ECU (Electronic Control Unit) assembly and detection production line for automobile and process thereof

Abstract

The invention discloses an ECU assembling and detecting production line for an automobile and a process of the ECU assembling and detecting production line. The ECU assembling and detecting production line comprises a circuit board feeding mechanism, an implanting mechanism in butt joint with the circuit board feeding mechanism, a detecting mechanism in butt joint with the implanting mechanism and a classifying and packaging mechanism in butt joint with the detecting mechanism. By means of the mode, circuit board feeding, injection molding embedding, injection molding material taking, detecting and classified packaging are integrated, the automation degree is high, secondary positioning and accurate positioning of the circuit board can be achieved, the horizontal position and angle of the circuit board can be automatically adjusted, and the injection mold can be aligned in a self-adaptive mode; each performance of a product can be synchronously detected, and code printing and identification can be carried out without repeatedly carrying and positioning the product and classifying and collecting defective products and non-defective products in different mold cavities, so that subsequent searching for reasons of the defective products is facilitated, and later maintenance of equipment is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical assembly, in particular to an ECU assembly detection production line for automobiles and a process thereof. BACKGROUND

[0002] The automobile ECU connector is a component that electronic engineering technicians often contact, and its role is very simple: it builds a bridge between the blocked part in the circuit or the isolated circuit, so as to make the current flow and make the circuit realize the predetermined function. The automobile connector involves a shell and a circuit board (connector), and in the production process, the circuit board needs to be embedded in an injection mold first, and the shell is injection molded together. After molding, the performance of the connector needs to be detected, and after detection, product classification and packaging are involved.

[0003] The incoming circuit board is generally in the form of a tray. During the feeding process, the incoming tray needs to be positioned, the product needs to be grabbed, and the empty tray needs to be collected. Ordinary mechanical hands cannot complete the above actions, and high-precision mechanical hands or multiple devices are needed to cooperate, which is costly. Since the products in the tray are initially positioned, accurate positioning is required for subsequent embedding in the injection mold. Therefore, the product needs to be positioned again after being taken out.

[0004] During the embedding of the circuit board in the injection mold, the circuit board is a special-shaped part with soft texture, which is difficult to grab and easy to deform. How to ensure accurate alignment of the circuit board with the injection mold is a problem that needs to be solved urgently. If the circuit board is not accurately aligned, the subsequent injection molded product will be a defective product, and the injection molded product is easy to collide and damage the injection mold. Since the shapes of the circuit board before injection and the connector shell after injection are different, the conventional mechanical hand cannot perform the injection embedding action and the injection molded product taking action simultaneously, and different mechanical hands are needed, which is costly and occupies a large space.

[0005] Generally, to improve the injection efficiency, the injection mold is usually multi-cavity, and after the injection mold is used for a long time, it is inevitable to have injection defects. Some defects can be repaired later, and a row of defective products is usually caused by the same cavity. The injection molded products are usually packaged together, which is not conducive to finding the defect reason and reworking.

[0006] After the product is injection molded, it needs to be further detected, which involves a large number of detection items, such as terminal position, height, opening size, power-on detection, coding, detection, and air tightness detection. The conventional detection method is to use multiple special devices for detection in sequence, which needs to repeatedly handle and position the product, and the operation is complicated. In addition, manual detection is needed, which is low in efficiency and prone to missed detection and misdiagnosis. Since the reasons for product defects are various, it is not convenient for subsequent equipment maintenance, and how to quickly distinguish and identify the defect reason is also a problem to be solved.

[0007] Based on the above defects and deficiencies, it is necessary to improve the existing technology, and design an ECU assembly detection production line for automobile and process thereof. SUMMARY

[0008] The technical problem solved by the present application is to provide an ECU assembly detection production line for automobile and process thereof, which integrates circuit board feeding, implanting, injection molding, detection and classification packaging, and has high automation degree.

[0009] To solve the above technical problems, one technical scheme of the present application is to provide an ECU assembly detection production line for automobile, comprising: A circuit board feeding mechanism, comprising a feeding rack, a feeding device arranged on the feeding rack, a tray positioning module, a receiving device, a taking device and a positioning discharging module, the taking device places the tray lifted and conveyed by the feeding device at the tray positioning module, the taking device places the circuit board in the tray at the tray positioning module at the positioning discharging module, and the taking device places the empty tray at the tray positioning module at the receiving device; An implanting mechanism, which is arranged in connection with the circuit board feeding mechanism, comprising a six-axis manipulator, an implanting frame driven and moved by the six-axis manipulator, and implanting palms arranged on both sides of the implanting frame for implanting the circuit board into an injection molding machine and product taking palms for taking the injection molding products of the injection molding machine; A detection mechanism, which is arranged in connection with the implanting mechanism, comprising a turnover heat dissipation device arranged on a detection rack, a rotary conveying line arranged at the rear side of the turnover heat dissipation device, and a first terminal detection device, a second terminal detection device, an opening detection device, a power-on detection device, a code printing machine, an air tightness detection device, a defective product classification placing device and a turnover discharging device arranged around the rotary conveying line; A classification packaging mechanism, which is arranged in connection with the detection mechanism, comprising a classification rack, a tray feeding device, a tray receiving device, a transfer mechanism, a tray taking device and a product discharging device, the classification rack is provided with a tray feeding device for providing product trays and a tray receiving device for placing product corresponding to different cavities of the injection molding mold, the classification rack is provided with a transfer mechanism at the top, and the door-shaped frame of the transfer mechanism is provided with a tray taking device for taking the empty tray at the tray feeding device to the tray receiving device and a product discharging device for taking the product after detection by the detection mechanism to the tray on the tray receiving device.

[0010] Preferably, both the feeding device and the receiving device are lifting modules. A stack of trays filled with circuit board products is piled at the feeding device. The receiving device includes a four-axis robot, a receiving frame driven by the four-axis robot, a circuit board receiving module and a tray receiving module mounted on the receiving frame, and an industrial camera mounted on the side of the receiving frame. The circuit board receiving module includes an adsorption module fixed to the bottom plate of the receiving frame, an auxiliary pressure block mounted at the lower end of the adsorption module for contour-following contact with the circuit board, and positioning pins vertically mounted on the auxiliary pressure block. The assembly includes several circuit board suction cups mounted on the adsorption module. The circuit board suction cups pass through the auxiliary pressure block. The adsorption module has adsorption cavities that communicate with the circuit board suction cups. The material tray picking module includes a lifting cylinder mounted on the top plate of the picking rack, a lifting plate driven by the lifting cylinder to move up and down, suction cup mounting plates arranged on both sides of the lifting plate, and material tray suction cups mounted on both sides of the suction cup mounting plates. The lifting plate has elongated holes on both sides for adjusting the installation position of the suction cup mounting plates. The suction cup mounting plates have a row of mounting holes for easy adjustment of the installation position.

[0011] Preferably, the positioning and unloading module includes a Y-axis linear module, a transfer frame, a positioning platform, positioning pins, terminal sockets, through-beam optical fibers, positioning bushings, and anti-collision posts. The Y-axis linear module drives the transfer frame to move. The transfer frame is equipped with a dual-station positioning platform for positioning and placing circuit boards. The positioning platform is equipped with positioning pins for quickly positioning products. The positioning platform has grooves to avoid vertical terminals on the circuit boards. Terminal sockets are embedded in the grooves. The positioning platform has a detection channel communicating with the terminal sockets. Through-beam optical fibers for identifying whether terminals are placed in the correct position are installed on the transfer frame on both sides of the detection channel. The transfer frame is also equipped with several positioning bushings and anti-collision posts opposite to the picking robot.

[0012] Preferably, the embedded palm includes an embedding plate, a self-calibration component, a circuit board picking block, a positioning pin, an embedding suction cup, a pin, a contour post, a stripping component, and a positioning pin. The embedding plate is movably mounted to the side plate of the implantation frame via the self-calibration component. The embedding plate is fixedly connected to two circuit board picking blocks via connecting posts. Positioning pins and embedding suction cups are installed on the circuit board picking blocks. The embedding plate is also equipped with several pins and contour posts that mate with the injection mold. A stripping component is installed at the rear end of the embedding plate. A positioning pin that mates with the positioning bushing of the circuit board loading mechanism is installed on the side plate of the implantation frame. The self-calibration component includes a connecting rod, a thrust ball bearing, a right-angle plate, a press-fit ball plunger, and a stop pin. A connecting rod passing through the embedding plate is installed on the side plate of the implantation frame. A baffle is installed at the lower end of the connecting rod. The connecting rod and... The embedded plate has a clearance fit with the holes, and the connecting rod is fitted with a thrust ball bearing. The embedded plate and the implantation frame side plate are rotatably connected by the thrust ball bearing. Four right-angle plates opposite to the embedded plate are installed on the implantation frame side plate. Press-in ball plungers are installed on the two direct surfaces of the right-angle plates. The embedded plate is equipped with a stop pin that mates with the press-in ball plungers. The material removal assembly includes a material removal cylinder, a material removal plate, and material removal needles. The material removal cylinder is installed on the back of the embedded plate through a cylinder mounting plate. The material removal cylinder drives the material removal plate to move. Several material removal needles that pass through the embedded plate and the circuit board picking block are installed on the material removal plate. The finished product picking hand includes two flat clamping cylinders installed on the other side plate of the implantation frame, clamping blocks installed on the two clamping arms of the flat clamping cylinders, and positioning pins installed on the opposite surfaces of the two clamping blocks for positioning the holes on the outer side of the inserted product.

[0013] Preferably, the flipping heat dissipation device includes a flipping component that docks with the finished product picking hand of the implantation mechanism, a heat dissipation conveyor line that docks with the flipping component, and a handling robot on a rotary conveyor fixture located at the end of the heat dissipation conveyor line to transport the flipped and cooled product; the flipping component includes a lifting cylinder, a lifting frame, a turntable cylinder, a rotating shaft, a flipping base plate, a product carrier, and a clamping cylinder. The lifting cylinder is mounted on the worktable of the testing frame and drives the lifting frame to move up and down. A turntable cylinder is mounted on the top plate of the lifting frame and drives the rotating shaft to rotate. The rotating shaft rotates, and a flip-over base plate is installed on the rotating shaft. Several product carriers are installed on the flip-over base plate, and a clamping cylinder for clamping the product is installed in the middle of the product carrier. The heat dissipation conveyor line includes a belt conveyor line, a carrier base plate, a contour positioning block, a positioning plunger, a box-type heat dissipation frame, and a heat dissipation fan. Several carrier base plates are installed at equal intervals on the belt of the belt conveyor line. Contouring positioning blocks and positioning plungers for quickly positioning products are installed on the carrier base plate. A box-type heat dissipation frame is mounted on the belt conveyor line support, and several heat dissipation fans with downward air vents are installed on the top of the box-type heat dissipation frame.

[0014] Preferably, both the first terminal detection device and the second terminal detection device employ a horizontal CCD camera and a vertical CCD camera driven by a linear mold to detect the position of two terminals of the product, and a height-equalizing needle module driven by a cylinder to move up and down to detect the height of two terminals of the product. The height-equalizing needle module includes a detection lifting plate, an insertion seat, an insertion block, a detection probe, a height probe, and a height sensor. The lower end of the detection lifting plate is equipped with an insertion seat that can be inserted into the product terminal. A row of detection probes opposite to the upper terminal of the product is installed on the insertion seat. An insertion block is vertically inserted into the insertion seat. The upper part of the insertion block is elastically connected to the insertion seat by a spring. A height probe is also installed on the insertion block. A height sensor is also installed at the lower end of the detection lifting plate. The insertion seat has a clearance opening for the height of the detection probe.

[0015] Preferably, the airtightness testing device includes an airtightness testing frame, a switching cylinder mounted on the airtightness testing frame, a product-carrying lowering device driven horizontally by the switching cylinder, a testing bracket mounted on the airtightness testing frame, a testing lifting cylinder mounted on the testing bracket, an upper carrier driven vertically by the testing lifting cylinder to seal the product, and a transport assembly mounted on the side of the testing bracket for rotating and transporting the product; the lowering device includes a lower base plate, a lower support block mounted on the lower base plate to support the product, and a lower sealing ring for sealing the opening below the product; a testing hole is formed in the lower base plate surrounded by the lower sealing ring, and the testing hole passes through a pipe. The external airtightness tester is used; the upper carrier includes an upper frame, an upper limit block and a first seal mounted on the bottom plate of the upper frame, an upper lifting cylinder mounted on the top plate of the upper frame, and a second seal driven to move up and down by the upper lifting cylinder. The first seal and the second seal respectively cooperate with two openings above the product; the handling assembly includes a handling lifting cylinder mounted on the testing bracket, a rotary cylinder driven to move up and down by the handling lifting cylinder, a rotary plate driven by the rotary cylinder, and two sets of handling gripper cylinders mounted on the rotary plate; the defective product sorting and placement device includes a material unloading robot and several defective product conveyor lines located below the material unloading robot.

[0016] Preferably, the pallet feeding device includes a pallet frame, a linear slide rail, pallet limiting blocks, a Z-axis linear module, a lifting frame, and vertical guide plates. The pallet frame is slidably mounted on the sorting frame via the linear slide rail. Pallet limiting blocks for limiting the pallets are installed at the four corners of the pallet frame. A handle is installed at the outer end of the pallet frame. The pallet frame is pulled out by the handle to connect with a forklift. The forklift transports stacked pallets onto the pallet frame. A buffer is installed on the sorting frame opposite to the pallet frame. A Z-axis linear module is vertically installed inside the sorting frame. The Z-axis linear module drives the lifting frame to move up and down. The pallet frame has a clearance opening to avoid the lifting frame. Vertical guide plates are installed on the sorting frame on both sides of the lifting frame. The bottom of the two vertical guide plates is provided with waist-shaped holes to adjust their installation spacing to match pallets of corresponding widths. The structure of the pallet receiving device is the same as that of the pallet feeding device. Preferably, the transfer mechanism includes sliding plates, servo motors, gears, racks, and gantry frames. Two sliding plates are slidably mounted on the top of the sorting frame via slide rails. A servo motor is mounted on the sliding plates, driving the gears to rotate. A rack meshing with the gears is mounted on the top of the sorting frame. A gantry frame is mounted on the two sliding plates. The servo motor is mounted on the sliding plates via a motor mounting plate. The motor mounting plate has a slotted hole for adjusting the mounting position of the servo motor, which can adjust the meshing degree of the gears and racks. The pallet picking device includes upper and lower cylinders mounted on one side of the gantry frame, upper and lower supports driven by the upper and lower cylinders, and pallet suction cups mounted around the upper and lower supports. The finished product unloading device includes a belt linear module mounted on the other side of the gantry frame, a push plate driven by the belt linear module, a slide cylinder mounted vertically on the push plate, a gripper cylinder driven by the slide cylinder to move up and down, finished product grippers mounted on the two gripper arms of the gripper cylinder, and finished product pins mounted on the opposite sides of the two finished product grippers.

[0017] A process for an automotive ECU assembly and testing production line includes the following steps: S1. Circuit board assembly: This includes the following steps: S1.1 The lifting linear module of the feeding device lifts the tray containing the circuit board to the material picking position; S1.2 The four-axis robotic arm drives the material tray picking module to adsorb and grab the material tray and place it at the material tray positioning module to perform initial positioning of the material tray; S1.3 Industrial camera identifies circuit boards in the tray, four-axis robot drives circuit board picking module to adsorb and grab circuit boards in the tray, and place them at the positioning and discharging module for precise positioning. S1.4 Place the circuit board on the positioning platform, insert the positioning pin into the hole of the circuit board for quick positioning, insert the terminal on the circuit board into the terminal socket, and use the through-beam fiber to identify whether the terminal is in place. S1.5. After all the PCBs in the tray are taken, the four-axis robot drives the tray loading module to adsorb and grasp the empty tray, places it at the material collection device, and stacks and collects the empty trays. S2. Injection molding and embedding: The six-axis robot drives the embedding palm to dock with the positioning and discharging module. The positioning pins and the embedding suction cups quickly position and adsorb the PCB. The embedding palm docks with the injection mold, and during the process of embedding the PCB into the injection mold, the pins are inserted and matched with the injection mold. At this time, the embedded board automatically adjusts its horizontal position and angle through the self-calibration component, adapts to align with the injection mold, accurately aligns the PCB with the acupuncture points of the injection mold, and the stripping component pushes the PCB into the corresponding acupuncture points of the mold. S3. Injection molding and material taking: The PCB and the connector housing are integrally injection molded. The injection mold is opened, and the six-axis robot drives the finished product taking palm to take out the molded product in the mold. S4. Cooling: In step S3, the injection molded product is placed at the flipping component of the flipping heat dissipation device. The product is flipped 180 degrees, and the product falls onto the heat dissipation conveyor line with its upper terminals facing up. During the process of conveying the product, the heat dissipation fan blows air for heat dissipation, and the product is quickly cooled. The handling robot transports the cooled product to the fixture on the rotary conveyor line. S5. Detection: It includes the following steps: S5.1. Detection of terminal position and height: The rotary conveyor line transports the product on the fixture to the first terminal detection device and the second terminal detection device. The horizontal CCD camera and the vertical CCD camera detect the terminal position, and the equal height pin module detects the terminal height. S5.2. Detection of opening size: The rotary conveyor line transports the product on the fixture to the opening detection device, and the camera detects the opening size at the "king" character opening on the product. S5.3. Power-on detection: The rotary conveyor line transports the product on the fixture to the power-on detection device, and the power-on probe is used to detect the power-on performance of the terminals on the product. S5.4. Coding: The rotary conveyor line transports the product on the fixture to the coder, and the laser marking machine is used to mark the product. S5.5. Air tightness detection: The rotary conveyor line transports the product on the fixture to the air tightness detection device. The handling component grabs the product, rotates it horizontally 180° and places it on the lower carrier. The switching cylinder drives the lower carrier to move backward. The lower carrier and the upper carrier are in a relative up and down position. At this time, the detection lifting cylinder drives the upper carrier to move down. The upper carrier cooperates with the lower carrier below to position and seal the product. The air tightness detector is connected to the detection hole to detect the air tightness of the product. After the detection is completed, it is reset, and the handling component places the product in its original position. S5.6. Classification and placement of defective products: The rotary conveyor line transports the product on the fixture to the defective product classification and placement device, and the blanking robot grabs and places the defective products detected in steps S5.1 - S5.5 respectively on the corresponding defective product conveyor lines for classified collection. S6. Sorting and Packaging: The rotary conveyor line sequentially transports the qualified products on the tooling to the flipping and unloading device. The transfer mechanism drives the finished product unloading device to absorb the products and sorts the injection molded products of different cavity into the corresponding pallet receiving device. After the pallet is full, the linear module drives the pallet to move down, and the transfer mechanism drives the pallet picking device to pick up a new pallet from the pallet feeding device, repeating the above placement action.

[0018] Compared with the prior art, the beneficial effects of the present invention are: The tray positioning module of the circuit board feeding mechanism can initially position the circuit board tray, the picking device can pick up both the circuit board and the tray, the receiving device can promptly recycle the empty tray, and the positioning and discharging module can accurately position the circuit board a second time to prepare for subsequent embedding into the injection mold. The implantation mechanism is equipped with an implantation hand for embedding the circuit board into the injection molding machine and a finished product removal hand for removing the finished product from the injection molding machine. The implantation hand is equipped with a circuit board removal block, positioning pins, and an implantation suction cup for adsorbing and gripping the circuit board, ensuring flat material removal and preventing deformation. During the process of embedding the circuit board into the injection mold, the self-calibration component can automatically adjust the horizontal position and angle of the circuit board, adaptively aligning it with the injection mold, so that the circuit board is accurately aligned with the injection mold cavity, avoiding damage to the mold. The stripping component automatically pushes the circuit board into the injection mold. The testing facility is equipped with a flip-over heat dissipation device that flips the product terminals upwards for subsequent testing, enabling rapid heat dissipation and cooling of the injection-molded product. It is equipped with various testing devices around the rotary conveyor line, which can test the terminal position, height, opening size, power supply, and air density of the product. The products are marked with codes, eliminating the need for repeated handling and positioning of the products. The defective product classification and placement device picks up various defects and places them on the corresponding defective product conveyor line for classified collection, so as to find the cause of the defects and facilitate the later maintenance of the equipment. The sorting and packaging system can sort injection molded products from different cavity sites into corresponding pallet receiving devices, collect and package them separately, facilitate unified rework, and make it easier to find the cause of injection defects and repair injection molds. Attached Figure Description

[0019] Figure 1 This is a layout diagram of an ECU assembly and testing production line for automobiles.

[0020] Figure 2 This is a schematic diagram of the circuit board loading mechanism in an automotive ECU assembly and testing production line.

[0021] Figure 3 This is a schematic diagram of a material tray positioning module in an automotive ECU assembly and testing production line.

[0022] Figure 4 This is a schematic diagram of the material handling device in an automotive ECU assembly and testing production line.

[0023] Figure 5 This is a schematic diagram of a circuit board material handling module in an automotive ECU assembly and testing production line.

[0024] Figure 6 This is a schematic diagram of the positioning and unloading module structure of an automotive ECU assembly and testing production line.

[0025] Figure 7 This is a cross-sectional view of the positioning and unloading module of an ECU assembly and testing production line for automobiles.

[0026] Figure 8 This is a schematic diagram of the implantation mechanism in an automotive ECU assembly and testing production line.

[0027] Figure 9 This is a partial structural diagram of the implantation mechanism in an automotive ECU assembly and testing production line.

[0028] Figure 10 This is a cross-sectional view of a self-calibration component in an automotive ECU assembly and testing production line.

[0029] Figure 11 This is a schematic diagram of the testing mechanism structure of an automotive ECU assembly and testing production line.

[0030] Figure 12 This is a schematic diagram of the flipping component structure of an automotive ECU assembly and testing production line.

[0031] Figure 13 This is a schematic diagram of a terminal testing device in an automotive ECU assembly and testing production line.

[0032] Figure 14 This is a schematic diagram of a contour pin module structure in an automotive ECU assembly and testing production line.

[0033] Figure 15 This is a schematic diagram of the product structure of an ECU assembly and testing production line for automobiles.

[0034] Figure 16 This is a schematic diagram of an airtightness testing device for an automotive ECU assembly and testing production line.

[0035] Figure 17 This is a schematic diagram of the upper and lower fixtures of an automotive ECU assembly and testing production line.

[0036] Figure 18 This is a schematic diagram of the upper and lower fixtures of an automotive ECU assembly and testing production line from another perspective.

[0037] Figure 19 This is a schematic diagram of a flipping discharge device in an automotive ECU assembly and testing production line.

[0038] Figure 20 This is a schematic diagram of the sorting and packaging mechanism of an automotive ECU assembly and testing production line.

[0039] Figure 21 This is a schematic diagram of a pallet feeding device in an automotive ECU assembly and testing production line.

[0040] Figure 22 This is a schematic diagram of a sorting and packaging mechanism in an automotive ECU assembly and testing production line. Detailed Implementation

[0041] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0042] Please see Figures 1 to 22 The embodiments of the present invention include: An automotive ECU assembly and testing production line includes a circuit board loading mechanism 1, an implantation mechanism 2 that is connected to the circuit board loading mechanism 1, a testing mechanism 3 that is connected to the implantation mechanism 2, and a sorting and packaging mechanism 4 that is connected to the testing mechanism 3.

[0043] The circuit board loading mechanism 1 includes a loading frame 11, a feeding device 12 mounted on the loading frame 11, a tray positioning module 13, a receiving device 14, a picking device 15, and a positioning and discharging module 16. The picking device 15 grabs the tray lifted and conveyed by the feeding device 12 and places it in the tray positioning module 13 for positioning. The picking device 15 grabs the circuit boards in the tray at the tray positioning module 13 and places them in the positioning and discharging module 16. The picking device 15 grabs the empty tray at the tray positioning module 13 and places it in the receiving device 14. Both the feeding device 12 and the receiving device 14 are lifting modules, including a lifting linear module 121 vertically installed in the loading frame 11 and a load that moves up and down driven by the lifting linear module 121. The feeding device 12 has a rack 122, a positioning sensor 123 mounted on the feeding rack 11, and a limiting block 124 surrounding the rack 122; a stack of trays filled with circuit board products is piled up at the feeding device 12; the tray positioning module 13 includes a positioning base plate 131 fixed to the feeding rack 11 by a column, initial positioning blocks 132 set at the four corners of the positioning base plate 131, two X-axis cylinders 133 horizontally mounted on the bottom surface of the positioning base plate 131, an X-axis positioning plate 134 driven by the X-axis cylinders 133, two Y-axis cylinders 135 vertically mounted on the bottom surface of the positioning base plate 131, and a Y-axis positioning plate 136 driven by the Y-axis cylinders 134; the picking device 15 includes a four-axis robot 151, and a four-axis robot... 151 A moving material handling rack 152, a circuit board material handling module 153 and a tray material handling module 154 mounted on the material handling rack 152, and an industrial camera 155 mounted on the side of the material handling rack 152. The circuit board material handling module 153 includes an adsorption module 1531 fixed to the base plate of the material handling rack 152, an auxiliary pressure block 1532 mounted on the lower end of the adsorption module 1531 for contour contact with the circuit board, a positioning pin 1533 vertically mounted on the auxiliary pressure block 1532, and several circuit board suction cups 1534 mounted on the adsorption module 1531. The circuit board suction cups 1534 pass through the auxiliary pressure block 1532. The adsorption module 1531 has adsorption cavities communicating with the several circuit board suction cups 1534. The tray 1534 synchronously adsorbs circuit board products; the tray picking module 154 includes a lifting cylinder 1541 installed on the top plate of the picking rack 152, a lifting plate 1542 driven to move up and down by the lifting cylinder 1541, suction cup mounting plates 1543 arranged on both sides of the lifting plate 1542, and tray suction cups 1544 installed on both sides of the suction cup mounting plate 1543. The lifting plate 1542 is guided and fitted onto the column guide rod of the picking rack 152 by a guide sleeve. The lifting plate 1542 has elongated holes on both sides for adjusting the installation position of the suction cup mounting plate 1543. The suction cup mounting plate 1543 is provided with a row of mounting holes for easy adjustment of the installation position. The installation position of the tray suction cups 1544 is adjustable to ensure that they are aligned with the adsorption position of the tray, and it has wide applicability.The positioning and unloading module 16 includes a Y-axis linear module 161, a transfer frame 162, a positioning platform 163, positioning pins 164, terminal sockets 165, through-beam optical fibers 166, positioning bushings 167, and anti-collision posts 168. The Y-axis linear module 161 drives the transfer frame 162 to move. The transfer frame 162 is equipped with a dual-station positioning platform 163 for positioning and placing circuit boards. Positioning pins 164 for quick product positioning are installed on the positioning platform 163. The positioning platform 163 has grooves to avoid vertical terminals on the circuit board, and terminal sockets 165 are embedded in the grooves. The positioning platform 163 has detection channels communicating with the terminal sockets 165. Through-beam optical fibers 166 for identifying whether terminals are properly positioned are installed on both sides of the detection channels on the transfer frame 162. The transfer frame 162 is also equipped with several positioning bushings 167 and anti-collision posts 168 opposite to the picking robot.

[0044] The implantation mechanism 2 includes a six-axis robotic arm 21, an implantation frame 22 driven by the six-axis robotic arm 21, and implantation hands 23 mounted on both sides of the implantation frame 22 for embedding circuit boards into the injection molding machine, and finished product picking hands 24 for removing the finished products from the injection molding machine. The implantation hands 23 include an implantation plate 231, a self-calibration component 232, circuit board picking blocks 233, positioning pins 234, an implantation suction cup 235, a pin 236, a height-adjusting column 237, a stripping component 238, and a positioning pin 239. The implantation plate 231 is movably mounted on the side plate of the implantation frame 22 via the self-calibration component 232. The implantation plate 231 is fixedly connected to the two circuit board picking blocks 233 via connecting columns. The plate material taking block 233 is equipped with positioning pins 234 and embedded suction cups 235. The embedded plate 231 is also equipped with several pins 236 and equal-height posts 237 that cooperate with the injection mold. The rear end of the embedded plate 231 is equipped with a material removal component 238. The side plate of the implantation frame 22 is equipped with positioning pins 239 that cooperate with the positioning bushings 167 of the circuit board loading mechanism 1. The self-calibration component 232 includes a connecting rod 2321, a thrust ball bearing 2322, a right-angle plate 2323, a press-fit ball plunger 2324, and a stop pin 2325. The side plate of the implantation frame 22 is equipped with a connecting rod 2231 that passes through the embedded plate 231. A baffle is installed at the lower end of the connecting rod 2231. 1. The mounting plate 231 is fitted with holes with clearance. A thrust ball bearing 2322 is fitted on the connecting rod 2231. The mounting plate 231 and the side plate of the implantation frame 22 are rotatably connected by the thrust ball bearing 2322. Four right-angle plates 2323 opposite to the mounting plate 231 are installed on the side plate of the implantation frame 22. Press-fit ball plungers 2324 are installed on the two direct surfaces of the right-angle plates 2323. A stop pin 2325 that mates with the press-fit ball plunger 2324 is installed on the mounting plate 231. During the process of embedding the circuit board into the injection mold, the pin 236 is inserted into the injection mold. At this time, the mounting plate 231 automatically adjusts its horizontal position and angle through the self-calibration component 232 to adaptively align with the injection mold, so that the circuit board... The plate is precisely aligned with the injection mold cavity; the stripping assembly 238 includes a stripping cylinder 2381, a stripping plate 2382, and stripping needles 2383. The stripping cylinder 2381 is mounted on the back of the embedded plate 231 via a cylinder mounting plate. The stripping cylinder 2381 drives the stripping plate 2382 to move. Several stripping needles 2383 are mounted on the stripping plate 2382, which pass through the embedded plate 231 and the circuit board picking block 233. The finished product picking hand 24 includes two flat clamping cylinders 241 mounted on the other side plate of the implantation frame 22, clamping blocks 242 mounted on the two clamping arms of the flat clamping cylinders 241, and positioning posts 243 mounted on the opposite sides of the two clamping blocks 242 for positioning the insertion hole on the outer side of the product.

[0045] The testing mechanism 3 includes a flip-down heat dissipation device 31 mounted on the testing frame, a rotary conveyor line 32 located behind the flip-down heat dissipation device 31, and a first terminal testing device 33, a second terminal testing device 34, an opening testing device 35, a power-on testing device 36, a coding machine 37, an airtightness testing device 38, a defective product sorting and placement device 39, and a flip-down discharge device 310 arranged around the rotary conveyor line 32.

[0046] The flipping heat dissipation device 31 includes a flipping component 311 that docks with the finished product picking hand 24 of the implantation mechanism 2, a heat dissipation conveyor line 312 that docks with the flipping component 311, and a handling robot 313 located at the end of the heat dissipation conveyor line 312 to transport the flipped and cooled product to the tooling of the rotary conveyor line 32. The flipping component 311 includes a lifting cylinder 3111, a lifting frame 3112, a turntable cylinder 3113, a rotating shaft 3114, a flipping base plate 3115, a product carrier 3116, and a clamping cylinder 3117. The lifting cylinder 3112 is installed on the workbench of the testing machine frame, and the lifting cylinder 3111 drives the lifting frame 3112 to move up and down. The turntable cylinder 3117 is installed on the top plate of the lifting frame 3112. 113, the turntable cylinder 3113 drives the rotating shaft 3114 to rotate. A flipping base plate 3115 is installed on the rotating shaft 3114. Several (two) product carriers 3116 are installed on the flipping base plate 3115. A clamping cylinder 3117 for clamping the product is installed in the middle of the product carrier 3116. The finished product picking hand 24 takes out the injection molded product and places it on the product carrier 3116 of the flipping component 311. The clamping cylinder 3117 clamps the product. At this time, the open end of the product is facing down, which is not conducive to inspection. The turntable cylinder 3113 drives the rotating shaft 3114 to rotate 180°. The product rotates 180°. The lifting cylinder 3111 drives the lifting frame 3112 to descend. The clamping cylinder 3117 releases and the product falls onto the heat dissipation conveyor line 312.

[0047] The heat dissipation conveyor line 312 includes a belt conveyor line 3121, a carrier base plate 3122, a contour positioning block 3123, a positioning plunger 3124, a box-type heat dissipation frame 3125, and a heat dissipation fan 3126. Several carrier base plates 3122 are equidistantly installed on the belt of the belt conveyor line 3121. Contour positioning blocks 3123 and positioning plungers 3124 for quick positioning of products are installed on the carrier base plates 3122. A box-type heat dissipation frame 3125 is mounted on the support of the belt conveyor line 3121. Several heat dissipation fans 3126 with downward air vents are installed on the top of the box-type heat dissipation frame 3125.

[0048] Both the first terminal detection device 33 and the second terminal detection device 34 employ a horizontal CCD camera 301 and a vertical CCD camera 302 driven by a linear mold to move and detect the positional accuracy of two terminals of the product, as well as an equal-height pin module 303 driven by a cylinder to move up and down for detecting the height of two terminals of the product. The equal-height pin module 303 includes a detection lifting plate 3031, an insertion seat 3032, an insertion block 3033, a detection probe 3034, a height probe 3035, and a height sensor 3036. A vertically downward insertion seat 3032 capable of being inserted into the product terminal is installed at the lower end of the detection lifting plate 3031. A row of detection probes 3034 opposite to the upper terminals of the product is installed on the insertion seat 3032. An insertion block 3033 is vertically movably inserted into the insertion seat 3032. The upper part of the insertion block 3033 is elastically connected to the insertion seat 3032 through a spring. A height probe 3035 is also installed on the insertion block 3033. A height sensor 3036 is further installed at the lower end of the detection lifting plate 3031. An avoidance opening for detecting the height of the detection probe is provided on the insertion seat 3032. When the equal-height pin module 303 moves downward, the insertion block 3033 first contacts the product. As the equal-height pin module 303 continues to move downward, the insertion block 3033 and the height probe 3035 are lifted until the detection probe 3034 contacts the upper terminal of the product. The height sensor 3036 identifies whether there is a height probe 3035. If the installation position of the upper terminal of the product is too high, the height probe 3035 cannot be lifted, and the height sensor 3036 cannot detect the height probe 3035, indicating that the installation is not in place and the product is a defective product.

[0049] The opening detection device 35 uses a camera to detect the opening size of the "King" character opening 01 on the product; the opening size is related to the elasticity of this part of the product; the power-on detection device 36 uses a power-on probe to detect the power-on performance of the upper terminal 02 of the product, as shown in the product Figure 15 shown; the coding machine 37 uses a laser marking machine to mark the product.

[0050] The airtightness testing device 38 includes an airtightness testing frame 381, a switching cylinder 382 mounted on the airtightness testing frame 381, a product-carrying loading device 383 driven horizontally by the switching cylinder 382, ​​a testing bracket 384 mounted on the airtightness testing frame 381, a testing lifting cylinder 385 mounted on the testing bracket 384, a product-sealing upper carrier 386 driven vertically by the testing lifting cylinder 385, and a transport assembly 387 mounted on the side of the testing bracket 384 for rotating and transporting the product; the loading device... The device 383 includes a lower base plate 3831, a lower support block 3832 mounted on the lower base plate 3831 for supporting the product, and a lower sealing ring 3833 for sealing the opening below the product. A test hole 3830 is provided on the lower base plate 3831 surrounded by the lower sealing ring 3833. The test hole 3830 is connected to an external airtightness tester via a pipe. The upper carrier 386 includes an upper frame 3861, an upper limit block 3862 and a first sealing element 3863 mounted on the base plate of the upper frame 3861, and an upper lifting cylinder 38 mounted on the top plate of the upper frame 3861. 64 and a second sealing element 3865 driven to move up and down by an upper lifting cylinder 3864, the first sealing element 3863 and the second sealing element 3865 respectively cooperating with two openings above the product; the lowering fixture 383 and the upper carrier 386 are also quickly positioned by guide columns; the conveying assembly 387 includes a conveying lifting cylinder 3871 mounted on the detection bracket 384, a rotary cylinder 3872 driven to move up and down by the conveying lifting cylinder 3871, a rotary plate 3873 driven by the rotary cylinder 3872, and two [unclear text - possibly related to sealing components] mounted on the rotary plate 3873. The transport gripper cylinder 3874 and the transport component 387 grip the product and rotate it horizontally by 180° before placing it on the lowering fixture 383. The switching cylinder 382 drives the lowering fixture 383 to move backward, and the lowering fixture 383 is vertically aligned with the upper carrier 386. At this time, the detection lifting cylinder 385 drives the upper carrier 386 to move downward. The upper carrier 386 cooperates with the lowering fixture 383 below to position and seal the product. The product's sealing performance is tested by an external airtightness tester connected through the detection hole 3830. After the test is completed, the unit is reset, and the transport component 387 places the product back in its original position.

[0051] The defective product sorting and placement device 39 includes a feeding robot and several defective product conveyor lines located below the feeding robot. The defective product conveyor lines collect products with defects such as terminal positional defects, terminal height defects, "king" shaped opening size defects, power-on detection defects, coding defects, and airtightness detection defects. Various defective products are sorted and collected for subsequent equipment inspection and maintenance.

[0052] The flipping and unloading device 310 includes a flipping frame 3101, a flipping lifting cylinder 3102 mounted on the flipping frame 3101, a flipping cylinder 3103 driven to move up and down by the flipping lifting cylinder 3102, a clamping flat clamping cylinder 3104 mounted on the turntable of the flipping cylinder 3103, product grippers 3105 mounted on the two clamping arms of the clamping flat clamping cylinder 3104, and a product transfer platform 3106 set at the side end of the flipping frame 3101.

[0053] The sorting and packaging mechanism 4 includes a sorting frame 41, a pallet feeding device 42, a pallet receiving device 43, a transfer mechanism 44, a pallet picking device 45, and a finished product unloading device 46. The sorting frame 41 is equipped with a multi-station pallet feeding device 42 for providing finished product pallets and a multi-station pallet receiving device 43 for placing finished products corresponding to different injection mold cavity positions. A transfer mechanism 44 is installed on the top of the sorting frame 41. The transfer mechanism 44 has a gantry frame equipped with a pallet picking device 45 for transferring empty pallets from the pallet feeding device 42 to the pallet receiving device 43, and a pallet picking device 45 for transferring finished products inspected by the inspection mechanism 3 to the corresponding pallet receiving device 43. The finished product feeding device 46 is installed on the sorting frame 41. The pallet feeding device 42 includes a pallet frame 421, a linear slide rail 422, a pallet limiting block 423, a Z-axis linear module 424, a lifting frame 425, and a vertical guide plate 426. The pallet frame 421 is slidably installed on the sorting frame 41 via the linear slide rail 422. Pallet limiting blocks 423 for limiting the pallets are installed at the four corners of the pallet frame 421. A handle is installed on the outer end of the pallet frame 421. The pallet frame 421 is pulled out by the handle and connected to a forklift. The forklift transports the stacked pallets to the pallet frame 421. A buffer is installed on the sorting frame 41 opposite to the pallet frame 421. The sorting frame 41 has a vertical guide plate inside. A Z-axis linear module 424 is directly installed, which drives the lifting frame 425 to move up and down. The pallet frame 421 has an opening to avoid the lifting frame 425. Vertical guide plates 426 are installed on the sorting racks 41 on both sides of the lifting frame 425. The bottom of the two vertical guide plates 426 has oblong holes for adjusting their installation spacing to match pallets of corresponding widths. The structure of the pallet receiving device 43 is the same as that of the pallet feeding device 42. The transfer mechanism 44 includes a sliding plate 441, a servo motor 442, a gear 44, a rack 444, and a gantry frame 445. The two sliding plates 441 are slidably installed on the top of the sorting rack 41 via slide rails. A servo motor 442 is installed on the movable plate 441, and the servo motor 442 drives the gear 443 to rotate. A rack 444 that meshes with the gear 443 is installed on the top of the sorting frame 41. A gantry frame 445 is installed on the two sliding plates 441. The servo motor 442 is installed on the sliding plate 441 through a motor mounting plate. The motor mounting plate is provided with a waist-shaped hole for adjusting the installation position of the servo motor 442, which can adjust the meshing degree of the gear 44 and the rack 444. The pallet picking device 45 includes an upper and lower cylinder 451 installed on one side of the gantry frame 445, an upper and lower support 452 driven by the upper and lower cylinder 451, and pallet suction cups 453 installed around the upper and lower support 452.The finished product unloading device 46 includes a belt linear module 461 installed on the other side of the gantry frame 445, a push plate 462 driven to move by the belt linear module 461, a slide cylinder 463 vertically installed on the push plate 462, a gripper cylinder 464 driven to move up and down by the slide cylinder 463, finished product grippers 465 installed on the two gripper arms of the gripper cylinder 464, and finished product pins 466 installed on the opposite sides of the two finished product grippers 465. The finished product pins 466 can be inserted into the outer holes of the finished product.

[0054] A process for an automotive ECU assembly and testing production line includes the following steps: S1. Circuit board assembly: This includes the following steps: S1.1 The lifting linear module of the feeding device 12 lifts the tray containing the circuit board to the material picking position; S1.2 The four-axis robot 151 drives the material tray picking module 154 to adsorb and grab the material tray, and place it at the material tray positioning module 13 to perform initial positioning of the material tray. S1.3, Industrial camera 155 identifies circuit boards in the tray, four-axis robot 151 drives circuit board picking module 153 to adsorb and grab the circuit board in the tray, and place it at the positioning and discharging module 16 for precise positioning. S1.4 The circuit board is placed on the positioning platform 163, the positioning pin 164 is inserted into the hole of the circuit board for quick positioning, the terminal on the circuit board is inserted into the terminal socket 165, and the through-beam fiber optic 166 identifies whether the terminal is placed in place. S1.5 After the circuit boards in the tray are removed, the four-axis robot 151 drives the tray picking module 154 to absorb and grab the empty tray, place it at the receiving device 14, and stack and collect the empty trays. S2, Injection Molding Embedding: The six-axis robot 21 drives the embedding hand 23 to dock with the positioning and ejection module 16. The positioning pin 234 and the embedding suction cup 235 quickly position and adsorb the circuit board. The embedding hand 23 docks with the injection mold. During the process of embedding the circuit board into the injection mold, the pin 236 is engaged with the injection mold. At this time, the embedding plate 231 automatically adjusts the horizontal position and angle through the self-calibration component 232 to adaptively align with the injection mold, so that the circuit board is accurately aligned with the injection mold cavity. The ejection component 238 pushes the circuit board into the corresponding cavity of the mold. S3, Injection Molding and Material Removal: The circuit board and connector housing are integrally injection molded. The injection mold is opened, and the six-axis robot arm 21 drives the finished product removal hand 24 to remove the molded product from the mold. S4. Cooling: In step S3, the injection molded product is placed at the flipping component 311 of the flipping heat dissipation device 31. The product is flipped 180 degrees and falls onto the heat dissipation conveyor line 312 with its upper terminals facing up. During the conveyance of the product, the heat dissipation fan 3126 blows air for heat dissipation, enabling the product to cool rapidly. The handling robot 313 transports the cooled product to the fixture on the rotary conveyor line 32; S5. Detection: It includes the following steps: S5.1 Detection of terminal position and height: The rotary conveyor line 32 transports the product on the fixture to the first terminal detection device 33 and the second terminal detection device 34. The horizontal CCD camera 301 and the vertical CCD camera 302 detect the terminal position, and the equal height pin module 303 detects the terminal height; S5.2 Detection of opening size: The rotary conveyor line 32 transports the product on the fixture to the opening detection device 35, and the camera detects the opening size at the "King" character opening 01 on the product; S5.3 Power-on detection: The rotary conveyor line 32 transports the product on the fixture to the power-on detection device 36, and the power-on probe is used to detect the power-on performance of the upper terminals 02 of the product; S5.4 Coding: The rotary conveyor line 32 transports the product on the fixture to the coder 37, and a laser marking machine is used to mark the product; S5.5 Air tightness detection: The rotary conveyor line 32 transports the product on the fixture to the air tightness detection device 38. The handling component 387 grabs the product, rotates it horizontally by 180° and places it on the download carrier 383. The switching cylinder 382 drives the download carrier 383 to move backward. The download carrier 383 and the upload carrier 386 are in a relative up-and-down position. At this time, the detection lifting cylinder 385 drives the upload carrier 386 to move downward. The upload carrier 386 cooperates with the download carrier 383 below to position and seal the product. The air tightness detector is connected through the detection hole 3830 to detect the air tightness of the product. After the detection is completed, it is reset, and the handling component 387 places the product back to its original position; S5.6 Classification and placement of defective products: The rotary conveyor line 32 transports the product on the fixture to the defective product classification and placement device 39. The blanking robot grabs and places the defective products detected in steps S5.1 - S5.5 onto the corresponding defective product conveyor lines for classified collection; S6. Classification and packaging: The rotary conveyor line 32 sequentially transports the qualified products on the fixture to the flipping and discharging device 310. The transfer mechanism 44 drives the finished product discharging device 46 to adsorb the product, and classifies and places the injection molded products from different cavities of the injection mold onto the corresponding tray receiving devices 43. After the tray is full, the linear module drives the tray to move downward. The transfer mechanism 44 drives the tray picking device 45 to pick a new tray from the tray feeding device 42 and repeats the above placement actions.

[0055] This invention discloses an automotive ECU assembly and testing production line and its process, which integrates circuit board loading, injection molding embedding, injection molding unloading, testing, and sorting and packaging. It has a high degree of automation, can accurately position circuit boards through secondary positioning, and can automatically adjust the horizontal position and angle of the circuit boards to adaptively align with the injection mold. It can simultaneously test and mark various performance characteristics of the products, eliminating the need for repeated handling and positioning of products. It also sorts and collects defective products and good products from different mold cavities to facilitate subsequent troubleshooting and equipment maintenance.

[0056] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A production line for assembling and testing automotive ECUs, characterized in that: include: The circuit board loading mechanism includes a loading frame, a feeding device mounted on the loading frame, a tray positioning module, a receiving device, a picking device, and a positioning and discharging module. The picking device grabs the tray lifted and conveyed by the feeding device and places it at the tray positioning module for positioning. The picking device grabs the circuit board in the tray at the tray positioning module and places it at the positioning and discharging module. The picking device grabs the empty tray at the tray positioning module and places it at the receiving device. The implantation mechanism, which is connected to the circuit board loading mechanism, includes a six-axis robot, an implantation frame driven by the six-axis robot, and implantation hands installed on both sides of the implantation frame for embedding the circuit board into the injection molding machine and finished product picking hands for taking out the finished product from the injection molding machine. The testing mechanism, which is connected to the implantation mechanism, includes a flip-down heat dissipation device installed on the testing frame, a rotary conveyor line located behind the flip-down heat dissipation device, and a first terminal testing device, a second terminal testing device, an opening testing device, a power-on testing device, a coding machine, an airtightness testing device, a defective product sorting and placement device, and a flip-down discharge device arranged around the rotary conveyor line. The sorting and packaging mechanism, which is connected to the testing mechanism, includes a sorting frame, a pallet feeding device, a pallet receiving device, a transfer mechanism, a pallet picking device, and a finished product unloading device. The sorting frame is equipped with a multi-station pallet feeding device for providing finished product pallets and a multi-station pallet receiving device for placing finished products corresponding to different cavity positions of injection molds. A transfer mechanism is installed on the top of the sorting frame. The transfer mechanism has a gantry frame equipped with a pallet picking device for picking up empty pallets from the pallet feeding device to the pallet receiving device and a finished product unloading device for picking up finished products tested by the testing mechanism to the corresponding pallet receiving device.

2. The automotive ECU assembly and testing production line according to claim 1, characterized in that: Both the feeding device and the receiving device have lifting modules. A stack of trays filled with circuit board products is piled at the feeding device. The receiving device includes a four-axis robot, a receiving frame driven by the four-axis robot, a circuit board receiving module and a tray receiving module mounted on the receiving frame, and an industrial camera mounted on the side of the receiving frame. The circuit board receiving module includes an adsorption module fixed to the base plate of the receiving frame, an auxiliary pressure block mounted at the lower end of the adsorption module for contour-guided contact with the circuit board, positioning pins vertically mounted on the auxiliary pressure block, and several... The circuit board suction cups are installed on the adsorption module, and the circuit board suction cups pass through the auxiliary pressure block. The adsorption module has adsorption cavities that communicate with several circuit board suction cups. The material tray picking module includes a lifting cylinder installed on the top plate of the picking rack, a lifting plate driven by the lifting cylinder to move up and down, suction cup mounting plates arranged on both sides of the lifting plate, and material tray suction cups installed on both sides of the suction cup mounting plates. The lifting plate has elongated holes on both sides for adjusting the installation position of the suction cup mounting plates, and the suction cup mounting plates have a row of mounting holes for easy adjustment of the installation position.

3. The automotive ECU assembly and testing production line according to claim 1, characterized in that: The positioning and unloading module includes a Y-axis linear module, a transfer frame, a positioning platform, positioning pins, terminal sockets, through-beam optical fibers, positioning bushings, and anti-collision posts. The Y-axis linear module drives the transfer frame to move. The transfer frame is equipped with a dual-station positioning platform for positioning and placing circuit boards. The positioning platform is equipped with positioning pins for quickly positioning products. The positioning platform has grooves to avoid vertical terminals on the circuit boards, and terminal sockets are embedded in the grooves. The positioning platform has a detection channel communicating with the terminal sockets. Through-beam optical fibers for identifying whether terminals are placed in the correct position are installed on the transfer frame on both sides of the detection channel. The transfer frame is also equipped with several positioning bushings and anti-collision posts opposite to the picking robot.

4. The automotive ECU assembly and testing production line according to claim 1, characterized in that: The embedded hand includes an embedding plate, a self-calibration component, a circuit board picking block, positioning pins, an embedding suction cup, pins, contour posts, a stripping component, and positioning pins. The embedding plate is movably mounted to the side plate of the implantation frame via the self-calibration component. The embedding plate is fixedly connected to two circuit board picking blocks via connecting posts. Positioning pins and embedding suction cups are installed on the circuit board picking blocks. The embedding plate is also equipped with several pins and contour posts that mate with the injection mold. A stripping component is installed at the rear end of the embedding plate. Positioning pins that mate with the positioning bushings of the circuit board loading mechanism are installed on the side plate of the implantation frame. The self-calibration component includes a connecting rod, a thrust ball bearing, a right-angle plate, a press-fit ball plunger, and a stop pin. A connecting rod passing through the embedding plate is installed on the side plate of the implantation frame. A baffle is installed at the lower end of the connecting rod. The connecting rod is connected to the embedding plate. The upper hole has a clearance fit, and a thrust ball bearing is fitted on the connecting rod. The embedded plate and the implantation frame side plate are rotatably connected by the thrust ball bearing. Four right-angle plates opposite to the embedded plate are installed on the implantation frame side plate. Press-in ball plungers are installed on the two direct surfaces of the right-angle plates. A stop pin that mates with the press-in ball plunger is installed on the embedded plate. The material removal assembly includes a material removal cylinder, a material removal plate, and material removal needles. The material removal cylinder is installed on the back of the embedded plate through a cylinder mounting plate. The material removal cylinder drives the material removal plate to move. Several material removal needles that pass through the embedded plate and the circuit board picking block are installed on the material removal plate. The finished product picking hand includes two flat clamping cylinders installed on the other side plate of the implantation frame, clamping blocks installed on the two clamping arms of the flat clamping cylinders, and positioning pins installed on the opposite surfaces of the two clamping blocks for positioning the outer hole of the inserted product.

5. The automotive ECU assembly and testing production line according to claim 1, characterized in that: The flipping and cooling device includes a flipping component that docks with the finished product picking hand of the implantation mechanism, a cooling conveyor line that docks with the flipping component, and a handling robot on a rotary conveyor fixture located at the end of the cooling conveyor line to transport the flipped and cooled product. The flipping component includes a lifting cylinder, a lifting frame, a turntable cylinder, a rotating shaft, a flipping base plate, a product carrier, and a clamping cylinder. The lifting cylinder is mounted on the worktable of the testing frame and drives the lifting frame to move up and down. A turntable cylinder is mounted on the top plate of the lifting frame and drives the rotating shaft to rotate. The rotating shaft is equipped with a flip-over base plate, on which several product carriers are mounted. A clamping cylinder for clamping products is installed in the middle of each product carrier. The heat dissipation conveyor line includes a belt conveyor line, carrier base plates, contour positioning blocks, positioning plungers, a box-type heat dissipation frame, and cooling fans. Several carrier base plates are equidistantly mounted on the belt of the belt conveyor line. Contour positioning blocks and positioning plungers for quickly positioning products are mounted on the carrier base plates. A box-type heat dissipation frame is mounted on the support of the belt conveyor line, and several cooling fans with downward-facing vents are mounted on the top of the box-type heat dissipation frame.

6. The automotive ECU assembly and testing production line according to claim 1, characterized in that: Both the first terminal detection device and the second terminal detection device employ a horizontal CCD camera and a vertical CCD camera driven by a linear mold to detect the position of two terminals on the product, and a height-equalizing needle module driven by a cylinder to move up and down to detect the height of two terminals on the product. The height-equalizing needle module includes a detection lifting plate, an insertion seat, an insertion block, a detection probe, a height probe, and a height sensor. The lower end of the detection lifting plate is equipped with an insertion seat that can be inserted into the product terminal. A row of detection probes opposite to the upper terminal of the product is installed on the insertion seat. An insertion block is vertically inserted into the insertion seat. The upper part of the insertion block is elastically connected to the insertion seat by a spring. A height probe is also installed on the insertion block. A height sensor is also installed at the lower end of the detection lifting plate. The insertion seat has a clearance opening for the height of the detection probe.

7. The automotive ECU assembly and testing production line according to claim 1, characterized in that: The airtightness testing device includes an airtightness testing frame, a switching cylinder mounted on the airtightness testing frame, a product-carrying lowering device driven horizontally by the switching cylinder, a testing bracket mounted on the airtightness testing frame, a testing lifting cylinder mounted on the testing bracket, an upper carrier driven vertically by the testing lifting cylinder to seal the product, and a transport assembly mounted on the side of the testing bracket for rotating and transporting the product. The lowering device includes a lower base plate, a lower support block mounted on the lower base plate to support the product, and a lower sealing ring for sealing the opening below the product. A testing hole is formed on the lower base plate surrounded by the lower sealing ring, and the testing hole is connected to an external pipe. An airtightness testing instrument; the upper carrier includes an upper frame, an upper limit block and a first sealing element mounted on the base plate of the upper frame, an upper lifting cylinder mounted on the top plate of the upper frame, and a second sealing element driven to move up and down by the upper lifting cylinder, the first sealing element and the second sealing element respectively cooperating with two openings above the product; the handling assembly includes a handling lifting cylinder mounted on the testing bracket, a rotary cylinder driven to move up and down by the handling lifting cylinder, a rotary plate driven by the rotary cylinder, and two sets of handling gripper cylinders mounted on the rotary plate; the defective product sorting and placement device includes a material unloading robot and several defective product conveyor lines located below the material unloading robot.

8. The automotive ECU assembly and testing production line according to claim 1, characterized in that: The pallet feeding device includes a pallet frame, linear slide rails, pallet limiting blocks, a Z-axis linear module, a lifting frame, and vertical guide plates. The pallet frame is slidably mounted on the sorting frame via the linear slide rails. Pallet limiting blocks are installed at the four corners of the pallet frame to limit the pallets. A handle is installed at the outer end of the pallet frame. By pulling out the pallet frame through the handle, it can be connected to a forklift. The forklift transports stacked pallets onto the pallet frame. A buffer is installed on the sorting frame opposite to the pallet frame. A Z-axis linear module is vertically installed inside the sorting frame. The Z-axis linear module drives the lifting frame to move up and down. The pallet frame has a clearance opening to avoid the lifting frame. Vertical guide plates are installed on the sorting frame on both sides of the lifting frame. The bottom of the two vertical guide plates is provided with waist-shaped holes to adjust their installation spacing to match pallets of corresponding widths. The structure of the pallet receiving device is the same as that of the pallet feeding device.

9. The automotive ECU assembly and testing production line according to claim 1, characterized in that: The transfer mechanism includes sliding plates, servo motors, gears, racks, and gantry frames. Two sliding plates are slidably mounted on the top of the sorting frame via slide rails. A servo motor is mounted on the sliding plate, driving the gears to rotate. A rack meshing with the gears is mounted on the top of the sorting frame. A gantry frame is mounted on the two sliding plates. The servo motor is mounted on the sliding plate via a motor mounting plate. The motor mounting plate has a slotted hole for adjusting the mounting position of the servo motor, which can adjust the meshing degree of the gears and racks. The pallet picking device includes upper and lower cylinders mounted on one side of the gantry frame, upper and lower supports driven by the upper and lower cylinders, and pallet suction cups mounted around the upper and lower supports. The finished product unloading device includes a belt linear module mounted on the other side of the gantry frame, a push plate driven by the belt linear module, a sliding table cylinder mounted vertically on the push plate, a gripper cylinder driven by the sliding table cylinder to move up and down, finished product grippers mounted on the two gripper arms of the gripper cylinder, and finished product pins mounted on the opposite sides of the two finished product grippers.

10. A process for an automotive ECU assembly and testing production line according to any one of claims 1-9, characterized in that: Includes the following steps: S1. Circuit board assembly: This includes the following steps: S1.1 The lifting linear module of the feeding device lifts the tray containing the circuit board to the material picking position; S1.2 The four-axis robotic arm drives the material tray picking module to adsorb and grab the material tray and place it at the material tray positioning module to perform initial positioning of the material tray; S1.3 Industrial camera identifies circuit boards in the tray, four-axis robot drives circuit board picking module to adsorb and grab circuit boards in the tray, and place them at the positioning and discharging module for precise positioning. S1.4 Place the circuit board on the positioning platform, insert the positioning pin into the hole of the circuit board for quick positioning, insert the terminal on the circuit board into the terminal socket, and use the through-beam fiber to identify whether the terminal is in place. S1.5 After the circuit boards in the tray are removed, the four-axis robot drives the tray picking module to absorb and grab the empty tray, place it at the receiving device, and stack and collect the empty trays. S2, Injection Molding Embedding: The six-axis robotic arm drives the embedding hand to dock with the positioning and ejection module. The positioning pins and embedding suction cups quickly position and adsorb the circuit board. The embedding hand docks with the injection mold and embeds the circuit board into the injection mold. During the process of embedding the circuit board into the injection mold, the pins and the injection mold are interlocked. At this time, the embedding plate automatically adjusts the horizontal position and angle through the self-calibration component to adaptively align with the injection mold, so that the circuit board is accurately aligned with the injection mold cavity. The ejection component pushes the circuit board into the corresponding cavity of the mold. S3. Injection molding and material handling: The circuit board and connector housing are integrally injection molded. The injection mold is opened, and a six-axis robot arm drives the finished product handling hand to take out the molded product from the mold. S4. Cooling: In step S3, the injection-molded product is placed on the flipping component of the flipping heat dissipation device. The product is flipped 180 degrees and falls onto the heat dissipation conveyor line with the upper terminal facing upward. During the conveying process, the cooling fan blows air to dissipate heat and the product is cooled quickly. The handling robot then moves the cooled product to the tooling on the rotary conveyor line. S5. Detection: This includes the following steps: S5.

1. Terminal position and height detection: The rotary conveyor line transports the products on the fixture to the first terminal detection device and the second terminal detection device. The horizontal CCD camera and the vertical CCD camera detect the terminal position, and the equal-height pin module detects the terminal height. S5.

2. Opening size detection: The rotary conveyor line transports the products on the fixture to the opening detection device, and the camera detects the opening size at the "king" character opening on the product. S5.

3. Power-on detection: The rotary conveyor line transports the products on the fixture to the power-on detection device, and the power-on probe is used to detect the power-on performance of the terminals on the product. S5.

4. Coding: The rotary conveyor line transports the products on the fixture to the coder, and the laser marking machine is used to mark the products. S5.

5. Air tightness detection: The rotary conveyor line transports the products on the fixture to the air tightness detection device. The handling component grabs the product, rotates it horizontally by 180°, and then places it on the lower carrier. The switching cylinder drives the lower carrier to move backward. The lower carrier and the upper carrier are in a relative up-and-down position. At this time, the detection lifting cylinder drives the upper carrier to move downward. The upper carrier cooperates with the lower carrier below to position and seal the product. The air tightness detector is connected through the detection hole to detect the air tightness of the product. After the detection is completed, it is reset, and the handling component places the product in the original position. S5.

6. Classification and placement of defective products: The rotary conveyor line transports the products on the fixture to the defective product classification and placement device. The blanking manipulator grabs and places the defective products detected in steps S5.1 - S5.5 onto the corresponding defective product conveyor lines for classification and collection. S6. Classification and packaging: The rotary conveyor line successively transports the qualified products on the fixture to the turnover and discharging device. The transfer mechanism drives the finished product discharging device to adsorb the products, and classifies and places the injection molded products in different cavities of the injection mold onto the corresponding tray receiving devices. After the tray is full, the linear module drives the tray to move downward. The transfer mechanism drives the tray picking device to pick a new tray from the tray feeding device and repeats the above placement actions.

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