taking position and the outer shell, and detect the alignment deviation between the two through an infrared sensor and correct it in real time; during the hot riveting process, a segmented heating mode is adopted to preheat the connecting column to the set temperature first, and then pulse pressure is applied to complete the hot melt connection. At the same time, the temperature stability of the hot riveting head is monitored in real time through a temperature sensor to ensure that the structural strength of the inner and outer shell components after synthesis meets the design requirements.

9. The method according to claim 1, characterized in that If the glue dispensing is up to standard, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the combined body of the synthesis material taking position and the outer shell are hot riveted together, the method further includes: Rotate the heat-riveted assembly and the shell to the combined heat-riveting inspection station; Detect the synthetic hot riveting effect. If it does not meet the standard, the finished product gripper will grab the synthesized semi-finished product to the NG material position. If it meets the standard, it will be grabbed to the finished product tray; When the dispensing visual inspection fails to meet the standards, the shell placement action will not be performed, and the corresponding workstation will remain in a non-action state when there is no material.

10. A fully automatic ink carriage automatic assembly and detection device, characterized in that: The device comprises: The ink cartridge placement unit is used to place a preset number of ink cartridge liners on the material tray. The gripping mechanism grabs a single ink cartridge liner at a time and moves it to the liner loading position. The filter guide gripping clamp grabs the guide block, places the liner on the loading position base, and places the guide block. The robotic arm places the filter screen on the filter screen placement position. The gripping mechanism carries the assembly of the liner, guide block, and filter screen to the filter screen hot riveting station. After the filter screen is fixed by hot riveting, it is moved to the filter screen cooling station. While cooling, it is tested whether the filter screen is riveted tightly. The concentricity detection unit is used to move the assembly to the concentricity inspection position after the filter screen is riveted. The guide block is removed by rotating the filter guide block clamp, triggering the visual inspection device to detect the concentricity of the filter screen and the lining. If the standard is met, the assembly is grabbed to the OK material level. The assembly at the OK material level is moved to the composite material removal position by flipping the clamp; The material preparation unit is used to place a preset number of shells on the material tray. The product gripper grabs the shells and moves them to the loading position. The turntable drives the shells through the spring clip placement position, the spring clip tightening position, and the spring clip hot riveting position in sequence, completing the placement, tightening and hot riveting of the spring clips. The turntable rotates to the visual inspection position to check whether the spring clips are riveted. If the spring clips are riveted to the standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material. The hot riveting synthesis unit is used to move the shell receiving shaft to the shell unloading position, receive the shell with the shrapnel riveted to the standard, and then move to the waiting position, where it is grabbed by the shell picking clamp and placed on the turntable glue dispensing waiting position; the turntable rotates to the glue dispensing position for glue, and rotates to the glue dispensing visual inspection position for glue dispensing inspection. If the glue dispensing is not up to standard, the finished product clamp will grab the corresponding shell component to the NG position at the subsequent finished product unloading position; if the glue dispensing is up to standard, the turntable rotates to the inner and outer shell synthesis hot riveting station, and the combination at the synthesis picking position is hot riveted to the shell.

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