Full-automatic ink cart automatic assembly detection method and device

Abstract

The application relates to the technical field of printing equipment manufacturing, and provides a full-automatic ink cart automatic assembling and detecting method and device. The method places a preset number of ink box inner linings on a material tray, a grabbing mechanism moves a single ink box inner lining to an inner lining feeding position in a single grabbing process; a filter screen guide grabbing clamp grabs a guide block grabbing mechanism, carries the combination of the inner lining, the guide block and the filter screen to a filter screen hot riveting station, moves to a filter screen cooling station after the filter screen is fixed by hot riveting, moves the combination to a filter screen concentricity checking position after the filter screen is riveted tightly, takes away the guide block by rotating the filter screen guide block clamp jaw, and triggers a visual detection device to detect the concentricity of the filter screen and the inner lining; the combination at an OK feeding position is moved to a synthesis material taking position through a turnover clamp jaw; a preset number of shells are placed on the material tray, a product clamp jaw grabs the shells to a feeding position, a rotating disc is rotated to a visual inspection station, whether the spring sheet is riveted tightly is detected, if the spring sheet riveting meets the standard, the shell assembly is moved to a waiting position to wait for a synthesis device to take the material.

Description

Technical Field

[0001] This application relates to the field of printing equipment manufacturing technology, and in particular to a fully automatic ink carriage assembly and testing method and apparatus. Background Technology

[0002] The printhead carriage, as a key component in an inkjet printer that carries the ink cartridge and enables precise ink ejection, directly impacts print quality through its assembly accuracy and reliability. Traditional printhead carriage assembly processes suffer from the following technical bottlenecks:

[0003] 1. Low efficiency due to manual intervention: In the existing technology, the assembly of ink cartridge liners and filters, the installation of outer shell springs and other processes rely heavily on manual feeding and initial positioning. Only one component can be processed at a time, and manual transfer is required between processes, resulting in a long processing cycle for a single component, which is difficult to meet the efficiency requirements of large-scale production.

[0004] 2. Independent testing processes lead to lagging quality control: Testing of key parameters such as filter mesh riveting strength, spring fit, and adhesive uniformity is mostly done offline by sampling, unable to be linked with the assembly process in real time. For example, filter mesh concentricity testing requires manual disassembly of the guide block for 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 stage of assembly and increasing rework costs.

[0005] 3. Poor coordination among multiple processes and insufficient positioning accuracy: The hot riveting of the inner liner and outer shell relies on manual alignment and lacks an automated positioning correction mechanism. The coaxiality deviation between the inner and outer shells often exceeds 0.3mm, resulting in problems 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 component structural strength.

[0006] 4. Fragmented processes and lack of closed-loop control: The existing assembly line operates independently at each station (such as material loading, inspection, and hot riveting), without a linkage between process parameters and inspection results. For example, if the dispensing is substandard, the subsequent hot riveting process cannot be automatically stopped, resulting in the continuous flow of defective products. The overall yield can only reach about 85%, which is difficult to meet the reliability requirements of high-end printing equipment.

[0007] Therefore, a method is urgently needed to solve at least one of the above problems. Summary of the Invention

[0008] This application provides a fully automated ink carriage assembly and inspection method and apparatus, which aims to solve the problems of low efficiency due to manual intervention, independent inspection links, poor coordination among multiple processes, and fragmented processes in traditional ink carriage assembly processes.

[0009] In a first aspect, embodiments of this application provide a fully automated inkjet printing assembly and inspection method, the method comprising:

[0010] A preset number of ink cartridge liners are placed on a material tray. The gripping mechanism grips a single ink cartridge liner at a time and moves it to the liner loading position. The filter screen guide gripper grips the guide block, places the liner on the loading position base, and places the guide block. The robotic arm places the filter screen in the filter screen placement position. The gripping mechanism carries the assembly containing the liner, guide block, and filter screen to the filter screen hot riveting station. After the filter screen is hot riveted and fixed, it is moved to the filter screen cooling station. While cooling, the filter screen is checked to see if it is riveted tightly.

[0011] 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 gripper, triggering the vision inspection device to detect the concentricity of the filter screen and the inner lining. If it meets the standard, it is picked up to the OK material position. The assembly at the OK material position is moved to the composite material picking position by flipping the gripper.

[0012] The preset number of shells are placed on the material tray. The product gripper picks up the shells and moves them to the loading position. The turntable drives the shells to pass through the spring placement position, the spring pressing position, and the spring hot riveting position in sequence to complete the placement, pressing and hot riveting of the springs. The turntable rotates to the visual inspection position to check whether the springs are riveted. If the spring riveting meets the standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material.

[0013] The outer shell receiving shaft moves to the outer shell unloading position, picks up the outer shell that has passed the spring clip riveting standard, and moves it to the waiting position. The outer shell picking claw grabs it and places it in the turntable dispensing waiting position. The turntable rotates to the dispensing point to dispense glue, and then rotates to the dispensing visual inspection position to perform dispensing inspection. If the dispensing inspection fails, the corresponding outer shell component is picked up by the finished product claw at the subsequent finished product unloading position and placed in the NG position. If the dispensing inspection passes, the turntable rotates to the inner and outer shell assembly hot riveting position, and the assembly at the assembly picking position is hot riveted to the outer shell.

[0014] In some embodiments, the robotic arm is a 3-axis robotic arm; the robotic arm places the filter screen into the filter screen placement position, and the gripping mechanism carries the assembly containing the liner, 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 vision positioning system and accurately grips it, and places the filter screen in the preset filter screen placement position; after placing the liner and guide block, the gripping mechanism fixes the assembly by vacuum adsorption or mechanical grippers, and moves it to the filter screen hot riveting station according to a preset trajectory to ensure that the relative positional accuracy of the filter screen and the liner meets the requirements of the hot riveting process.

[0015] In some embodiments, the filter cooling station is equipped with an air-cooled or water-cooled cooling device to perform gradient cooling immediately after the filter is hot-riveted; after the filter is hot-riveted and fixed, it is moved to the filter cooling station, and the filter is checked for tightness during cooling, including: during the cooling process, the filter and the inner liner are checked for looseness, misalignment or incomplete welding defects at the joint through a pressure sensor or visual inspection device, forming a parallel processing flow of cooling and inspection, shortening the processing cycle of a single component.

[0016] In some embodiments, moving the assembly to the filter concentricity inspection position, removing the guide block by rotating the filter guide block gripper, and triggering the vision inspection device to detect the concentricity of the filter and the liner includes: the rotating filter guide block gripper is driven by a servo motor to rotate 360 ​​degrees, and a preset torque is applied when the gripper contacts the guide block to separate the guide block from the liner and remove it accurately; after the guide block is removed, the vision inspection device takes cross-sectional images of the filter and the liner using an industrial camera, and calculates the concentricity deviation value of the two based on an image processing algorithm to avoid physical obstruction and positioning interference of the guide block on the inspection.

[0017] In some embodiments, the step of placing a preset number of shells on a material tray, having the product gripper pick up the shells to the loading position, and having the turntable drive the shells sequentially through the spring placement position, the spring pressing position, and the spring hot riveting position to complete the placement, pressing, and hot riveting of the springs includes: the turntable is an indexing turntable, which drives the shells sequentially into each position according to a preset angle accuracy; at the spring placement position, the springs are accurately placed into the preset slots of the shells by a vibratory feeder or a mechanical gripper; at the spring pressing position, the springs are pushed to the positioning reference surface that fits against the inner wall of the shell by a pneumatic pusher with constant pressure; at the spring hot riveting position, the fixing point of the springs is heated and pressurized by a hot riveting head to form a thermal fusion connection between the springs and the shells.

[0018] In some embodiments, the turntable rotates to a visual inspection station to detect whether the spring is riveted, including: the visual inspection station is equipped with a coaxial light source and a high-precision line scan camera to perform multi-angle imaging detection on the integrity of the weld line at the spring riveting point, the spring offset, and the fit with the shell; through a preset riveting quality judgment threshold, the spring riveting is automatically distinguished between qualified and unqualified states, and the detection results are fed back to the gripper control system in real time to execute the corresponding diversion action.

[0019] In some embodiments, the turntable rotates to the dispensing point for dispensing and then to the dispensing visual inspection point for dispensing inspection. This includes: the dispensing point is equipped with a screw pump or a jet dispensing device, which applies sealant or adhesive to the housing according to a preset dispensing path and adhesive quantity parameters; the dispensing visual inspection point acquires the dispensing profile using a structured light 3D scanner, detects the width, height, and continuity of the adhesive line, and if any defects such as dispensing breaks, insufficient adhesive quantity, or overflow are detected, a defect mark is generated and associated with the corresponding housing flow path to ensure that defective products are accurately rejected at the finished product unloading point.

[0020] In some embodiments, if the detection dispensing standard turntable rotates to the inner and outer shell assembly hot riveting station, the assembly at the assembly material taking position and the outer shell are hot riveted together. This includes: the inner and outer shell assembly hot riveting station is equipped with a positioning fixture to perform secondary positioning of the assembly from the assembly material taking position and the outer shell; 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 preheated to a 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 by a temperature sensor to ensure that the structural strength of the assembled inner and outer shell components meets the design requirements.

[0021] In some embodiments, after the detection dispensing standard turntable rotates to the inner and outer shell hot riveting station and hot rivets the assembly at the material picking station to the outer shell, the process further includes: rotating the hot riveted assembly and the outer shell to the hot riveting detection station; detecting the hot riveting effect; if it does not meet the standard, the finished product gripper picks up the synthesized semi-finished product and places it in the NG material station; if it meets the standard, it picks it up and places it in the finished product tray; when the dispensing visual detection does not meet the standard, the outer shell placement action is not performed, and the corresponding station remains inactive when there is no material.

[0022] Secondly, this application provides a fully automated inkjet printing automatic assembly and inspection device, the device comprising:

[0023] The ink cartridge placement unit is used to place a preset number of ink cartridge liners on a material tray. The gripping mechanism grips a single ink cartridge liner at a time and moves it to the liner loading position. The filter screen guide gripper grips the guide block, places the liner on the loading position base, and places the guide block. The robotic arm places the filter screen in the filter screen placement position. The gripping mechanism carries the assembly containing the liner, guide block, and filter screen to the filter screen hot riveting station. After the filter screen is hot riveted and fixed, it is moved to the filter screen cooling station. During cooling, the filter screen is checked to see if it is riveted tightly.

[0024] The concentricity detection unit is used to move the assembly to the filter concentricity inspection position after the filter screen is riveted. The guide block is removed by rotating the filter screen guide block gripper, triggering the vision inspection device to detect the concentricity of the filter screen and the inner lining. If the standard is met, it is picked up to the OK material position. The assembly at the OK material position is moved to the composite material picking position by flipping the gripper.

[0025] The material preparation unit is used to place a preset number of shells on the material tray. The product gripper picks up the shells and moves them to the loading position. The turntable drives the shells to pass through the spring clip placement position, the spring clip tightening position, and the spring clip hot riveting position in sequence to complete 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 clip riveting meets the standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the materials.

[0026] The hot riveting assembly unit is used to move the outer shell receiving shaft to the outer shell unloading position, pick up the outer shell that has passed the spring sheet riveting standard, and move it to the waiting position. The outer shell picking claws then grab it and place it on the turntable dispensing waiting position. The turntable rotates to the dispensing point and then to the dispensing vision inspection position for dispensing inspection. If the dispensing inspection fails, the corresponding outer shell assembly is picked up by the finished product claws and placed in the NG position at the subsequent finished product unloading position. If the dispensing inspection passes, the turntable rotates to the inner and outer shell assembly hot riveting station, where the assembly at the assembly picking position is hot riveted to the outer shell.

[0027] This application provides a fully automated ink carriage assembly and inspection method and apparatus. The method integrates inner liner pretreatment (filter assembly, concentricity detection), outer shell treatment (spring clip installation, riveting detection), and final assembly (gluing, hot riveting, multi-level inspection) into a unified process. It achieves fully automated material flow through gripping mechanisms, indexing turntables, and robotic arms, processing up to 15 inner liners / outer shells per load, reducing the processing cycle of a single component and improving production efficiency. The riveting status is simultaneously detected during filter cooling, visual contour detection is performed immediately after gluing, and structural strength is verified in real time after final hot riveting, forming a real-time closed-loop control of "assembly-inspection-diversion." Through a visual positioning system (such as the filter positioning of an Epson 3-axis robotic arm), a servo motor-driven guide block separation mechanism, and a final hot riveting positioning fixture with real-time infrared sensor correction, the concentricity deviation of key components is controlled within 0.05mm, improving the coaxiality of the inner and outer shells and fundamentally solving problems such as ink leakage and component loosening caused by insufficient assembly precision. The filter cooling and riveting detection are carried out in parallel, and the turntable operates in multiple stations simultaneously (such as spring placement, tightening, and continuous hot riveting), reducing invalid waiting time. Compared with the traditional process, it reduces 3 intermediate stations and 2 manual intervention steps, simplifying the process flow and reducing the equipment footprint.

[0028] In summary, this invention, through the deep integration of automated assembly and multi-level testing, breaks through the technical bottleneck of the difficulty in balancing efficiency and accuracy in traditional processes, providing a reliable process solution for the large-scale production of high-end ink carriages, and significantly improving the manufacturing quality and production efficiency of core components of printing equipment.

[0029] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic flowchart illustrating the steps of a fully automated inkjet printing automatic assembly and testing method according to an embodiment of this application;

[0032] Figure 2 This is a schematic diagram of the structure of a fully automated inkjet printing assembly and testing equipment provided in one embodiment of this application;

[0033] Figure 3 This is a schematic block diagram of the structure of a fully automatic inkjet printing automatic assembly and testing device provided in one embodiment of this application;

[0034] Figure 4 This is a schematic block diagram of the structure of a fully automatic inkjet printing automatic assembly and testing equipment provided in one embodiment of this application.

[0035] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0038] It should be understood that, in order to clearly describe the technical solutions of the embodiments of the present invention, the terms "first" and "second" are used in the embodiments of the present invention to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0039] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the 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.

[0040] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0041] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0042] The printhead carriage, as a key component in an inkjet printer that carries the ink cartridge and enables precise ink ejection, directly impacts print quality through its assembly accuracy and reliability. Traditional printhead carriage assembly processes suffer from the following technical bottlenecks:

[0043] 1. Low efficiency due to manual intervention: In the existing technology, the assembly of ink cartridge liners and filters, the installation of outer shell springs and other processes rely heavily on manual feeding and initial positioning. Only one component can be processed at a time, and manual transfer is required between processes, resulting in a long processing cycle for a single component, which is difficult to meet the efficiency requirements of large-scale production.

[0044] 2. Independent testing processes lead to lagging quality control: Testing of key parameters such as filter mesh riveting strength, spring fit, and adhesive uniformity is mostly done offline by sampling, unable to be linked with the assembly process in real time. For example, filter mesh concentricity testing requires manual disassembly of the guide block for 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 stage of assembly and increasing rework costs.

[0045] 3. Poor coordination among multiple processes and insufficient positioning accuracy: The hot riveting of the inner liner and outer shell relies on manual alignment and lacks an automated positioning correction mechanism. The coaxiality deviation between the inner and outer shells often exceeds 0.3mm, resulting in problems 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 component structural strength.

[0046] 4. Fragmented processes and lack of closed-loop control: The existing assembly line operates independently at each station (such as material loading, inspection, and hot riveting), without a linkage between process parameters and inspection results. For example, if the dispensing is substandard, the subsequent hot riveting process cannot be automatically stopped, resulting in the continuous flow of defective products. The overall yield can only reach about 85%, which is difficult to meet the reliability requirements of high-end printing equipment.

[0047] Therefore, a method is urgently needed to solve at least one of the above problems.

[0048] To resolve the above issues, please refer to... Figure 1 This application provides a fully automated inkjet printing assembly and inspection method, applicable to, for example... Figure 2 The fully automated inkjet printing assembly and testing equipment shown is illustrated. It should also be noted that all information involved in the methods provided in this application was extracted with the authorization of the relevant users and in accordance with relevant regulations, and will not infringe upon user privacy.

[0049] The provided fully automated inkjet printing assembly and inspection method includes steps S101 to S104. Details are as follows:

[0050] Step S101. Place a preset number of ink cartridge liners on the material tray. The gripping mechanism grips a single ink cartridge liner at a time and moves it to the liner loading position. The filter screen guide gripper grips the guide block, places the liner on the loading position base, and places the guide block. The robotic arm places the filter screen in the filter screen placement position. The gripping mechanism carries the assembly containing the liner, guide block, and filter screen to the filter screen hot riveting station. After the filter screen is hot riveted and fixed, it is moved to the filter screen cooling station. While cooling, the filter screen is checked to see if it is riveted tightly.

[0051] Specifically, by automating the feeding, positioning, and hot riveting of the ink cartridge liner, guide block, and filter, the filter riveting quality inspection is completed simultaneously, forming the initial processing of the liner assembly.

[0052] The inner liner feeding and guide block positioning process involves loading a preset number (e.g., 15) of ink cartridge inner liners onto a material tray. A gripping mechanism (e.g., a pneumatic gripper or vacuum suction cup) grips a single inner liner at a time and moves it to the inner liner feeding position via a linear guide rail. The filter screen guide gripper (an integrated servo motor-driven rotating mechanism) grips a guide block from the guide block hopper and precisely places it into the positioning slot of the feeding position base, ensuring that the fit tolerance between the guide block and the inner liner is ≤0.02mm.

[0053] The automated installation and hot riveting of the filter screen is achieved through a 3-axis robotic arm equipped with a vision positioning system (industrial camera + image processing algorithm). The system identifies the position of the filter screen in the tray, grasps it through vacuum adsorption, and places it in the preset filter screen placement position (positioning accuracy ±0.1mm). The grasping mechanism fixes the "liner + guide block + filter screen" assembly (using mechanical grippers for 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 riveting head is heated at 180℃±5℃ for 3 seconds and a constant pressure of 50N is applied to complete the heat fusion connection between the filter screen and the liner.

[0054] Simultaneous detection of cooling and riveting status: After hot riveting, the assembly is immediately moved to the filter cooling station and rapidly cooled by an air-cooling device (gradual cooling at a wind speed of 5 m / s) 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 at the riveting joint (threshold ≥80N), or a visual inspection device is used to capture images of the weld lines to identify whether there are defects such as cracks or misalignments, forming a parallel "cooling-inspection" processing flow.

[0055] 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 gripper, triggering the vision inspection device to detect the concentricity of the filter screen and the inner lining. If the standard is met, it is picked up to the OK material position. The assembly at the OK material position is moved to the composite material picking position by flipping the gripper.

[0056] Specifically, the guide block is removed by an automated mechanism, and the concentricity of the filter and the liner is accurately measured by a vision inspection device. Based on the inspection results, qualified and unqualified combinations are automatically separated.

[0057] After the guide block is automatically disassembled and moved to the filter screen concentricity inspection position by the assembly, the rotating filter screen guide block gripper (servo motor driven, speed 100rpm) contacts the guide block and applies a preset torque (such as 0.5N*m) to separate the guide block from the inner liner. The gripper accurately picks up the guide block and returns it to the hopper for recycling.

[0058] After the guide block is removed, the industrial camera (2048×2048 pixels resolution) of the vision inspection device captures cross-sectional images of the filter and the inner lining. The center coordinates of the two are extracted by the edge detection algorithm (such as the Canny operator), and the concentricity deviation value (threshold ≤ 0.1mm) is calculated. If it meets the standard (OK), the gripping mechanism moves the assembly to the OK position, and then moves it to the composite material picking position by the flipping gripper (rotating 180° to adjust the posture) to wait for it to be assembled with the shell. If it does not meet the standard (NG), it is moved to the NG position for separate processing.

[0059] To avoid positioning errors caused by manual disassembly of guide blocks, the concentricity detection accuracy has been improved from ±0.2mm to ±0.03mm, ensuring that the coaxiality of the filter screen and the inner liner meets the sealing requirements of the inkjet printing fluid channel. The detection results drive the diversion action in real time, and defective products can be rejected without manual intervention, shortening the turnaround time by 5 seconds per piece. This prevents unqualified inner liner assemblies from entering the outer shell assembly process, reducing subsequent rework costs by more than 60%.

[0060] Step S103. Place a preset number of shells on the material tray. The product gripper picks up the shells and moves them to the loading position. The turntable drives the shells to pass through the spring placement position, the spring pressing position, and the spring hot riveting position in sequence to complete the placement, pressing and hot riveting of the springs. The turntable rotates to the visual inspection position to check whether the springs are riveted. If the spring riveting meets the standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material.

[0061] Specifically, the indexing turntable drives the housing to sequentially complete the placement, tightening, hot riveting, and quality inspection of the spring clips, thereby automating the entire process of housing pretreatment.

[0062] The spring clip installation station operates collaboratively, using product grippers to pick up shells from the shell material tray (5 shells at a time) and place them at the loading position. The indexing turntable (positioning accuracy ±5″) rotates at 60° intervals, sequentially feeding the shells into the spring clip placement position, the pressing position, and the hot riveting position. At the spring clip placement position, a vibratory feeder (frequency 50Hz) or a mechanical gripper precisely places the spring clip into the pre-set slot on the shell (position tolerance ±0.15mm). At the pressing position, a pneumatic push rod applies a constant force of 20N to push the spring clip to the positioning reference surface that fits against the inner wall of the shell, ensuring that the fit gap between the spring clip and the shell is ≤0.05mm. At the hot riveting position, the hot riveting head (temperature 200℃±3℃, pressure 80N) heats the spring clip fixing point for 2 seconds to form a heat-fused connection.

[0063] Visual inspection of spring clip riveting quality is performed by rotating a turntable to the visual inspection station. A coaxial light source (color temperature 5000K) illuminates the spring clip riveting area, and a high-precision line scan camera (scanning speed 1000 lines / second) acquires multi-angle images to detect the integrity of the weld line, the spring clip offset (threshold ≤ 0.2mm), and the fit with the shell. The inspection results are fed back to the gripper control system in real time. Qualified shells are moved to the waiting position, while unqualified shells are moved by the rejection gripper to the NG temporary storage area.

[0064] The indexing turntable enables continuous operation of "placement-tightening-hot riveting-inspection", reducing the processing cycle of a single shell to 8 seconds / piece, which is 2.5 times more efficient than the traditional single-station intermittent production. The pneumatic tightening and hot riveting parameters are precisely controlled, improving the spring fit rate and avoiding abnormal noise or structural failure of the printing press due to loose springs.

[0065] Real-time detection linkage: Visual inspection results directly control the flow of samples, eliminating missed inspections and increasing the yield of shell pre-processing from 85% to over 98%.

[0066] Step S104. The outer shell receiving shaft moves to the outer shell unloading position, picks up the outer shell that has passed the spring clip riveting standard, and moves it to the waiting position. The outer shell picking claw grabs it and places it in the turntable dispensing waiting position. The turntable rotates to the dispensing point and then to the dispensing visual inspection position for dispensing inspection. If the dispensing inspection fails, the corresponding outer shell component is picked up by the finished product claw and placed in the NG material position at the subsequent finished product unloading position. If the dispensing inspection passes, the turntable rotates to the inner and outer shell assembly hot riveting station, and the assembly at the assembly picking position is hot riveted to the outer shell.

[0067] Specifically, after the quality inspection of the adhesive application of the outer shell is completed, the qualified outer shell and inner lining are automatically assembled, and a high-strength connection between the inner and outer shells is achieved through precise positioning and hot riveting process.

[0068] The outer shell dispensing and visual inspection process involves receiving qualified outer shells with spring clips from the waiting position via the outer shell receiving shaft, moving them to the turntable dispensing waiting position, and then the turntable driving the outer shell into the dispensing position. The screw pump dispensing device (accuracy ±1% of glue volume) applies sealant along a preset path (such as a circular trajectory), with the glue line width controlled within 1.5mm ± 0.1mm. The dispensing visual inspection position uses a structured light 3D scanner (accuracy ±0.05mm) to obtain the glue line contour and detect defects such as glue breaks, insufficient glue volume (threshold < 1.2mm), or overflow. If the dispensing does not meet the standards, the system marks the corresponding outer 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 outer shell to the inner and outer shell assembly hot riveting station.

[0069] The inner and outer shell are assembled and hot-riveted. The positioning fixture uses an infrared sensor (accuracy ±0.02mm) to detect the alignment deviation between the inner liner assembly and the outer shell at the assembly material pick-up position, and corrects the X / Y / Z axis positions in real time. The hot riveting head adopts a segmented heating mode: first, it is preheated to 150℃ (lasting for 2 seconds) to soften the connecting column, and then pulsed to 220℃ (peak pressure 100N, lasting 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 assembly, the component is moved to the finished product unloading position to wait for final inspection.

[0070] The glue dispensing inspection results automatically block the flow of defective products, preventing unqualified shells from entering the assembly 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 to within 0.08mm, and increase the pull-out strength of the connecting pillars from 50N in traditional processes to over 80N, meeting the vibration reliability requirements during high-speed printing. The inspection data is fed back to the glue dispensing and hot riveting equipment in real time, automatically optimizing parameters such as glue amount and temperature, realizing adaptive adjustment of the assembly process, and ensuring stable yield.

[0071] In some embodiments, the robotic arm is a 3-axis robotic arm; the robotic arm places the filter screen into the filter screen placement position, and the gripping mechanism carries the assembly containing the liner, 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 vision positioning system and accurately grips it, and places the filter screen in the preset filter screen placement position; after placing the liner and guide block, the gripping mechanism fixes the assembly by vacuum adsorption or mechanical grippers, and moves it to the filter screen hot riveting station according to a preset trajectory to ensure that the relative positional accuracy of the filter screen and the liner meets the requirements of the hot riveting process.

[0072] By combining a 3-axis robotic arm with a vision positioning system, the filter screen can be precisely grasped and positioned. Combined with the combined fixing technology of the grasping mechanism, the relative positional accuracy of the filter screen and the inner liner before hot riveting is ensured.

[0073] Robotic arm vision 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 vision positioning system; the camera acquires images of the filter tray, and the Halcon image processing algorithm is used to identify the edge features of the filter and calculate the deviation between the actual position and the theoretical coordinates (within ±0.2mm of X / Y axis). The robotic arm adjusts the end posture based on the deviation value and grasps the filter by vacuum adsorption (suction force ≥10N) and places it in the preset filter placement position (positioning pin accuracy ±0.05mm).

[0074] Assembly Fixing and Track Movement: The gripping mechanism uses pneumatic mechanical grippers (such as SMC MHS4-20D). The inner wall of the grippers is equipped with elastic silicone pads (friction coefficient ≥0.8). After the inner liner and guide block are placed, the clamping force (set value 20N±2N) is fed back by a pressure sensor (accuracy ±1N) to ensure the stability of the assembly. The movement trajectory (acceleration ≤0.5m / s²) is planned along the Cartesian coordinate system and driven by a servo motor (resolution 1.8° / step) to move to the filter screen hot riveting station. During the movement, the relative position of the filter screen and the inner liner is monitored in real time by a laser displacement sensor (accuracy ±0.02mm). When the deviation exceeds 0.1mm, trajectory correction is triggered.

[0075] The combination of visual positioning and robotic arm control improves the filter placement accuracy from ±0.5mm 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, with filter gripping and liner feeding processed in parallel, reducing the pre-processing time of a single component by 3 seconds and increasing the overall cycle time by 20%. The vacuum adsorption method is compatible with different filter materials (such as metal mesh and nylon mesh), and the elastic design of the mechanical grippers is compatible with the liner size tolerance (±0.3mm), improving the equipment's versatility.

[0076] In some embodiments, the filter cooling station is equipped with an air-cooled or water-cooled cooling device to perform gradient cooling immediately after the filter is hot-riveted; after the filter is hot-riveted and fixed, it is moved to the filter cooling station, and the filter is checked for tightness during cooling, including: during the cooling process, the filter and the inner liner are checked for looseness, misalignment or incomplete welding defects at the joint through a pressure sensor or visual inspection device, forming a parallel processing flow of cooling and inspection, shortening the processing cycle of a single component.

[0077] Gradual cooling is performed immediately after the filter screen is hot-riveted, and the cooling and riveting detection are processed in parallel through pressure sensors or visual inspection, shortening the processing cycle of a single component.

[0078] The gradient cooling device uses a dual-channel air-cooling unit (such as a Schneider fan with an air volume of 50L / s) at the filter cooling station to cool the filter in two stages: first, pre-cooling with hot air at 40℃±5℃ for 1 second (to reduce thermal stress), and then forcibly cooling with cold air at 25℃±2℃ for 3 seconds, so that the filter temperature drops from 180℃ to below 50℃; or a water-cooled circulation system (such as an APC chiller with a water temperature of 20℃±1℃) is used, which contacts the assembly through a thermally conductive aluminum plate (5mm thick, thermal conductivity ≥200W / (m*K)) to achieve a temperature drop of 80% within 3 seconds.

[0079] A miniature pressure sensor (range 0-200N, accuracy ±1%) is installed at the cooling station. The contact point touches the edge of the filter screen, and after applying a 5N pre-pressure, the restoring force is detected. If the restoring force is <80N, it is determined to be a poor riveting condition. An industrial camera (frame rate 100fps) captures the hot riveting weld line, and a deep learning algorithm (such as YOLOv5) is used to identify defects such as cracks and missing materials. The detection time is ≤0.5 seconds / 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 a diversion action within 0.2 seconds.

[0080] In some embodiments, moving the assembly to the filter concentricity inspection position, removing the guide block by rotating the filter guide block gripper, and triggering the vision inspection device to detect the concentricity of the filter and the liner includes: the rotating filter guide block gripper is driven by a servo motor to rotate 360 ​​degrees, and a preset torque is applied when the gripper contacts the guide block to separate the guide block from the liner and remove it accurately; after the guide block is removed, the vision inspection device takes cross-sectional images of the filter and the liner using an industrial camera, and calculates the concentricity deviation value of the two based on an image processing algorithm to avoid physical obstruction and positioning interference of the guide block on the inspection.

[0081] The guide block is automatically removed by a rotating gripper driven by a servo motor. After eliminating physical obstruction, a visual inspection algorithm is used to accurately calculate the concentricity deviation between the filter and the liner.

[0082] Guide block disassembly mechanism: The rotating filter guide block gripper is driven by a servo motor (power 50W, speed range 0-300rpm). The gripper end is equipped with anti-slip texture (surface roughness Ra≤1.6μm). When in contact with the guide block, it rotates clockwise 15° with a torque of 0.5N*m to separate the guide block from the snap-fit ​​structure of the inner liner. The gripper 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 jamming, triggering an alarm and stopping the action to avoid damage to the inner liner.

[0083] Concentricity visual inspection: After the guide block is removed, the telecentric lens (distortion rate <0.1%) of the visual inspection device captures axial cross-sectional images 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), and the concentricity deviation is calculated using the following formula:

[0084] The judgment threshold is set to ≤0.1mm; if the deviation exceeds the tolerance, it is marked as NG. Here, X1 and Y1 represent the x and y coordinates (unit: mm) of the center of the filter screen's inner hole in a two-dimensional plane (detection coordinate system). A cross-sectional image of the filter screen and its liner is captured using a vision inspection device (industrial camera). Image processing algorithms (such as Hough circle detection) are used to extract the edge contour of the filter screen's inner hole and calculate its geometric center coordinates (X1, Y1).

[0085] X2 and Y2 represent the x and y coordinates (unit: mm) of the center of the inner liner reference hole in the same detection coordinate system. Similarly, the edge contour of the inner liner reference hole (usually the positioning hole or center hole on the inner liner) is extracted by image processing algorithm, and its geometric center coordinates (X2, Y2) are calculated.

[0086] D represents the straight-line distance between the center of the inner hole of the filter screen and the center of the reference hole of the liner, i.e., the concentricity deviation value (unit: mm). By calculating the value of D, it is determined whether the coaxiality of the filter screen and the liner meets the process requirements (the threshold is usually D≤0.1mm). If D exceeds the threshold, it means that the concentricity of the two does not meet the standard, and the component must be rejected.

[0087] In some embodiments, the step of placing a preset number of shells on a material tray, having the product gripper pick up the shells to the loading position, and having the turntable drive the shells sequentially through the spring placement position, the spring pressing position, and the spring hot riveting position to complete the placement, pressing, and hot riveting of the springs includes: the turntable is an indexing turntable, which drives the shells sequentially into each position according to a preset angle accuracy; at the spring placement position, the springs are accurately placed into the preset slots of the shells by a vibratory feeder or a mechanical gripper; at the spring pressing position, the springs are pushed to the positioning reference surface that fits against the inner wall of the shell by a pneumatic pusher with constant pressure; at the spring hot riveting position, the fixing point of the springs is heated and pressurized by a hot riveting head to form a thermal fusion connection between the springs and the shells.

[0088] The indexing turntable drives the housing through the spring placement, tightening, and hot riveting stations in sequence. The springs are automatically installed and fixed by devices such as vibratory feeders and pneumatic push rods.

[0089] Indexing turntable and station layout: The indexing turntable (such as the Tanzi precision cam divider, with a positioning accuracy of ±15″) has 6 stations, 3 of which are spring processing stations (placement position, push-tightening position, and hot riveting position). The turntable diameter is 300mm, and the distance between adjacent stations is 60°. The product gripper can grab 5 shells at a time (evenly arranged with a spacing of 50mm) and place them in the positioning groove of the material position on the turntable (dimensional tolerance ±0.1mm).

[0090] Spring installation process: Placement position: The vibratory feeder (frequency 50Hz, amplitude 0.5mm) conveys the spring to the discharge port. The mechanical gripper (such as SMC pneumatic gripper MHZ2-20D) grips it at a speed of 0.3m / s and places it precisely according to the angle of the outer shell slot (45°±1°), with a positional deviation ≤0.15mm; Tightening position: The pneumatic push rod (stroke 10mm, thrust 20N±2N) moves radially along the outer shell to push the spring to fit against the inner wall. After tightening, the spring protrusion is detected by a laser displacement sensor (accuracy ±0.03mm) (standard value 1.0mm±0.05mm); Hot riveting position: The hot riveting head (made of brass, with Teflon coating) is heated to 200℃±3℃ and 80N pressure is applied to the spring fixing point for 2 seconds to form a welding protrusion with a diameter of 2.5mm±0.2mm.

[0091] In some embodiments, the turntable rotates to a visual inspection station to detect whether the spring is riveted, including: the visual inspection station is equipped with a coaxial light source and a high-precision line scan camera to perform multi-angle imaging detection on the integrity of the weld line at the spring riveting point, the spring offset, and the fit with the shell; through a preset riveting quality judgment threshold, the spring riveting is automatically distinguished between qualified and unqualified states, and the detection results are fed back to the gripper control system in real time to execute the corresponding diversion action.

[0092] At the visual inspection station, a coaxial light source and a line scan camera are used to perform multi-angle imaging inspection of the spring clip riveting joint. Based on a preset threshold, the riveting quality is automatically determined and the flow is driven.

[0093] Visual inspection hardware configuration: A coaxial light source (such as CCS CL-2000, color temperature 5500K, uniformity ≥95%) vertically illuminates the spring-loaded riveting area to eliminate reflective interference; a high-precision line scan camera (resolution 12k pixels, scanning speed 10kHz) scans along the length of the spring-loaded area, with an acquisition accuracy of 0.02mm / pixel and a single scan time ≤0.2 seconds.

[0094] Detection algorithm and flow control: Image preprocessing: noise is removed by median filtering, edge detection is used to extract the weld line contour, and the weld area (standard value ≥3mm²), spring offset (deviation from the outer shell slot baseline ≤0.2mm), and fit (gap ≤0.05mm) are calculated; Judgment logic: if any parameter exceeds the tolerance, it is marked as NG. The detection result is transmitted to the PLC in real time via the Profinet bus to control the action of the gripper at the next station on the turntable - qualified outer shells are sent to the waiting position by the transfer mechanism, and NG products are pushed to the waste bin by the rejection cylinder (stroke 50mm, response time ≤0.1 seconds).

[0095] In some embodiments, the turntable rotates to the dispensing point for dispensing and then to the dispensing visual inspection point for dispensing inspection. This includes: the dispensing point is equipped with a screw pump or a jet dispensing device, which applies sealant or adhesive to the housing according to a preset dispensing path and adhesive quantity parameters; the dispensing visual inspection point acquires the dispensing profile using a structured light 3D scanner, detects the width, height, and continuity of the adhesive line, and if any defects such as dispensing breaks, insufficient adhesive quantity, or overflow are detected, a defect mark is generated and associated with the corresponding housing flow path to ensure that defective products are accurately rejected at the finished product unloading point.

[0096] 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, so as to achieve full quantitative inspection of dispensing quality and precise rejection of defective products.

[0097] Dispensing process implementation: A screw pump dispensing machine (needle diameter 0.5mm) is installed at the dispensing position to apply silicone (viscosity 5000cps) according to a preset G-code path (such as a circular trajectory around the shell connection surface, radius deviation ±0.05mm), and 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%), and the pump automatically stops and alarms when abnormal fluctuations (exceeding the set value ±10%) occur.

[0098] Visual inspection of dispensing: A structured light 3D scanner (such as Gocator 2420, accuracy ±0.05mm) is installed at the dispensing visual inspection station to project 7 linear lasers onto the surface of the dispensing line and collect 3D point cloud data; the software algorithm calculates the width of the dispensing line (standard value 1.5mm±0.1mm), continuity (a break length > 0.3mm is considered a break in dispensing), and overflow amount (more than 0.2mm beyond the edge of the shell is considered overflow). The inspection time is ≤0.3 seconds / piece; when the inspection fails, the system generates a defect mark (such as shell ID + station number), which is associated with the gripping logic of the finished product gripper, and NG products are preferentially rejected at the subsequent unloading station.

[0099] In some embodiments, if the detection dispensing standard turntable rotates to the inner and outer shell assembly hot riveting station, the assembly at the assembly material taking position and the outer shell are hot riveted together. This includes: the inner and outer shell assembly hot riveting station is equipped with a positioning fixture to perform secondary positioning of the assembly from the assembly material taking position and the outer shell; 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 preheated to a 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 by a temperature sensor to ensure that the structural strength of the assembled inner and outer shell components meets the design requirements.

[0100] The alignment deviation of the inner and outer shells is corrected by infrared sensors of positioning fixtures, and the hot riveting process with segmented heating mode is combined to ensure the structural strength and coaxiality requirements of the assembled components.

[0101] Secondary positioning and deviation correction: The positioning fixture is equipped with 3 sets of infrared through-beam sensors (accuracy ±0.02mm) to detect the offset of the inner liner assembly and the outer shell in the X / Y / Z axes respectively: X / Y axis: The sensor is 5mm away from the edge of the workpiece. When the deviation is >0.1mm, the servo electric cylinder (stroke 10mm, resolution 0.01mm) automatically makes fine adjustments; Z axis: The pressure sensor (accuracy ±0.5N) detects the contact force to ensure that the parallelism of the two mating surfaces is ≤0.05mm / m.

[0102] Segmented heating riveting process: Preheating stage: The riveting head is heated to 150℃ (for 2 seconds) to soften the surface of the connecting post (ABS material) and reduce stress concentration during subsequent pulse heating; Pulse heating stage: The temperature is raised to 220℃±2℃, and 100N pressure is applied (controlled by a servo press with an accuracy of ±1%) for 3 seconds to form a welded 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 temperature of the riveting head, triggering an emergency stop when the temperature exceeds the limit to avoid plastic carbonization caused by overheating (the carbonization rate of the traditional process is 3%, now reduced to below 0.1%).

[0103] In some embodiments, after the detection dispensing standard turntable rotates to the inner and outer shell hot riveting station and hot rivets the assembly at the material picking station to the outer shell, the process further includes: rotating the hot riveted assembly and the outer shell to the hot riveting detection station; detecting the hot riveting effect; if it does not meet the standard, the finished product gripper picks up the synthesized semi-finished product and places it in the NG material station; if it meets the standard, it picks it up and places it in the finished product tray; when the dispensing visual detection does not meet the standard, the outer shell placement action is not performed, and the corresponding station remains inactive when there is no material.

[0104] A new inspection station is added after the hot riveting process to make a final judgment on the synthesis effect. Combined with the glue dispensing inspection results, the entire process of defective products is blocked, and the empty station is automatically identified to avoid erroneous actions.

[0105] The hot riveting inspection station is equipped with a tensile testing module (range 0-200N, accuracy ±1%) to apply a 50N axial tensile force to the assembled inner and outer shell components. The displacement sensor (accuracy ±0.01mm) detects the separation amount. If it is >0.1mm, it is judged as a hot riveting defect. At the same time, an industrial camera captures the shape of the hot riveting protrusions to identify whether there are defects such as false welding or missing materials. The inspection time is ≤1 second / piece.

[0106] Diversion logic and empty station handling: Qualified components are picked up by finished product grippers (such as igus cable chain grippers) and placed into finished product trays (each tray has a capacity of 50 pieces), while NG products are moved to the NG material position (marked by a red warning light); when the dispensing inspection fails, 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 "empty station skip" logic is triggered by the photoelectric sensor (response time ≤ 0.05 seconds) to avoid equipment damage caused by the hot riveting head moving idly.

[0107] In some embodiments, a cross-station general detection model is constructed for various types of defects such as filters, springs, and adhesive dispensing. Through transfer learning, it can quickly adapt to different detection scenarios and solve the pain point of traditional visual detection models requiring repeated training.

[0108] Hardware and Data Layer: Deploy edge computing servers and connect to industrial cameras at each workstation (with a uniform resolution of 1280×1024) to collect defect images in real time (50,000 images per day); establish a multimodal defect database, labeling 12 types of defects such as filter welding cracks (5,000 images), spring sheet misalignment (8,000 images), and glue dispensing failure (6,000 images), and expand the training set to 100,000 images using data augmentation (rotation, noise addition, contrast adjustment).

[0109] Algorithm layer design: The basic model adopts the YOLOv8n lightweight network. After pre-training on the COCO dataset, the first 5 layers of the backbone network are frozen for the filter station, and only the detection head parameters are fine-tuned (learning rate 1e-4). The adaptation is completed in 2 hours. When detecting the spring fragments, 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 spring fragments. The detection data of the edge nodes of each station are integrated through federated learning (the global model is updated weekly).

[0110] Application layer deployment: Detection latency ≤50ms / frame, alarm triggered when defect category confidence ≥0.95, supports real-time viewing of detection heatmap on mobile devices (displaying high-frequency defect locations); abnormal images are automatically uploaded to the cloud knowledge base for process engineers to analyze root causes (e.g., the correlation between weld cracks caused by hot riveting head temperature fluctuations and 85%).

[0111] In some embodiments, reinforcement learning algorithms are introduced to dynamically optimize the workstation cycle time to address the bottleneck of multi-station collaboration on a turntable, thereby solving the problem of uneven equipment utilization under traditional fixed cycle time.

[0112] System Modeling: Define the state space: including 15-dimensional state variables such as equipment load at each workstation (0-100%), work-in-process queue length (0-50 pieces), and real-time cycle time deviation (±5 seconds); Action space: adjust the rotary table indexing speed (5-20 revolutions / minute), allocate buffer workstations to buffer materials (1-3 workstations), and dynamically switch gripper grasping strategies (single gripper / dual gripper); Reward function: with global cycle time (target ≤10 seconds / piece), equipment load balance (variance ≤15%), and material backlog (≤5 pieces) as optimization objectives, calculate the cumulative reward value every 5 seconds.

[0113] The PPO (Proximal Policy Optimization) algorithm is pre-trained for 2 million steps in a digital twin simulation environment, simulating over 100 abnormal scenarios such as sudden changes in turntable load (e.g., occasional blockage at the dispensing station) and equipment failures (heat riveting head overheating timeout). An edge controller collects station data in real time (100Hz sampling frequency), inputs it into the trained policy network via state encoding, and outputs the optimal scheduling action (decision latency ≤20ms). The turntable drive motor has been upgraded to a servo motor (supporting dynamic speed adjustment with an accuracy of ±0.01°), and an AGV temporary storage platform (capacity 20 pieces) is installed at the buffer station, with motion synchronization achieved via an EtherCAT bus.

[0114] Please see Figure 3 As shown, Figure 3This is a schematic diagram of the structure of the fully automated ink carriage assembly and testing device 200 provided in this application embodiment. The fully automated ink carriage assembly and testing device 200 is used to perform the steps of the fully automated ink carriage assembly and testing method shown in the above embodiments. The fully automated 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.

[0115] like Figure 3 As shown, the fully automatic inkjet printing automatic assembly and testing device 200 includes:

[0116] The ink cartridge placement unit 201 is used to place a preset number of ink cartridge liners on a material tray. The gripping mechanism grips a single ink cartridge liner at a time and moves it to the liner loading position. The filter screen guide gripper grips the guide block, places the liner on the loading position base, and places the guide block. The robotic arm places the filter screen in the filter screen placement position. The gripping mechanism carries the assembly containing the liner, guide block, and filter screen to the filter screen hot riveting station. After the filter screen is hot riveted and fixed, it is moved to the filter screen cooling station. During cooling, the filter screen is checked to see if it is riveted tightly.

[0117] The concentricity detection unit 202 is used to move the assembly to the filter screen concentricity inspection position after the filter screen is riveted. The guide block is removed by rotating the filter screen guide block gripper, triggering the vision inspection device to detect the concentricity of the filter screen and the inner lining. If the standard is met, it is picked up to the OK material position. The assembly at the OK material position is moved to the composite material picking position by flipping the gripper.

[0118] The material preparation unit 203 is used to place a preset number of shells on the material tray. The product gripper picks up the shells and moves them to the loading position. The turntable drives the shells to pass through the spring placement position, the spring pressing position, and the spring hot riveting position in sequence to complete the placement, pressing and hot riveting of the springs. The turntable rotates to the visual inspection position to check whether the springs are riveted. If the spring riveting meets the standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material.

[0119] The hot riveting assembly unit 204 is used to move the outer shell receiving shaft to the outer shell unloading position, pick up the outer shell that has passed the spring sheet riveting standard, and move it to the waiting position. The outer shell picking claws grab it and place it on the turntable dispensing waiting position. The turntable rotates to the dispensing point to dispense glue, and then rotates to the dispensing vision inspection position to perform dispensing inspection. If the dispensing inspection fails, the corresponding outer shell assembly is picked up by the finished product claws and placed in the NG material position at the subsequent finished product unloading position. If the dispensing inspection passes, the turntable rotates to the inner and outer shell assembly hot riveting station, and the assembly at the assembly picking position is hot riveted to the outer shell.

[0120] In some embodiments, the robotic arm is a 3-axis robotic arm; the robotic arm places the filter screen into the filter screen placement position, and the gripping mechanism carries the assembly containing the liner, 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 vision positioning system and accurately grips it, and places the filter screen in the preset filter screen placement position; after placing the liner and guide block, the gripping mechanism fixes the assembly by vacuum adsorption or mechanical grippers, and moves it to the filter screen hot riveting station according to a preset trajectory to ensure that the relative positional accuracy of the filter screen and the liner meets the requirements of the hot riveting process.

[0121] In some embodiments, the filter cooling station is equipped with an air-cooled or water-cooled cooling device to perform gradient cooling immediately after the filter is hot-riveted; after the filter is hot-riveted and fixed, it is moved to the filter cooling station, and the filter is checked for tightness during cooling, including: during the cooling process, the filter and the inner liner are checked for looseness, misalignment or incomplete welding defects at the joint through a pressure sensor or visual inspection device, forming a parallel processing flow of cooling and inspection, shortening the processing cycle of a single component.

[0122] In some embodiments, moving the assembly to the filter concentricity inspection position, removing the guide block by rotating the filter guide block gripper, and triggering the vision inspection device to detect the concentricity of the filter and the liner includes: the rotating filter guide block gripper is driven by a servo motor to rotate 360 ​​degrees, and a preset torque is applied when the gripper contacts the guide block to separate the guide block from the liner and remove it accurately; after the guide block is removed, the vision inspection device takes cross-sectional images of the filter and the liner using an industrial camera, and calculates the concentricity deviation value of the two based on an image processing algorithm to avoid physical obstruction and positioning interference of the guide block on the inspection.

[0123] In some embodiments, the step of placing a preset number of shells on a material tray, having the product gripper pick up the shells to the loading position, and having the turntable drive the shells sequentially through the spring placement position, the spring pressing position, and the spring hot riveting position to complete the placement, pressing, and hot riveting of the springs includes: the turntable is an indexing turntable, which drives the shells sequentially into each position according to a preset angle accuracy; at the spring placement position, the springs are accurately placed into the preset slots of the shells by a vibratory feeder or a mechanical gripper; at the spring pressing position, the springs are pushed to the positioning reference surface that fits against the inner wall of the shell by a pneumatic pusher with constant pressure; at the spring hot riveting position, the fixing point of the springs is heated and pressurized by a hot riveting head to form a thermal fusion connection between the springs and the shells.

[0124] In some embodiments, the turntable rotates to a visual inspection station to detect whether the spring is riveted, including: the visual inspection station is equipped with a coaxial light source and a high-precision line scan camera to perform multi-angle imaging detection on the integrity of the weld line at the spring riveting point, the spring offset, and the fit with the shell; through a preset riveting quality judgment threshold, the spring riveting is automatically distinguished between qualified and unqualified states, and the detection results are fed back to the gripper control system in real time to execute the corresponding diversion action.

[0125] In some embodiments, the turntable rotates to the dispensing point for dispensing and then to the dispensing visual inspection point for dispensing inspection. This includes: the dispensing point is equipped with a screw pump or a jet dispensing device, which applies sealant or adhesive to the housing according to a preset dispensing path and adhesive quantity parameters; the dispensing visual inspection point acquires the dispensing profile using a structured light 3D scanner, detects the width, height, and continuity of the adhesive line, and if any defects such as dispensing breaks, insufficient adhesive quantity, or overflow are detected, a defect mark is generated and associated with the corresponding housing flow path to ensure that defective products are accurately rejected at the finished product unloading point.

[0126] In some embodiments, if the detection dispensing standard turntable rotates to the inner and outer shell assembly hot riveting station, the assembly at the assembly material taking position and the outer shell are hot riveted together. This includes: the inner and outer shell assembly hot riveting station is equipped with a positioning fixture to perform secondary positioning of the assembly from the assembly material taking position and the outer shell; 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 preheated to a 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 by a temperature sensor to ensure that the structural strength of the assembled inner and outer shell components meets the design requirements.

[0127] In some embodiments, after the detection dispensing standard turntable rotates to the inner and outer shell hot riveting station and hot rivets the assembly at the material picking station to the outer shell, the process further includes: rotating the hot riveted assembly and the outer shell to the hot riveting detection station; detecting the hot riveting effect; if it does not meet the standard, the finished product gripper picks up the synthesized semi-finished product and places it in the NG material station; if it meets the standard, it picks it up and places it in the finished product tray; when the dispensing visual detection does not meet the standard, the outer shell placement action is not performed, and the corresponding station remains inactive when there is no material.

[0128] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the fully automatic inkjet printing assembly and testing device and its modules described above can be referred to the corresponding contents in the various embodiments of the fully automatic inkjet printing assembly and testing method, and will not be repeated here.

[0129] The aforementioned fully automated inkjet printing assembly and inspection method can be implemented as a computer program, which can, for example... Figure 3It runs on the device shown.

[0130] Please see Figure 4 , Figure 4 This is a schematic block diagram of the structure of a fully automated inkjet printing assembly and testing device provided in an embodiment of this application. The fully automated inkjet printing assembly and testing device includes a processor, a memory, and a network interface connected via a device bus, wherein the memory may include a storage medium and internal memory.

[0131] The storage medium can store operating devices and computer programs. The computer program includes program instructions that, when executed, cause the processor to perform any fully automated inkjet printing assembly and testing method.

[0132] The processor provides computing and control capabilities to support the operation of the entire fully automated inkjet printing assembly and testing equipment.

[0133] The internal memory provides an environment for the execution of computer programs in non-volatile storage media. When the computer program is executed by the processor, it enables the processor to execute any fully automated inkjet printing assembly and testing method.

[0134] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the terminal to which the present application is applied. The specific fully automatic inkjet printing automatic assembly and testing equipment may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0135] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0136] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps:

[0137] A preset number of ink cartridge liners are placed on a material tray. The gripping mechanism grips a single ink cartridge liner at a time and moves it to the liner loading position. The filter screen guide gripper grips the guide block, places the liner on the loading position base, and places the guide block. The robotic arm places the filter screen in the filter screen placement position. The gripping mechanism carries the assembly containing the liner, guide block, and filter screen to the filter screen hot riveting station. After the filter screen is hot riveted and fixed, it is moved to the filter screen cooling station. While cooling, the filter screen is checked to see if it is riveted tightly.

[0138] 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 gripper, triggering the vision inspection device to detect the concentricity of the filter screen and the inner lining. If it meets the standard, it is picked up to the OK material position. The assembly at the OK material position is moved to the composite material picking position by flipping the gripper.

[0139] The preset number of shells are placed on the material tray. The product gripper picks up the shells and moves them to the loading position. The turntable drives the shells to pass through the spring placement position, the spring pressing position, and the spring hot riveting position in sequence to complete the placement, pressing and hot riveting of the springs. The turntable rotates to the visual inspection position to check whether the springs are riveted. If the spring riveting meets the standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material.

[0140] The outer shell receiving shaft moves to the outer shell unloading position, picks up the outer shell that has passed the spring clip riveting standard, and moves it to the waiting position. The outer shell picking claw grabs it and places it in the turntable dispensing waiting position. The turntable rotates to the dispensing point to dispense glue, and then rotates to the dispensing visual inspection position to perform dispensing inspection. If the dispensing inspection fails, the corresponding outer shell component is picked up by the finished product claw at the subsequent finished product unloading position and placed in the NG position. If the dispensing inspection passes, the turntable rotates to the inner and outer shell assembly hot riveting position, and the assembly at the assembly picking position is hot riveted to the outer shell.

[0141] In some embodiments, the robotic arm is a 3-axis robotic arm; the robotic arm places the filter screen into the filter screen placement position, and the gripping mechanism carries the assembly containing the liner, 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 vision positioning system and accurately grips it, and places the filter screen in the preset filter screen placement position; after placing the liner and guide block, the gripping mechanism fixes the assembly by vacuum adsorption or mechanical grippers, and moves it to the filter screen hot riveting station according to a preset trajectory to ensure that the relative positional accuracy of the filter screen and the liner meets the requirements of the hot riveting process.

[0142] In some embodiments, the filter cooling station is equipped with an air-cooled or water-cooled cooling device to perform gradient cooling immediately after the filter is hot-riveted; after the filter is hot-riveted and fixed, it is moved to the filter cooling station, and the filter is checked for tightness during cooling, including: during the cooling process, the filter and the inner liner are checked for looseness, misalignment or incomplete welding defects at the joint through a pressure sensor or visual inspection device, forming a parallel processing flow of cooling and inspection, shortening the processing cycle of a single component.

[0143] In some embodiments, moving the assembly to the filter concentricity inspection position, removing the guide block by rotating the filter guide block gripper, and triggering the vision inspection device to detect the concentricity of the filter and the liner includes: the rotating filter guide block gripper is driven by a servo motor to rotate 360 ​​degrees, and a preset torque is applied when the gripper contacts the guide block to separate the guide block from the liner and remove it accurately; after the guide block is removed, the vision inspection device takes cross-sectional images of the filter and the liner using an industrial camera, and calculates the concentricity deviation value of the two based on an image processing algorithm to avoid physical obstruction and positioning interference of the guide block on the inspection.

[0144] In some embodiments, the step of placing a preset number of shells on a material tray, having the product gripper pick up the shells to the loading position, and having the turntable drive the shells sequentially through the spring placement position, the spring pressing position, and the spring hot riveting position to complete the placement, pressing, and hot riveting of the springs includes: the turntable is an indexing turntable, which drives the shells sequentially into each position according to a preset angle accuracy; at the spring placement position, the springs are accurately placed into the preset slots of the shells by a vibratory feeder or a mechanical gripper; at the spring pressing position, the springs are pushed to the positioning reference surface that fits against the inner wall of the shell by a pneumatic pusher with constant pressure; at the spring hot riveting position, the fixing point of the springs is heated and pressurized by a hot riveting head to form a thermal fusion connection between the springs and the shells.

[0145] In some embodiments, the turntable rotates to a visual inspection station to detect whether the spring is riveted, including: the visual inspection station is equipped with a coaxial light source and a high-precision line scan camera to perform multi-angle imaging detection on the integrity of the weld line at the spring riveting point, the spring offset, and the fit with the shell; through a preset riveting quality judgment threshold, the spring riveting is automatically distinguished between qualified and unqualified states, and the detection results are fed back to the gripper control system in real time to execute the corresponding diversion action.

[0146] In some embodiments, the turntable rotates to the dispensing point for dispensing and then to the dispensing visual inspection point for dispensing inspection. This includes: the dispensing point is equipped with a screw pump or a jet dispensing device, which applies sealant or adhesive to the housing according to a preset dispensing path and adhesive quantity parameters; the dispensing visual inspection point acquires the dispensing profile using a structured light 3D scanner, detects the width, height, and continuity of the adhesive line, and if any defects such as dispensing breaks, insufficient adhesive quantity, or overflow are detected, a defect mark is generated and associated with the corresponding housing flow path to ensure that defective products are accurately rejected at the finished product unloading point.

[0147] In some embodiments, if the detection dispensing standard turntable rotates to the inner and outer shell assembly hot riveting station, the assembly at the assembly material taking position and the outer shell are hot riveted together. This includes: the inner and outer shell assembly hot riveting station is equipped with a positioning fixture to perform secondary positioning of the assembly from the assembly material taking position and the outer shell; 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 preheated to a 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 by a temperature sensor to ensure that the structural strength of the assembled inner and outer shell components meets the design requirements.

[0148] In some embodiments, after the detection dispensing standard turntable rotates to the inner and outer shell hot riveting station and hot rivets the assembly at the material picking station to the outer shell, the process further includes: rotating the hot riveted assembly and the outer shell to the hot riveting detection station; detecting the hot riveting effect; if it does not meet the standard, the finished product gripper picks up the synthesized semi-finished product and places it in the NG material station; if it meets the standard, it picks it up and places it in the finished product tray; when the dispensing visual detection does not meet the standard, the outer shell placement action is not performed, and the corresponding station remains inactive when there is no material.

[0149] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the steps of the fully automated inkjet printing automatic assembly and inspection method provided in any embodiment of this application.

[0150] The computer-readable storage medium can be an internal storage unit of the fully automated inkjet printing assembly and testing equipment described in the foregoing embodiments, such as the hard drive or memory of the fully automated inkjet printing assembly and testing equipment. Alternatively, the computer-readable storage medium can be an external storage device of the fully automated inkjet printing assembly and testing equipment, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the fully automated inkjet printing assembly and testing equipment.

[0151] The above description is merely a specific embodiment of this application, but the scope of protection of this 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 this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A fully automated inkjet printing machine assembly and inspection method, characterized in that, The method includes: A predetermined number of ink cartridge liners are placed on a material tray. The gripping mechanism picks up a single ink cartridge liner at a time and moves it to the liner loading position. The filter screen guide gripper picks up the guide block, places the liner on the loading position base, and places the guide block. The robotic arm places the filter screen in the filter screen placement position. The gripping mechanism carries the assembly containing the liner, guide block, and filter screen to the filter screen hot riveting station, including: the robotic arm identifies the filter screen position through a vision positioning system and accurately picks it up, placing the filter screen in the predetermined filter screen placement position; after placing the liner and guide block, the gripping mechanism fixes the assembly by vacuum adsorption or mechanical grippers. The filter body moves to the filter hot riveting station according to a preset trajectory to ensure that the relative positional accuracy between the filter and the inner lining meets the requirements of the hot riveting process. After the filter is fixed by hot riveting, it moves to the filter cooling station. During cooling, the filter is checked to see if it is riveted tightly. The cooling station is equipped with an air-cooled or water-cooled cooling device to immediately cool the filter after hot riveting. During the cooling process, pressure sensors or visual inspection devices are used to simultaneously detect whether there are loose, misaligned or incomplete riveting defects at the joint between the filter and the inner lining. This forms a parallel processing flow of cooling and inspection, shortening the processing cycle of a single component. 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 gripper, triggering the vision inspection device to detect the concentricity of the filter screen and the inner lining. If it meets the standard, it is picked up to the OK material position. The assembly at the OK material position is moved to the composite material picking position by flipping the gripper. The preset number of shells are placed on the material tray. The product gripper picks up the shells and moves them to the loading position. The turntable drives the shells to pass through the spring placement position, the spring pressing position, and the spring hot riveting position in sequence to complete the placement, pressing and hot riveting of the springs. The turntable rotates to the visual inspection position to check whether the springs are riveted. If the spring riveting meets the standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the material. The outer shell receiving shaft moves to the outer shell unloading position, picks up the outer shell that has passed the spring clip riveting standard, and moves it to the waiting position. The outer shell picking claw grabs it and places it in the turntable dispensing waiting position. The turntable rotates to the dispensing point to dispense glue, and then rotates to the dispensing visual inspection position to perform dispensing inspection. If the dispensing inspection fails, the corresponding outer shell component is picked up by the finished product claw at the subsequent finished product unloading position and placed in the NG position. If the dispensing inspection passes, the turntable rotates to the inner and outer shell assembly hot riveting position, and the assembly at the assembly picking position is hot riveted to the outer shell.

2. The method according to claim 1, characterized in that, The step of moving the assembly to the filter concentricity inspection position, removing the guide block by rotating the filter guide block gripper, and triggering the vision inspection device to detect the concentricity of the filter and the liner includes: The rotating filter guide block gripper is driven by a servo motor to rotate 360 ​​degrees. When the gripper 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 vision inspection device takes cross-sectional images of the filter and the liner using an industrial camera, and calculates the concentricity deviation between the two based on the image processing algorithm to avoid physical obstruction and positioning interference from the guide block.

3. The method according to claim 1, characterized in that, The process involves placing a preset number of shells on a material tray, having the product grippers pick up the shells and move them to the loading position, and then having the turntable drive the shells sequentially through the spring clip placement position, the spring clip tightening position, and the spring clip hot riveting position to complete the placement, tightening, and hot riveting of the spring clips. The turntable is an indexing turntable, which drives the outer shell to enter each station sequentially according to a preset angle accuracy; At the spring placement position, the spring is accurately placed into the preset slot in the outer shell by a vibratory feeder or mechanical gripper; At the spring clip push point, the spring clip is pushed to the positioning reference surface that fits the inner wall of the outer shell by a constant pressure through a pneumatic push rod; At the hot riveting station for the spring sheet, the fixing point of the spring sheet is heated and pressurized by the hot riveting head, so that the spring sheet and the outer shell form a heat-fusion connection.

4. The method according to claim 1, characterized in that, The turntable rotates to the visual inspection station to check whether the spring clips are riveted tightly, including: The visual inspection station is equipped with a coaxial light source and a high-precision line array camera to perform multi-angle imaging detection on the integrity of the weld line at the spring clip riveting joint, the spring clip offset, and the fit with the shell. Based on the preset riveting quality judgment threshold, it automatically distinguishes between the spring clip riveting standard and non-standard status, and the detection results are fed back to the gripper control system in real time to execute the corresponding diversion action.

5. The method according to claim 1, characterized in that, The turntable rotates to the dispensing point to dispense adhesive, and then rotates to the dispensing visual inspection point to perform dispensing inspection, including: The dispensing station is equipped with a screw pump or a jet dispensing device to apply sealant or adhesive to the shell according to the preset dispensing path and adhesive quantity parameters. The dispensing visual inspection station uses a structured light 3D scanner to acquire the dispensing outline, detect the width, height and continuity of the glue line. If a defect is detected, such as a broken glue, insufficient glue amount or overflow, a defect mark is generated and associated with the corresponding shell's flow path, ensuring that defective products are accurately rejected at the finished product unloading station.

6. The method according to claim 1, characterized in that, If the dispensing test is successful, the turntable rotates to the inner and outer shell assembly hot riveting station, where the assembly at the material pick-up station is hot-riveted to the outer shell, including: The inner and outer shell assembly hot riveting station is equipped with positioning fixtures to perform secondary positioning of the assembly and the outer shell from the assembly material taking position. The alignment deviation between the two is detected by infrared sensors 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. At the same time, the temperature stability of the hot riveting head is monitored in real time by temperature sensors to ensure that the structural strength of the assembled inner and outer shell components meets the design requirements.

7. The method according to claim 1, characterized in that, After the detection turntable rotates to the inner and outer shell assembly hot riveting station if the glue dispensing meets the standard, and the assembly at the material picking station is hot riveted to the outer shell, the process further includes: Rotate the hot-riveted assembly and the outer shell to the hot-riveting inspection station; The synthesis hot riveting effect is tested. 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 grab the finished product tray. When the visual inspection of the dispensing fails to meet the standard, the shell placement action will not be performed, and the corresponding workstation will remain inactive when there is no material.

8. A fully automatic inkjet printing machine assembly and testing device, characterized in that, The apparatus is applied to the method of any one of claims 1-7, comprising: The ink cartridge placement unit is used to place a preset number of ink cartridge liners on a material tray. The gripping mechanism grips a single ink cartridge liner at a time and moves it to the liner loading position. The filter screen guide gripper grips the guide block, places the liner on the loading position base, and places the guide block. The robotic arm places the filter screen in the filter screen placement position. The gripping mechanism carries the assembly containing the liner, guide block, and filter screen to the filter screen hot riveting station. After the filter screen is hot riveted and fixed, it is moved to the filter screen cooling station. During cooling, the filter screen is checked to see if it is riveted tightly. The concentricity detection unit is used to move the assembly to the filter concentricity inspection position after the filter screen is riveted. The guide block is removed by rotating the filter screen guide block gripper, triggering the vision inspection device to detect the concentricity of the filter screen and the inner lining. If the standard is met, it is picked up to the OK material position. The assembly at the OK material position is moved to the composite material picking position by flipping the gripper. The material preparation unit is used to place a preset number of shells on the material tray. The product gripper picks up the shells and moves them to the loading position. The turntable drives the shells to pass through the spring clip placement position, the spring clip tightening position, and the spring clip hot riveting position in sequence to complete 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 clip riveting meets the standard, the shell assembly is moved to the waiting position to wait for the synthesis equipment to receive the materials. The hot riveting assembly unit is used to move the outer shell receiving shaft to the outer shell unloading position, pick up the outer shell that has passed the spring sheet riveting standard, and move it to the waiting position. The outer shell picking claws then grab it and place it on the turntable dispensing waiting position. The turntable rotates to the dispensing point and then to the dispensing vision inspection position for dispensing inspection. If the dispensing inspection fails, the corresponding outer shell assembly is picked up by the finished product claws and placed in the NG position at the subsequent finished product unloading position. If the dispensing inspection passes, the turntable rotates to the inner and outer shell assembly hot riveting station, where the assembly at the assembly picking position is hot riveted to the outer shell.

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