An automatic assembly production line and method for a central door lock closer assembly of an automobile

Abstract

The application discloses an automatic assembling production line and method for a central door lock closer assembly of an automobile, and relates to the field of automatic manufacturing of automobile parts. The automatic assembling production line comprises a double-circulation conveying line, corresponding carriers, and sequentially arranged assembling, oiling, detecting, welding, sealing ring assembling and blanking units along the conveying line. The double-circulation conveying line is a double-layer structure to realize carrier circulation and reuse. The assembling unit comprises a multi-axis robot and a feeding device, which are suitable for feeding and precise assembling of special-shaped parts. A multi-link detecting unit is arranged to check parameters such as the bullet load, gear meshing and welding air tightness, and an instant waste removal unit is arranged. An XYZ transfer module is arranged at a key station to adapt to flexible production of left and right assemblies. The application solves the problems of insufficient automation, poor flexibility and weak quality control in the prior art, realizes unmanned and high-precision assembling in the whole process, improves the efficiency and product consistency, and reduces the cost.

Description

Technical Field

[0001] This invention belongs to the field of automated manufacturing technology for automotive parts, and in particular relates to an automated assembly line and method for automotive central locking system components. Background Technology

[0002] As a core component controlling the locking status of vehicle doors, the central locking system's door latch directly determines the reliability and lifespan of door opening and closing, making it a critical part of ensuring driving safety. With the rapid expansion of the new energy vehicle industry and consumers' increasing demands for vehicle safety, the market demand for latch components continues to grow, while requirements for product consistency and assembly precision have reached millimeter-level standards. In traditional production models, the assembly of latch components largely relies on manual labor. This component includes more than ten irregularly shaped parts such as housings, gear sets, motors, springs, and sealing rings. Manual assembly is easily affected by factors such as operator experience and fatigue, frequently resulting in errors and omissions, leading not only to low production efficiency but also directly impacting product quality and driving safety. Against this backdrop, developing fully automated assembly equipment has become an inevitable choice to solve industry pain points and meet the needs of large-scale production.

[0003] To overcome the limitations of manual assembly, related automated assembly technologies have emerged in the industry. The closest existing technology is Chinese patent CN114952280B, which discloses an automated assembly process and production line for new energy vehicle door lock actuators. This technology replaces manual operation with automated equipment, improving the automation level and yield rate to some extent. However, practical experience has shown that this existing technology still has the following significant drawbacks: (1) Insufficient continuity and automation in the production process: The existing technology still relies on operators to perform visual inspection and sorting in the finished product unloading stage, and the loading of workpieces such as shells and covers requires manual removal from the packaging boxes and placement into the pallet fixtures. There are many manual intervention steps, and it fails to achieve fully unmanned operation from workpiece loading to finished product output. This "semi-automated" mode not only makes it difficult to further improve production efficiency, but the uncertainty of manual operation may also introduce quality fluctuations; (2) Lack of flexible adaptability, making it difficult to meet the needs of multi-specification production: Automotive door lock locking devices are usually divided into two mirror-structured components, left and right, but the CN114952280B patent does not design a compatible structure for this differentiated need. In actual production, when switching between left and right products, the equipment fixtures and actuators need to be readjusted, resulting in long production changeover cycles and high adaptation costs, which cannot meet the flexible production needs of the automotive manufacturing industry for multiple varieties and small batches; (3) The quality control system is imperfect and the coordination between inspection and waste removal is insufficient: Although the existing technology mentions the goal of improving the yield rate, it does not disclose the technical solution of setting up real-time inspection in multiple stages during the assembly process. It lacks effective verification methods for key performance parameters such as gear meshing accuracy, spring force, and airtightness of housing welding. At the same time, it does not design an immediate waste removal mechanism linked to the inspection stage. Defective products are easily transferred to subsequent workstations, which not only occupies production resources but also increases rework costs, which does not meet the industry requirements of refined quality control. (4) Low space and resource utilization efficiency: The existing technology adopts a conventional single-layer conveyor layout. The carrier recovery requires additional manual operation or a separate return channel, resulting in a large production line area and low carrier recycling rate, which increases the cost of equipment procurement and plant layout. In addition, the workpiece feeding process does not adopt an automated stacking and replenishment design, which requires frequent manual intervention, further increasing production and operation costs.

[0004] Therefore, it is necessary to provide a new automated assembly line for small-piece automotive central locking system components to solve the above-mentioned technical problems. Summary of the Invention

[0005] To address the shortcomings of the existing technology, the present invention aims to provide an automated assembly line and method for automotive central locking system components. Through fully automated design, flexible and compatible structure, multi-dimensional quality inspection closed loop, and optimized spatial layout, the invention solves the problems of insufficient automation, poor flexibility, weak quality control, and low resource utilization in the existing technology, thereby achieving efficient, high-precision, and low-cost assembly of locking system components.

[0006] This invention achieves the above objective through the following technical solution: an automated assembly line for automotive central locking system components, comprising: A first circulating conveyor line and a second circulating conveyor line, wherein a first carrier is circulated on the first circulating conveyor line and a second carrier is circulated on the second circulating conveyor line; The first assembly unit realizes the feeding of the first housing, the insertion of the first housing into the first carrier, the feeding of the gear set, and the assembly of the gear set into the first housing. The first sector gear feeding and assembly unit feeds the gear set and assembles the gear set into the first housing; The second assembly unit realizes the feeding of motor components, the assembly of motor components into the first housing, the feeding of the second sector gear, the load detection of the spring on the second sector gear, and the assembly of the second sector gear into the first housing to obtain the first housing assembly. The camera detection unit performs visual inspection on the first housing assembly; The second housing feeding and assembly unit feeds the second housing and assembles the second housing onto the first housing assembly to obtain the cover assembly; the first assembly unit, the first sector gear feeding and assembly unit, the second assembly unit, the camera detection unit, and the second housing feeding and assembly unit are arranged sequentially along the first circulating conveyor line; A welding unit, located between the first and second circulating conveyor lines, welds the first housing assembly and the second housing together and places them into the second carrier; The welding height detection unit and the airtightness detection unit perform thickness detection and internal airtightness detection on the cover assembly after welding. The sealing ring assembly oil injection unit supplies the sealing ring and installs it in the designated slot of the cover assembly to obtain the door lock locking device assembly; The unloading unit removes the door lock locking assembly from the second carrier for unloading. The welding height detection unit, the airtightness detection unit, the sealing ring assembly and oil injection unit, and the unloading unit are arranged sequentially along the second circulating conveyor line.

[0007] Furthermore, it also includes a first oil injection unit disposed between the first sector gear feeding assembly unit and the second assembly unit, a second oil injection unit disposed between the second assembly unit and the camera detection unit, a first waste discharge unit disposed between the camera detection unit and the second housing feeding assembly unit, and a second waste discharge unit disposed downstream of the airtightness detection unit; the first oil injection unit includes a second XYZ transfer module and a first oil injection valve disposed at the movable end of the second XYZ transfer module.

[0008] Furthermore, the first carrier is provided with a first bearing limiting groove that supports and limits the first housing; the second carrier is provided with a second bearing limiting groove that supports and limits the second housing; both the first bearing limiting groove and the second bearing limiting groove are provided in pairs and are distributed in a mirror image.

[0009] Furthermore, the first assembly unit includes a first handling robot, a first housing feeding device whose material supply position is set within the working range of the first handling robot, and a gear feeding device; Both the first housing feeding device and the gear feeding device include a full-load material tray feeding mechanism and an empty material tray receiving mechanism arranged side by side along the X direction, a first material tray positioning mechanism located above the end of the full-load material tray feeding mechanism near the first circulating conveyor line, a second material tray positioning mechanism located above the end of the empty material tray receiving mechanism near the first circulating conveyor line, and a material tray transfer mechanism for transferring the material tray from the first material tray positioning mechanism to the second material tray positioning mechanism; The first handling robot includes a first multi-axis robot body, a second support plate disposed at the movable end of the first multi-axis robot body, a first gripper assembly disposed on the second support plate and used for gripping the first housing, a second gripper assembly disposed on the second support plate and used for gripping the gear set, and a third cylinder for driving the first gripper assembly to move up and down.

[0010] Furthermore, the first sector gear feeding assembly unit includes a first vibratory feeding mechanism, a first receiving plate that docks with the output end of the first vibratory feeding mechanism, a cover plate that covers the corresponding receiving groove in the first receiving plate, a fourth cylinder that drives the cover plate to move horizontally, and a conveying mechanism that grabs and assembles the first sector gear in the first receiving plate into the first housing in the first carrier. The transport mechanism includes a first XYZ transfer module, an eleventh support plate disposed at the movable end of the first XYZ transfer module, a third support plate elastically floating on the eleventh support plate, a first rotary cylinder fixed on the third support plate, a first rotary plate driven by the first rotary cylinder to rotate around the Z-axis, and a first clamping module disposed on the first rotary plate for clamping a sector gear; the first clamping module includes a third gripper assembly fixed on the first rotary plate for clamping the body of the sector gear and a second positioning pin fixed on the cylinder body of the third gripper assembly for insertion into the shaft hole of the sector gear.

[0011] Furthermore, the second assembly unit includes a second transport robot, a motor feeding device and a second sector gear feeding device with the material supply position set within the working range of the second transport robot, a receiving module for receiving the second sector gear picked up by the second transport robot, and a test transport mechanism for transporting and assembling the second sector gear on the receiving module into the first housing after load testing.

[0012] Furthermore, the second handling robot includes a second multi-axis robot body, a fourth support plate disposed at the movable end of the second multi-axis robot body, a sixth cylinder and a seventh cylinder fixed on the fourth support plate, a fifth support plate driven by the sixth cylinder to move up and down, a second clamping module disposed on the fifth support plate for clamping a motor assembly, and a third clamping module driven by the seventh cylinder to move up and down for clamping a second sector gear. The second clamping module includes a fourth gripper assembly fixed on the fifth support plate for clamping the motor body, a swing clamp plate rotatably disposed on the cylinder body of the fourth gripper assembly and aligned with the end of the worm gear, and an eighth cylinder fixed on the fifth support plate and driving the swing clamp plate to swing to press the end of the worm gear. The receiving module includes a ninth cylinder and a second receiving plate that is driven by the ninth cylinder to move along the X direction. The second receiving plate is provided with a conforming receiving groove that conforms to the shape of the second sector gear.

[0013] Furthermore, the test handling mechanism includes a third XYZ transfer module, a sixth support plate disposed at the movable end of the third XYZ transfer module, a tenth cylinder and a load testing module fixed on the sixth support plate, a fourth clamping module driven by the tenth cylinder to move up and down, and an N-box disposed within the movable range of the third XYZ transfer module; the load testing module includes a seventh support plate elastically floating on the sixth support plate, a pressure sensor disposed on the seventh support plate, a pressure probe disposed on the sensing end of the pressure sensor, and a pressure rod disposed on the seventh support plate for pressing the position of the spring body; during testing, the third XYZ transfer module drives the pressure probe to align with the detection protrusion position of the spring and drives the end of the spring to press down to a set height, at which time the pressure magnitude of the pressure sensor is collected, and the spring is judged to be qualified based on the pressure magnitude.

[0014] Furthermore, the second housing feeding assembly unit includes a third handling robot, a second housing feeding device with the material supply position set within the working range of the third handling robot, and a second housing positioning module for secondary positioning of the second housing; The third handling robot includes a third multi-axis robot body, an eighth support plate disposed at the movable end of the third multi-axis robot body, a fifth clamping module fixed on the eighth support plate for picking up the second shell from the second shell feeding device and placing it on the second shell positioning module, and a sixth clamping module fixed on the eighth support plate for picking up the second shell from the second shell positioning module and placing it in the first carrier for assembly with the first shell cover. The second housing positioning module includes a support plate for supporting the second housing, a contour limiting plate fixed on the support plate and limiting the position of one end of the second housing in the Y direction, a thirteenth cylinder disposed on the support plate, a positioning pressure plate driven by the thirteenth cylinder to horizontally push the second housing to abut against the contour limiting plate, and a sixth gripper assembly disposed on the support plate and clamping both sides of the second housing in the X direction.

[0015] Furthermore, the welding unit includes a first support module and a second support module arranged opposite to each other, a flipping mechanism that flips the cover assembly on the first support module and places it on the second support module, a welding mechanism located next to the flipping mechanism, and a fourth transport robot that transports the cover assembly on the second support module to the welding mechanism and the cover assembly in the welding mechanism to a second carrier on the second circulating conveyor line; the flipping mechanism includes a fourteenth cylinder, a ninth support plate driven by the fourteenth cylinder to move up and down, a second rotary cylinder fixed on the ninth support plate, a second rotary plate driven by the second rotary cylinder to rotate around a horizontal axis, and a seventh gripper assembly disposed on the second rotary plate.

[0016] Furthermore, the welding height detection unit includes a fourth XYZ transfer module, a displacement sensor disposed at the movable end of the fourth XYZ transfer module, and a first clamping module that presses the cover assembly in the second carrier downward. The airtightness testing unit includes a second pressing module that presses the product to maintain a stable position, a plugging module that seals the shaft hole on the product, an airtight docking module that seals and connects with the airtightness testing interface on the product, and an airtightness instrument connected to the airtightness docking module; the second pressing module includes a sixteenth cylinder, a seventeenth cylinder driven by the sixteenth cylinder to move along the X direction, and a pressing block driven by the seventeenth cylinder to move up and down; the plugging module includes an eighteenth cylinder, a nineteenth cylinder driven by the eighteenth cylinder to move along the X direction, and a sealing plug driven by the nineteenth cylinder to move up and down; the airtightness docking module includes a twentieth cylinder, a twenty-first cylinder driven by the twentieth cylinder to move along the X direction, and an airtight connector driven by the twenty-first cylinder to move up and down; the airtight connector is connected to the airtightness instrument.

[0017] Furthermore, the sealing ring assembly and oil injection unit includes a second vibration feeding mechanism, a third receiving plate connected to the output end of the second vibration feeding mechanism, a twenty-second cylinder that drives the third receiving plate to misalign and distribute materials, and an oil injection and transportation mechanism that assembles the sealing ring on the third receiving plate into the corresponding hole groove on the cover assembly and injects oil into it; the oil injection and transportation mechanism includes a fifth XYZ transfer module, a tenth support plate disposed at the movable end of the fifth XYZ transfer module, a stripping sleeve and a twenty-third cylinder fixed on the tenth support plate, a sealing ring picking rod passing through the stripping sleeve, a twenty-fourth cylinder fixed on the tenth support plate and driving the sealing ring picking rod to move up and down, and a second oil injection valve that is moved up and down by the twenty-third cylinder.

[0018] Another object of the present invention is to provide a production method based on the above-mentioned automated assembly line for automotive central locking system components, comprising the following steps: S1. The first assembly unit includes a first handling robot, a first housing feeding device and a gear feeding device whose material supply position is set within the working range of the first handling robot; the first housing feeding device automatically supplies the first housing, the gear feeding device automatically supplies the gear set, the first handling robot picks up the first housing from the first housing feeding device and places it into the first carrier, and picks up the gear set from the gear feeding device and assembles it into the first housing. S2. The first circulating conveyor line transports the first carrier, carrying the first housing and gear set together, to the next work station; the first sector gear feeding and assembly unit includes a first vibrating feeding mechanism and a conveying mechanism; the first vibrating feeding mechanism automatically supplies the first sector gear, and the conveying mechanism picks up the first sector gear and assembles it into the first housing, and meshes with the pinion on the gear set at a set position; S3. The first circulating conveyor line transports the first carrier, carrying the first housing, gear set, and first sector gear together to the next workstation; the first oiling unit oils the designated gear structure. S4. The first circulating conveyor line transports the first carrier, carrying the first housing, gear set, and first sector gear together, to the next workstation; the second assembly unit includes a second handling robot, a motor feeding device and a second sector gear feeding device with material supply positions set within the working range of the second handling robot, a receiving module, and a testing and handling mechanism; the motor feeding device automatically supplies motor components, the second sector gear feeding device automatically supplies the second sector gear, the second handling robot picks up the motor components from the motor feeding device and assembles them into the first housing, and the worm gear in the motor components meshes with the large gear in the gear set; the second handling robot picks up the second sector gear from the second sector gear feeding device and places it on the receiving module; S5. The test and handling mechanism performs load testing on the spring sheet on the second sector gear, and assembles the qualified second sector gear into the first housing. The second sector gear is located above the first sector gear and is coaxially arranged with the first sector gear. S6. The first circulating conveyor line transports the first carrier, carrying the first housing, gear set, first sector gear, and second sector gear together, to the next work station; the designated gear structure is lubricated through the second lubrication unit; S7. The first circulating conveyor line transports the first carrier, carrying the first housing, gear set, first sector gear, and second sector gear together to the next workstation; the camera inspection unit performs visual inspection on the products in the first carrier according to the inspection items. S8. If any item fails the inspection in step S7, it is removed from the first circulating conveyor line; if the item passes the inspection, it is conveyed to the next workstation. S9. The second housing feeding assembly unit includes a third handling robot, a second housing feeding device with the material supply position set within the working range of the third handling robot, and a second housing positioning module. The second housing feeding device automatically supplies the second housing. The third handling robot picks up the second housing from the second housing feeding device and then transports it to the second housing positioning module for positioning. The third handling robot picks up the second housing from the second housing positioning module and transports it to the first carrier, where it is fitted with the first housing cover to form a closing assembly. S10, the welding unit includes a first support module and a second support module arranged opposite to each other, a flipping mechanism disposed between the first support module and the second support module, a welding mechanism located next to the flipping mechanism, and a fourth transport robot; the third transport robot picks up the lid assembly from the first carrier and transports it to the first support module, the flipping mechanism flips the lid assembly and places it on the second support module, the fourth transport robot picks up the lid assembly from the second support module and transports it to the welding mechanism, the welding mechanism performs ultrasonic welding on the lid assembly to weld the first shell and the second shell together; the fourth transport robot transports the welded lid assembly from the welding mechanism to the second carrier in the second circulating conveyor line; S11, the second circulation conveyor line transports the second carrier carrying the cover assembly to the next workstation; the welding height detection unit detects whether the thickness of the cover assembly at multiple points meets the design requirements; S12, the second circulation conveyor line transports the second carrier carrying the cover assembly to the next workstation; the airtightness testing unit checks whether the internal sealing of the cover assembly after welding meets the requirements; if there is a defect, it is discharged from the second circulation conveyor line; S13. The second circulating conveyor line transports the second carrier carrying the cover assembly together to the next work station; the sealing ring assembly oil injection unit includes a second vibrating feeding mechanism and an oil injection and conveying mechanism; the second vibrating feeding mechanism automatically supplies the sealing ring, and the oil injection and conveying mechanism picks up the sealing ring from the output end of the second vibrating feeding mechanism and assembles it into the designated hole groove on the cover assembly, and then performs an oil injection operation on the hole groove to obtain the door lock locking device assembly.

[0019] Compared with the prior art, the beneficial effects of the automatic assembly line and method for small automotive central locking device components of the present invention are as follows: (1) Full-process automated operation to ensure high-efficiency and stable production: The production line is based on a double-circulation conveyor line, which connects all processes from component loading to finished product unloading, realizing continuous unmanned operation of the first housing feeding, gear set and sector gear assembly, motor assembly installation, housing welding, inspection and sealing ring assembly. Through precise carrier positioning and the coordinated action of robots and transfer modules, the assembly position of each component is ensured to be accurate, effectively avoiding efficiency fluctuations and assembly deviations caused by manual operation, keeping the production process at a stable pace, and greatly reducing rework caused by assembly problems; (2) Multi-stage quality control to build a comprehensive and reliable quality inspection system: The production line sets up multiple inspection nodes in key processes to form a complete quality control closed loop. In the second assembly unit, the load test module can test the performance of the second sector gear spring and screen out unqualified parts in advance; the camera inspection unit can carefully verify the motor foam pasting, gear meshing position, spring appearance and other items to prevent omissions and misassemblies from flowing to subsequent processes; after welding, the welding height test and air tightness test are used to ensure the welding strength and sealing of the shell; the assembly verification and oiling operation are completed simultaneously in the sealing ring assembly process. At the same time, the first and second waste removal units can discharge defective products from the production line in a timely manner to avoid occupying subsequent workstation resources and further ensure the overall quality of the product; (3) Flexible structural design to adapt to the production of multiple specifications: In response to the different needs of the left and right models of automotive door locks, the production line adopts a flexible and compatible design in its core structure. The bearing limit grooves of the first and second carriers are both double mirror layouts, which can simultaneously meet the positioning requirements of the left and right components; key stations such as the first oiling unit, welding height detection unit, and sealing ring assembly oiling unit can flexibly adjust their positions with the help of the XYZ transfer module to drive the execution components, so as to achieve rapid switching between the left and right products without changing the carriers or making large-scale adjustments to the equipment. In addition, the standardized interface of the tray-type feeding device can be compatible with trays of different specifications of housings and gear sets, reducing the difficulty of changing products when producing multiple varieties; (4) Space and resource optimization to reduce operating costs: The first and second circulation conveyor lines adopt a double-layer structure with upper-level operation and lower-level return. Empty carriers can be automatically returned to the first-end station through the lifting mechanism, realizing carrier recycling, reducing idle carrier accumulation, and reducing carrier procurement and management costs. The double-layer structure also significantly reduces the floor area of ​​the production line, making it more suitable for the compact layout of the factory. The material tray feeding device adopts a stacking design, which reduces the frequency of manual material replenishment through automatic destacking and stacking functions, reducing labor costs, and avoiding material damage caused by manual handling of material trays; (5) Refined process design to improve product reliability and service life: Based on the transmission function requirements of the door lock, the production line is designed with a segmented precision lubrication scheme, which lubricates the first sector gear, gear set and the second sector gear separately. The sealing ring is also lubricated simultaneously after assembly to ensure sufficient lubrication of key transmission components and reduce gear meshing wear. The elastic floating support plate in the sector gear handling mechanism can avoid hard collisions during assembly and protect the housing and gears from damage. When the motor assembly is clamped, the worm is axially pressed by the swing clamp to prevent the worm from falling off or shifting during handling, further ensuring the reliability of component transmission and extending the overall service life of the product. Attached Figure Description

[0020] Figure 1 This is a top view of the structure according to an embodiment of the present invention; Figure 2 This is a partial structural schematic diagram of the first circulating conveyor line in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the first assembly unit in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the full-load material tray feeding mechanism in an embodiment of the present invention; Figure 5 This is a partial structural schematic diagram of the first housing feeding device in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the moving end effector of the first handling robot in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the first sector gear feeding assembly unit in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the first receiving plate in an embodiment of the present invention; Figure 9 This is a partial structural schematic diagram of the handling mechanism in an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of the first oil injection unit in an embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of the second assembly unit in an embodiment of the present invention; Figure 12 This is a schematic diagram of the feeding module in an embodiment of the present invention; Figure 13 This is a schematic diagram of the material receiving module and the testing and handling mechanism in an embodiment of the present invention; Figure 14 This is a schematic diagram of the structure of the second sector gear in an embodiment of the present invention; Figure 15 This is a schematic diagram of the structure of the first waste discharge unit in an embodiment of the present invention; Figure 16This is a schematic diagram of the structure of the second housing feeding assembly unit in an embodiment of the present invention; Figure 17 This is a schematic diagram of the structure of the third handling robot and the second housing positioning module in an embodiment of the present invention; Figure 18 This is a schematic diagram of the welding unit in an embodiment of the present invention; Figure 19 This is a partial structural schematic diagram of the welding unit in an embodiment of the present invention; Figure 20 This is a schematic diagram of the material handling module in an embodiment of the present invention; Figure 21 This is a schematic diagram of the airtightness detection unit in an embodiment of the present invention; Figure 22 This is a schematic diagram of the structure of the sealing ring assembly oil injection unit in an embodiment of the present invention; Figure 23 This is a partial structural diagram of the sealing ring assembly oil injection unit in an embodiment of the present invention; The numbers in the diagram represent: 100-Automatic assembly line for automotive central locking system components; 200 - small piece, 20a - first housing, 20b - gear set, 20c - first sector gear, 20d - motor assembly, 20e - second sector gear, 20f - second housing, 20g - spring, 20h - sealing ring; 300-Stacking Pallets; 1-First circulating conveyor line, 11-First carrier, 12-Upper conveyor line, 13-Lower conveyor line, 14-First lifting mechanism, 15-Stop mechanism, 16-Lifting and supporting mechanism; 2-Second circulating conveyor line; 21-Second carrier; 3-First assembly unit, 31-First handling robot, 311-First multi-axis robot body, 312-Second support plate, 313-First gripper assembly, 314-Second gripper assembly, 315-Third cylinder, 32-First shell feeding device, 321-Full-load tray feeding mechanism, 3211-Conveying module, 3212-Second lifting mechanism, 322-Empty tray receiving mechanism, 323-First tray positioning mechanism, 3231-First cylinder, 3232-First support plate, 3233-Second cylinder, 3234-Support clamping plate, 324-Second tray positioning mechanism, 325-Pattern transfer mechanism, 3251-Driver, 3252-Modible pallet, 3253-First positioning column, 33-Gear set feeding device; 4-First sector gear feeding assembly unit, 41-First vibrating feeding mechanism, 42-First receiving plate, 43-Cover plate, 44-Fourth cylinder, 45-Transfer mechanism, 451-First XYZ transfer module, 452-Eleventh support plate, 453-Third support plate, 454-First rotary cylinder, 455-First rotary plate, 456-First clamping module, 4561-Third gripper assembly, 4562-Second positioning column; 5-Second assembly unit, 51-Second handling robot, 511-Second multi-axis robot body, 512-Fourth support plate, 513-Sixth cylinder, 514-Seventh cylinder, 515-Fifth support plate, 516-Second clamping module, 5161-Fourth gripper assembly, 5162-Swing clamping plate, 5163-Eighth cylinder, 517-Third clamping module, 52-Motor feeding device, 53-Second sector gear feeding device, 54-Receiving module, 541-Ninth cylinder, 542-Second receiving plate, 55-Test handling mechanism, 551-Third XYZ transfer module, 552-Sixth support plate, 553-Tenth cylinder, 554-Load test module, 5541-Seventh support plate, 5542-Pressing probe, 5543-Pressing rod, 555-Fourth clamping module, 556-NG box; 6-Camera detection unit; 7-Second shell feeding assembly unit, 71-Third handling robot, 711-Third multi-axis robot body, 712-Eighth support plate, 713-Fifth clamping module, 7131-Eleventh cylinder, 7132-Fifth gripper assembly, 714-Sixth clamping module, 7141-Twelfth cylinder, 7142-Suction nozzle, 72-Second shell feeding device, 73-Second shell positioning module, 731-Bearing plate, 732-Contouring limiting plate, 733-Thirteenth cylinder, 734-Positioning pressure plate, 735-Sixth gripper assembly; 8-Welding unit, 81-First support module, 811-Fifth cylinder, 812-Support base, 82-Second support module, 83-Tilting mechanism, 831-Fourteenth cylinder, 832-Ninth support plate, 833-Second rotary cylinder, 834-Second rotary plate, 835-Seventh gripper assembly, 84-Welding mechanism, 85-Fourth handling robot; 9-Welding height detection unit, 91-Fourth XYZ transfer module, 92-Displacement sensor, 93-First clamping module, 931-Fifteenth cylinder, 932-First clamping plate; 10-Air tightness testing unit, 101-Second clamping module, 1011-Sixteenth cylinder, 1012-Seventeenth cylinder, 1013-Pressure block, 102-Plugging module, 1021-Eighteenth cylinder, 1022-Nineteenth cylinder, 1023-Sealing plug, 103-Air tightness docking module, 1031-Twentieth cylinder, 1032-Twenty-first cylinder, 1033-Air tightness connector, 104-Third clamping module, 1041-Twelfth and thirteenth cylinders, 1042-Second clamping plate; 20 - Feeding unit; 30 - First oil injection unit; 301 - Second XYZ transfer module; 302 - First oil injection valve; 40 - Second oil injection unit; 50-First waste discharge unit, 501-YZ transfer module, 502-Push plate, 503-Waste discharge conveyor line; 60-Sealing ring assembly oil injection unit, 601-Second vibration feeding mechanism, 602-Third receiving plate, 603-Twenty-second cylinder, 604-Oil injection and handling mechanism, 6041-Fifth XYZ transfer module, 6042-Tenth support plate, 6043-Removal sleeve, 6044-Twenty-third cylinder, 6045-Sealing ring picking rod, 6046-Twenty-fourth cylinder, 6047-Second oil injection valve; 70 - Second waste disposal unit. Detailed Implementation

[0021] Example 1: Please refer to Figures 1-23 This embodiment is an automatic assembly line 100 for automotive central locking system components, used to assemble a door lock component 200. The door lock component 200 includes a first housing 20a, a gear set 20b, a first sector gear 20c, a motor assembly 20d, a second sector gear 20e, and a second housing 20f. A spring piece 20g is provided on the second sector gear 20e, and a sealing ring 20h needs to be installed in a designated slot on the first housing 20a.

[0022] An automated assembly line 100 for automotive central locking system components includes a first circulating conveyor line 1 and a second circulating conveyor line 2, a first carrier 11 circulating on the first circulating conveyor line 1, a second carrier 21 circulating on the second circulating conveyor line 2, a first assembly unit 3, a first sector gear feeding assembly unit 4, a second assembly unit 5, a camera detection unit 6 and a second housing feeding assembly unit 7, a welding unit 8 located between the first circulating conveyor line 1 and the second circulating conveyor line 2 for welding the first housing and the second housing together, a welding height detection unit 9, an airtightness detection unit 10, a sealing ring assembly and oil injection unit 60, and a material unloading unit 20, all arranged sequentially along the second circulating conveyor line 2.

[0023] The first assembly unit 3 is mainly used to feed the first housing 20a, insert the first housing 20a into the first carrier 11, feed the gear set 20b, and assemble the gear set 20b into the first housing 20a. The first sector gear feeding and assembly unit 4 is used to feed the first sector gear 20c and assemble it into the first housing 20a. The second assembly unit 5 is mainly used to feed the motor assembly 20d, assemble the motor assembly 20d into the first housing 20a, feed the second sector gear 20e, detect the load of the spring 20g on the second sector gear 20e, and assemble the second sector gear 20e into the first housing 20a, thus obtaining the first housing assembly. The camera detection unit 6 is mainly used to perform visual inspection on the set items in the first housing assembly, such as whether the foam on the surface of the motor assembly 20d is correctly pasted, whether the meshing position of the first sector gear 20c and the motor assembly 20d is correct, whether the appearance of the spring 20g on the second sector gear 20e meets the requirements, and whether the rubber pads at the set positions on the first housing 20a are missing and in the correct positions, etc. The second housing feeding and assembly unit 7 is mainly used to feed the second housing 20f and assemble the second housing 20f with the first housing 20a to obtain the lid assembly. The welding unit 8 is mainly used to weld the first housing 20a and the second housing 20f together. The welding height detection unit 9 is used to detect the overall thickness of the lid assembly, and the airtightness detection unit 10 is used to detect the airtightness inside the welded lid assembly to determine whether the welding quality of the first housing 20a and the second housing 20f meets the set requirements. The sealing ring assembly and oil injection unit 60 is used to install a sealing ring 20h in a designated slot of the lid assembly.

[0024] In this embodiment, a first oiling unit 30 is provided between the first sector gear feeding assembly unit 4 and the second assembly unit 5, and a second oiling unit 40 is provided between the second assembly unit 5 and the camera detection unit 6. The first oiling unit 30 is used to oil the first sector gear 20c and / or gear set 20b; the second oiling unit 40 is used to oil the second sector gear 20e.

[0025] Both the first circulating conveyor line 1 and the second circulating conveyor line 2 are double-layer circulating structures, each including an upper conveyor line 12, a lower conveyor line 13, and a first lifting mechanism 14 located at both ends of the conveyor line. The upper conveyor line 12 is equipped with several blocking mechanisms 15 at required locations to prevent the carrier from moving forward, and lifting and supporting mechanisms 16 to lift the carrier upwards and detach it from the conveyor line body. The first carrier 11 is conveyed sequentially through the first assembly unit 3, the first sector gear feeding assembly unit 4, the second assembly unit 5, the camera detection unit 6, and the second housing feeding assembly unit 7 via the upper conveyor line 12. At the position of the second housing feeding assembly unit 7, the second housing 20f is placed into the first carrier 11 and combined with the first housing 20a to obtain the cover assembly. The cover assembly is then picked up and transported to the welding unit 8 for welding. The unloaded first carrier 11 is lowered to the height of the lower conveyor line 13 via the first lifting mechanism 14 at the end of the first circulating conveyor line 1, and then sent back to the beginning via the lower conveyor line 13. It is then lifted to the height of the upper conveyor line 12 via the first lifting mechanism 14 at the beginning of the first circulating conveyor line 1, thus realizing the cyclic use of the first carrier 11. The second carrier 12 is conveyed sequentially through the welding unit 8, the welding height detection unit 9, the airtightness detection unit 10, and the unloading unit 20 via the upper conveyor line 12. At the welding unit 8, the welded cover assembly is placed into the second carrier 12. At the unloading unit 20, the door lock locking assembly 200 is removed and unloaded. The unloaded second carrier 12 is lowered to the height of the lower conveyor line 13 via the first lifting mechanism 14 at the end of the second circulating conveyor line 2. It is then transferred back to the welding unit 8 from the unloading mechanism X position via the lower conveyor line 13, and then lifted to the height of the upper conveyor line 12 via the first lifting mechanism 14 at the beginning of the second circulating conveyor line 2, thus realizing the cyclic use of the second carrier 21.

[0026] The first carrier 11 is provided with a first bearing limiting groove 111 that supports and limits the first housing 20a; and the second carrier 21 is provided with a second bearing limiting groove (not shown in the figure) that supports and limits the second housing 20f. There are two types of central locking systems for automobiles, one for left and one for right. Therefore, to achieve universality between the two types of locking systems, both the first carrier 11 and the second carrier 21 are provided with two of each of the first bearing limiting groove 111 and the second bearing limiting groove, and they are mirror images of each other.

[0027] The first assembly unit 3 includes a first handling robot 31, a first housing feeding device 32 whose material supply position is located within the working range of the first handling robot 31, and a gear feeding device 33. The first housing feeding device 32 is used to automatically feed the first housing 20a, and the gear feeding device 33 is used to automatically feed the gear set. The first handling robot 31 is used to pick up the first housing 20a from the first housing feeding device 32 and place it into the first carrier 11, and pick up the gear set 20b from the gear feeding device 33, place it into the first carrier 11, and assemble it into a designated position within the first housing 20a. In this embodiment, the first housing feeding device 32 and the gear feeding device 33 are arranged on the same side of the first circulating conveyor line 1 along the conveying direction of the first circulating conveyor line 1, and the first handling robot 31 is located between the first housing feeding device 32 and the gear feeding device 33.

[0028] In this embodiment, the first housing feeding device 32 and the gear feeding device 33 adopt a tray-type feeding method, and both have the same structure, including a full-load tray feeding mechanism 321 and an empty tray receiving mechanism 322 arranged side by side along the conveying direction (set as X direction) of the first circulating conveyor line 1, a first tray positioning mechanism 323 located above the end of the full-load tray feeding mechanism 321 near the first circulating conveyor line 1, a second tray positioning mechanism 324 located above the end of the empty tray receiving mechanism 322 near the first circulating conveyor line 1, and a tray transfer mechanism 325 that transfers the tray from the first tray positioning mechanism 323 to the second tray positioning mechanism 324.

[0029] The full-load pallet feeding mechanism 321 includes a first position and a second position arranged sequentially perpendicular to the conveying direction (set as the Y direction) of the first circulating conveyor line 1, a conveying module 3211 that conveys the stacked pallets 300 located at the first position to the second position, and a second lifting mechanism 3212 located at the second position that lifts the stacked pallets 300 on the conveying module 3211 upwards. The full-load pallet feeding mechanism 321 and the empty pallet receiving mechanism 322 have the same structure, but their operation processes are exactly opposite. The full-load pallet feeding mechanism 321 realizes the stacked feeding of full-load pallets, and the empty pallet receiving mechanism 322 realizes the stacked receiving of empty pallets. For the full-load pallet feeding mechanism 321, the operator places the full-loaded pallets in a stacked manner at the first position, then conveys them to the second position through the conveying module 3211, and lifts them to a set height through the second lifting mechanism 3212, thus realizing the feeding of the stacked full-load pallets. For the empty pallet receiving mechanism 322, the empty pallets are stacked and recycled through the second lifting mechanism 3212. After the set number is stacked, they are placed on the conveying module 3211 and then conveyed from the second position to the first position through the conveying module 3211. The operator then removes the empty stacked pallets, thus realizing the receiving of the empty pallets.

[0030] The first tray positioning mechanism 323 and the second tray positioning mechanism 324 have the same structure, and both include a first cylinder 3231, a first support plate 3232 driven by the first cylinder 3231 to move up and down, a second cylinder 3233 fixed on the first support plate 3232, and a pair of support clamps 3234 driven by the second cylinder 3233 to open and close. The two support clamps 3234 form a support and lifting structure, supporting the Y-axis sides of the tray. The first tray positioning mechanism 323 and the second tray positioning mechanism 324 are arranged opposite each other in the X-axis direction. The pair of support clamps 3234 in the first tray positioning mechanism 323 and the pair of support clamps 3234 in the second tray positioning mechanism 324 together form a channel space that runs through in the X-axis direction, so that the tray transfer mechanism 325 can carry the tray and move it in the channel space, transferring the tray from the position of the first tray positioning mechanism 323 to the position of the second tray positioning mechanism 324.

[0031] The material tray transfer mechanism 325 includes a driving component 3251 and a movable pallet 3252 that is driven by the driving component 3251 to move along the X direction. The movable pallet 3252 is provided with a plurality of first positioning posts 3253 for precise positioning with the material tray.

[0032] In the initial state, the pair of support clamps 3234 are in the open state. The second lifting mechanism 3212 in the full-load material tray feeding mechanism 321 lifts the stacked material tray 300 to a set height. The second cylinder 3233 of the first material tray positioning mechanism 323 drives the two support clamps 3234 to move closer together, supporting the bottom of the topmost material tray in the stacked material tray 300. Then, the first cylinder 3231 drives upward movement to detach the topmost material tray from the stacked material tray 300, realizing automatic destacking and feeding of the full-load stacked material tray. Then, the movable pallet 3252 moves along the X direction to below the support clamps 3234. The first cylinder 3231 drives downward movement to place the topmost material tray onto the movable pallet. On 3252, the support clamp 3234 opens, and then the movable pallet 3252 carries the top material tray to the second material tray positioning mechanism 324. The subsequent picking of materials in the top material tray can be carried out on the movable pallet 3252, or it can be taken out and positioned by the support clamp 3234 in the second material tray positioning mechanism 324. After all the materials are taken out, the empty material tray is lifted by the support clamp 3234 in the second material tray positioning mechanism 324, and the movable pallet 3252 is removed and moved to the first material tray positioning mechanism 323. The second lifting mechanism 3212 in the empty material tray receiving mechanism 322 receives the empty material tray and realizes automatic stacking and receiving by descending layer by layer.

[0033] The first handling robot 31 includes a first multi-axis robot body 311, a second support plate 312 disposed at the movable end of the first multi-axis robot body 311, a first gripper assembly 313 disposed on the second support plate 312 for gripping the first housing 20a, a second gripper assembly 314 disposed on the second support plate 312 for gripping the gear set 20b, and a third cylinder 315 for driving the first gripper assembly 313 to move up and down.

[0034] The first sector gear feeding assembly unit 4 includes a first vibrating feeding mechanism 41, a first receiving plate 42 that docks with the output end of the first vibrating feeding mechanism 41, a cover plate 43 that covers the upper part of the receiving groove in the first receiving plate 41, a fourth cylinder 44 that drives the cover plate 43 to move horizontally, and a conveying mechanism 45 that grabs and assembles the first sector gear 20c in the first receiving plate 42 into the first housing 20a in the first carrier 11.

[0035] Because the sector gears are not perfectly rectangular, they are prone to tilting and detaching from the feeding channel when continuously output through the first vibrating feeding mechanism 41. Therefore, a limiting cover plate is installed on the feeding channel of the first vibrating feeding mechanism 41 to ensure that the first sector gear 20c can be conveyed forward in an orderly and reliable manner. In addition, to prevent the first sector gear 20c from tilting and detaching from the first receiving plate 42, during normal feeding, the cover plate 43 covers the first receiving plate 42 and directly connects with the receiving space formed by the receiving groove on the first receiving plate 42 to the feeding channel of the first vibrating feeding mechanism 41, so that the first sector gear 20c entering the corresponding receiving groove in the first receiving plate 42 is in the correct position and will not tilt or misalign. When the conveying mechanism 45 needs to pick up the material, the fourth cylinder 44 drives the cover plate 43 to be removed from above the first receiving plate 42, making it convenient for the conveying mechanism 45 to pick up the material.

[0036] The conveying mechanism 45 includes a first XYZ transfer module 451, an eleventh support plate 452 disposed at the movable end of the first XYZ transfer module 451, a third support plate 453 elastically floating on the eleventh support plate 452, a first rotary cylinder 454 fixed on the third support plate 453, a first rotary plate 455 driven by the first rotary cylinder 454 to rotate around the Z-axis, and a first clamping module 456 disposed on the first rotary plate 455 for clamping the sector gear. Because the sector gear has an irregular shape, in order to achieve precise and reliable clamping of the sector gear, the first clamping module 456 includes a third gripper assembly 4561 fixed on the first rotary plate 455 for clamping the sector gear body, and a second positioning pin 4562 fixed on the cylinder body of the third gripper assembly 4561 for insertion into the sector gear shaft hole. The cooperation between the third gripper assembly 4561 and the second positioning post 4562 enables the conveying mechanism 45 to accurately and reliably clamp the first sector gear 20c. The elastic floating design of the third support plate 453 effectively prevents hard collisions when the first sector gear 20c is assembled into the first housing 20a, significantly reducing the risk of damage to both the first housing 20a and the first sector gear 20c. The first rotary cylinder 454 allows for adjustment of the angle of the first sector gear 20c. Combined with the positional limitation of the third gripper assembly 4561 on the first sector gear 20c and the precise displacement of the first XYZ transfer module 451, the meshing position of the first sector gear 20c with the worm gear in the motor assembly 20d meets the set requirements when the first clamping module 456 clamps the first sector gear 20c and assembles it into the first housing 20a.

[0037] The first oiling unit 30 includes a second XYZ transfer module 301 and a first oiling valve 302 located at the movable end of the second XYZ transfer module 20a. The first oiling unit 30 injects oil into the tooth structure area of ​​the first sector gear 20c. By configuring the second XYZ transfer module 301, the first oiling valve 302 can be moved, simultaneously satisfying the oiling needs of both the left and right products. The second oiling unit 40 has the same structure as the first oiling unit 30.

[0038] The second assembly unit 5 has a similar structure to the first assembly unit 3, and includes a second transport robot 51, a motor feeding device 52 and a second sector gear feeding device 53 with the material supply position set within the working range of the second transport robot 51, a receiving module 54 for receiving the second sector gear 20e picked up by the second transport robot 51, and a test transport mechanism 55 for transporting and assembling the second sector gear 20e on the receiving module 54 into the first housing 20a after load testing. The motor feeding device 52 is used to automatically feed the motor assembly 20d; the second sector gear feeding device 53 is used to automatically feed the second sector gear 20e; the second handling robot 51 is used to pick up the motor assembly 20d from the motor feeding device 52, transport it to the first carrier 11 and assemble it into the first housing 20a; it is also used to pick up the second sector gear 20e from the second sector gear feeding device 53 and transport it to the receiving module 54; the receiving module 54 is used to receive the second sector gear 20e on the second handling robot 51 at a set position and move it to the detection position; the test handling mechanism 55 is used to perform load detection on the second sector gear 20e on the receiving module 54, and then transport it to the first carrier 11 and assemble it into the first housing 20a.

[0039] The structures of the motor feeding device 52 and the second sector gear feeding device 53 are the same as those of the first housing feeding device 32, and their structures will not be described again in this embodiment.

[0040] The second handling robot 51 includes a second multi-axis robot body 511, a fourth support plate 512 disposed at the movable end of the second multi-axis robot body 511, a sixth cylinder 513 and a seventh cylinder 514 fixed on the fourth support plate 512, a fifth support plate 515 driven by the sixth cylinder 513 to move up and down, a second clamping module 516 disposed on the fifth support plate 515 for clamping the motor assembly 20d, and a third clamping module 517 driven by the seventh cylinder 514 to move up and down for clamping the second sector gear 20e. The third clamping module 517 has the same structure as the first clamping module 456, and its structure will not be described again in this embodiment.

[0041] Since the motor assembly 20d includes a motor and a worm gear, to prevent the worm gear in the motor assembly 20d from falling out, the second clamping module 516 includes a fourth gripper assembly 5161 fixed to the fifth support plate 515 for clamping the motor body, a swing clamping plate 5162 rotatably mounted on the cylinder body of the fourth gripper assembly 5161 and aligned with the end of the worm gear, and an eighth cylinder 5163 fixed to the fifth support plate 515 and driving the swing clamping plate 5162 to swing and press the end of the worm gear. By clamping the motor body with the fourth gripper assembly 5161 and axially pressing the worm gear with the swing clamping plate 5162, the motor assembly 20d can be reliably and stably clamped.

[0042] The receiving module 54 includes a ninth cylinder 541 and a second receiving plate 542 driven by the ninth cylinder 541 to move in the X direction. The second receiving plate 542 is provided with a conforming receiving groove that conforms to the second sector gear 20e.

[0043] The test handling mechanism 55 includes a third XYZ transfer module 551, a sixth support plate 552 disposed at the movable end of the third XYZ transfer module 551, a tenth cylinder 553 fixed on the sixth support plate 552, a load testing module 554, a fourth clamping module 555 driven by the tenth cylinder 553 to move up and down, and an NG box 556 disposed within the movable range of the third XYZ transfer module 551. The fourth clamping module 555 has the same structure as the first clamping module 456, and its structure will not be described again in this embodiment.

[0044] The load test module 554 is mainly used to perform load testing on the elastic piece 20g on the second sector gear 20e. The test scheme of this embodiment is to press the elastic piece 20g down to a set height position, detect the magnitude of the pressure applied to the pressed elastic piece 20g at this time, if the pressure magnitude is within the set range, it is determined to be qualified, otherwise it is determined to be NG. Specifically, the load test module 554 includes a seventh support plate 5541 elastically and floatingly arranged on the sixth support plate 552, a pressure sensor (not marked in the figure) arranged on the seventh support plate 5541, a pressing probe 5542 arranged at the sensing end of the pressure sensor, and a pressing rod 5543 arranged on the seventh support plate 5541 and used for pressing the body position of the elastic piece 20g. In this embodiment, two pressing rods 5543 are provided to match the use of the left product and the right product. During testing, the third XYZ transfer module 551 drives the pressing rod 5543 to align with the body position of the elastic piece 20g, and the pressing probe 5542 to align with the detection bump position of the elastic piece 20g; the third XYZ transfer module 551 drives the sixth support plate 552 to descend by a set height, at this time, the pressing probe 5542 drives the bump on the warped arm of the elastic piece 20g to move down to the set height, the pressure sensor detects the magnitude of the pressure applied to the pressing probe 5542, and determines whether the elastic piece 20g is qualified according to the pressure magnitude; if qualified, the third XYZ transfer module 551 drives the fourth clamping module 555 to clamp the second sector gear 20e and assemble it into the first housing 20a in the first carrier 11 to form a first housing assembly; if unqualified, the third XYZ transfer module 551 drives the fourth clamping module 555 to clamp the second sector gear 20e and drop it into the NG box 556. Through the configuration of the third XYZ transfer module 551, the pressing probe 5542 can be driven to move, which simultaneously meets the welding height detection requirements of the left product and the right product.

[0045] The camera detection unit 6 performs various detections of specified items on the first housing assembly. If the detection is qualified, the first housing assembly flows to the second housing feeding and assembly unit 7 along with the first carrier 11; if the detection is unqualified, waste discharge is required. Therefore, in this embodiment, a first waste discharge unit 50 is further arranged between the camera detection unit 6 and the second housing feeding and assembly unit 7. The first waste discharge unit 50 includes a YZ transfer module 501, a material pushing plate 502 arranged at the movable end of the YZ transfer module 501, and a waste discharge conveying line 503 that is in Y-direction butt joint with the upper-layer conveying line 12 of the first circular conveying line 1. The YZ transfer module 501 drives the material pushing plate 502 to push the first carrier 11 on the first circular conveying line 1 carrying the unqualified product together onto the waste discharge conveying line 503, waiting for subsequent manual processing.

[0046] The second housing feeding and assembly unit 7 includes a third handling robot 71, a second housing feeding device 72 whose material supply position is arranged within the working range of the third handling robot 71, and a second housing positioning module 73 for secondary positioning of the second housing 20f.

[0047] The second housing feeding device 72 automatically feeds materials using an automatic feeding and receiving method with a material tray. This can be achieved using an existing automatic feeding and receiving device with a material tray. This embodiment does not limit its structure.

[0048] The third handling robot 71 includes a third multi-axis robot body 711, an eighth support plate 712 disposed at the movable end of the third multi-axis robot body 711, a fifth clamping module 713 fixed to the eighth support plate 712 for picking up the second housing 20f from the second housing feeding device 72 and placing it on the second housing positioning module 73, and a sixth clamping module 714 fixed to the eighth support plate 712 for picking up the second housing 20f from the second housing positioning module 73 and placing it in the first carrier 11 for assembly with the first housing 20a lid. The fifth clamping module 713 includes an eleventh cylinder 7131 fixed to the eighth support plate 712 and a fifth gripper assembly 7132 driven by the eleventh cylinder 7131 to move up and down. The sixth clamping module 714 includes a twelfth cylinder 7141 fixed to the eighth support plate 712 and a plurality of suction nozzles 7142 driven by the twelfth cylinder 7141 to move up and down.

[0049] The second housing positioning module 73 includes a support plate 731 supporting the second housing 20f, a contouring limiting plate 732 fixed on the support plate 731 and limiting the position of one end of the second housing 20f in the Y direction, a thirteenth cylinder 733 disposed on the support plate 731, a positioning pressure plate 734 driven by the thirteenth cylinder 733 to horizontally push the second housing 20f to abut against the contouring limiting plate 732, and a sixth gripper assembly 735 disposed on the support plate 731 and clamping the two sides of the second housing 20f in the X direction. The contouring limiting plate 732 and the positioning pressure plate 734 cooperate to achieve the limiting of the second housing 20f in the Y direction, and the sixth gripper assembly 735 achieves the limiting of the second housing 20f in the X direction, thereby achieving the precise positioning of the second housing 20f, so as to ensure that the third handling robot 71 can achieve precise lid assembly of the second housing 20f and the first housing 20a.

[0050] The welding unit 8 includes a first support module 81 and a second support module 82 arranged opposite to each other, a flipping mechanism 83 that flips the cover assembly on the first support module 81 by 180 degrees and places it on the second support module 82, a welding mechanism 84 located next to the flipping mechanism 83, and a fourth transport robot 85 that transports the cover assembly on the second support module 82 into the welding mechanism 84 and then transports the cover assembly in the welding mechanism 84 into the second carrier 21 on the second circulating conveyor line 2. In this embodiment, the welding mechanism 84 is an ultrasonic welding mechanism.

[0051] The first support module 81 and the second support module 82 have the same structure and are arranged on opposite sides of the flipping mechanism 83. Both the first support module 81 and the second support module 82 include a fifth cylinder 811 and a support base 812 that is driven by the fifth cylinder 811 to move horizontally. The flipping mechanism 83 includes a fourteenth cylinder 831, a ninth support plate 832 that is driven by the fourteenth cylinder 831 to move up and down, a second rotary cylinder 833 fixed on the ninth support plate 832, a second rotary plate 834 that is driven by the second rotary cylinder 833 to rotate around a horizontal axis, and a seventh gripper assembly 835 arranged on the second rotary plate 834.

[0052] The welding height detection unit 9 includes a fourth XYZ transfer module 91, a displacement sensor 92 located at the movable end of the fourth XYZ transfer module 91, and a first clamping module 93 that presses the cover assembly in the second carrier 21 downwards. The first clamping module 93 includes a fifteenth cylinder 931 and a first clamping plate 932 driven by the fifteenth cylinder 931 to move up and down. The first clamping plate 932 ensures the stability of the position of the cover assembly in the second carrier 21, and the displacement sensor 92 detects multiple points on the cover assembly to determine whether the overall thickness of the welded cover assembly meets the requirements. The effective range of the first clamping plate 932 covers the areas where the left and right products are located on the second carrier 21. Through the configuration of the fourth XYZ transfer module 91, the displacement sensor 92 can be driven to move, simultaneously meeting the welding height detection requirements of the left and right products.

[0053] The airtightness testing unit 10 includes a second pressing module 101 that presses the product to maintain its stable position, a plugging module 102 that seals the shaft hole on the product, an airtightness docking module 103 that seals and connects to the airtightness testing interface on the product, an airtightness instrument (not shown in the figure) connected to the airtightness docking module 103, and a third pressing module 104 that presses the cover assembly on the second carrier 21 along the Y direction. To match the production needs of the left and right products, the second pressing module 101, the plugging module 102, and the airtightness docking module 103 are all equipped with horizontal transfer functions. Specifically, the second pressing module 101 includes a sixteenth cylinder 1011, a seventeenth cylinder 1012 driven by the sixteenth cylinder 1011 to move along the X direction, and a pressure block 1013 driven by the seventeenth cylinder 1012 to move up and down. The plugging module 102 includes an eighteenth cylinder 1021, a nineteenth cylinder 1022 driven by the eighteenth cylinder 1021 to move along the X direction, and a sealing plug 1023 driven by the nineteenth cylinder 1022 to move up and down. The airtight docking module 103 includes a twentieth cylinder 1031, a twenty-first cylinder 1032 driven by the twentieth cylinder 1031 to move along the X direction, and an airtight connector 1033 driven by the twenty-first cylinder 1032 to move up and down. The airtight connector 1033 is connected to the airtightness instrument. The third pressing module 104 is provided with two sets of left and right products pressed in the Y direction respectively; the third pressing module 104 includes a twenty-third cylinder 1041 and a second pressing plate 1042 driven by the twenty-third cylinder 1041 to move horizontally.

[0054] The sealing ring assembly and oiling unit 60 includes a second vibratory feeding mechanism 601, a third receiving plate 602 that docks with the output end of the second vibratory feeding mechanism 601, a 22nd cylinder 603 that drives the third receiving plate 602 to misalign and distribute materials, and an oiling and conveying mechanism 604 that assembles the sealing rings 20h on the third receiving plate 602 into the corresponding holes and slots on the cover assembly and injects oil into them. The second vibratory feeding mechanism 601 uses a vibratory feeder for feeding. The oil injection and handling mechanism 604 includes a fifth XYZ transfer module 6041, a tenth support plate 6042 located at the movable end of the fifth XYZ transfer module 6041, a stripping sleeve 6043 and a twenty-third cylinder 6044 fixed on the tenth support plate 6042, a sealing ring picking rod 6045 passing through the stripping sleeve 6043 vertically, a twenty-fourth cylinder 6046 fixed on the tenth support plate 6042 and driving the sealing ring picking rod 6045 to move vertically, and a second oil injection valve 6047 that is moved vertically by the twenty-third cylinder 6044. The sealing ring picking rod 6045 picks up the sealing ring 20h from the third receiving plate 602, then moves it above the second carrier 21, aligns it with the slot on the cover assembly for installing the sealing ring, the sealing ring picking rod 6045 descends, and the sealing ring 20h is inserted into the slot. The sealing ring picking rod 6045 is then pulled out, and the sealing ring 20h is retained in the slot by the stripping sleeve 6043, completing the installation of the sealing ring. The second oil injection valve 6047 is aligned with the slot to inject oil, completing the oil injection operation. With the setting of the fifth XYZ transfer module 6041, the production needs of sealing ring assembly and slot oil injection for both left and right products can be met simultaneously.

[0055] A second waste discharge unit 70 is provided between the airtightness detection unit 10 and the sealing ring assembly oil injection unit 60, or between the sealing ring assembly oil injection unit 60 and the unloading unit 20, to discharge defective products appearing in the welding height detection unit 9 and the airtightness detection unit 10 from the second circulation conveyor line 2.

[0056] The production method of the automatic assembly line 100 for automotive central locking system components in this embodiment includes the following steps: S1. The first housing feeding device 32 automatically supplies the first housing 20a, the gear feeding device 33 automatically supplies the gear set 20b, the first handling robot 31 picks up the first housing 20a from the first housing feeding device 32 and places it into the first carrier 11, and picks up the gear set 20b from the gear feeding device 33 and assembles it into the first housing 20a. S2. The first circulating conveyor line 1 transports the first carrier 11, carrying the first housing 20a and the gear set 20b together to the next work station; the first vibrating feeding mechanism 41 in the first sector gear feeding assembly unit 4 automatically supplies the first sector gear 20c, and the conveying mechanism 45 picks up the first sector gear 20c and assembles it into the first housing 20a, and meshes with the pinion on the gear set 20b at the set position; S3. The first circulating conveyor line 1 transports the first carrier 11, carrying the first housing 20a, gear set 20b, and first sector gear 20c together to the next work station; the first oiling unit 30 oils the designated gear structure. S4. The first circulating conveyor line 1 transports the first carrier 11, carrying the first housing 20a, gear set 20b, and first sector gear 20c together to the next workstation; the motor feeding device 52 automatically supplies the motor assembly 20d, and the second sector gear feeding device 53 automatically supplies the second sector gear 20e; the second handling robot 51 picks up the motor assembly 20d from the motor feeding device 52 and assembles it into the first housing 20a, and the worm in the motor assembly 20d meshes with the large gear in the gear set 20b; the second handling robot 51 picks up the second sector gear 20e from the second sector gear feeding device 53 and places it on the receiving module 54; S5. The test and handling mechanism 55 performs load testing on the spring piece 20g on the second sector gear 20e, and assembles the qualified second sector gear 20e into the first housing 20a. The second sector gear 20e is located above the first sector gear 20c and is coaxially arranged with the first sector gear 20c. S6. The first circulating conveyor line 1 transports the first carrier 11, carrying the first housing 20a, gear set 20b, first sector gear 20c, and second sector gear 20e together to the next work station; the designated gear structure is oiled through the second oiling unit 40; S7. The first circulating conveyor line 1 transports the first carrier 11, carrying the first housing 20a, gear set 20b, first sector gear 20c, and second sector gear 20e together to the next workstation; the camera detection unit 6 detects whether the foam on the motor assembly 20d is missing or incorrectly attached, whether the gear structure is lubricated, whether the meshing position of the first sector gear 20c and the worm gear in the motor assembly 20d is in the specified position, whether the spring piece 20g on the second sector gear 20e is missing a corner, and whether the rubber pad on the first housing 20a is missing or incorrectly assembled. S8. If any item fails the inspection in step S7, it is discharged from the first circulating conveyor line 1; if the item passes the inspection, it is conveyed to the next workstation. S9. The second housing feeding device 72 in the second housing feeding assembly unit 7 automatically supplies the second housing 20f. The third handling robot 71 picks up the second housing 20f from the second housing feeding device 72 and then transports it to the second housing positioning module 73. The second housing 20f is precisely positioned by the second housing positioning module 73. The third handling robot 71 picks up the second housing 20f from the second housing positioning module 73 and transports it to the first carrier 11, where it is fitted with the first housing 20a to form a lid assembly. S10, the third transport robot 71 picks up the lid assembly from the first carrier 11 and transports it to the first support module 81. The flipping mechanism 83 flips the lid assembly 180 degrees and places it on the second support module 82. The fourth transport robot 85 picks up the lid assembly from the second support module 82 and transports it to the welding mechanism 84. The welding mechanism 84 performs ultrasonic welding on the lid assembly to weld the first shell 20a and the second shell 20f together. The fourth transport robot 85 then transports the welded lid assembly from the welding mechanism 84 to the second carrier 21 in the second circulating conveyor line 2. S11, the second circulating conveyor line 2 transports the second carrier 21 carrying the cover assembly together to the next work station; the welding height detection unit 9 uses the first clamping module 93 to clamp the cover assembly, and uses the displacement sensor 92 to detect whether the thickness of the cover assembly at multiple points meets the design requirements. S12, the second circulation conveyor line 2 transports the second carrier 21 carrying the cover assembly to the next work station; the airtightness detection unit 10 uses the second pressing module 101 to press the cover assembly, and uses the hole plugging module 102 to plug the shaft hole on the sealing product, and uses the airtightness docking module 103 to dock with the airtightness detection interface on the product, and uses the airtightness instrument connected to the airtightness docking module 103 to detect whether the internal sealing of the cover assembly after welding meets the requirements; S13, the second circulation conveyor line 2 transports the second carrier 21 carrying the cover assembly together to the next work station; in the sealing ring assembly oiling unit 60, the second vibration feeding mechanism 601 automatically supplies the sealing ring, and the oiling and conveying mechanism 604 picks up the sealing ring 20h from the third receiving plate 602 at the output end of the second vibration feeding mechanism 601 and assembles it into the designated hole groove on the cover assembly, and then performs an oiling operation in the hole groove to obtain the door lock locking device assembly 200; S14. If a defect is detected in step S12, it shall be discharged from the second circulation conveyor line 2. This step can also be set directly after step S12. S15, the second circulating conveyor line 2 transports the second carrier 21 carrying the door lock locking assembly 200 to the next work station; the door lock locking assembly 200 is removed from the second carrier 21 and unloaded by the unloading unit 20.

[0057] For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this invention, and these all fall within the protection scope of this invention.

Claims

1. An automated assembly line for automotive central locking system components, characterized in that, A first circulating conveyor line and a second circulating conveyor line, wherein a first carrier is circulated on the first circulating conveyor line and a second carrier is circulated on the second circulating conveyor line; The first assembly unit realizes the feeding of the first housing, the insertion of the first housing into the first carrier, the feeding of the gear set, and the assembly of the gear set into the first housing. The first sector gear feeding and assembly unit feeds the gear set and assembles the gear set into the first housing; The second assembly unit realizes the feeding of motor components, the assembly of motor components into the first housing, the feeding of the second sector gear, the load detection of the spring on the second sector gear, and the assembly of the second sector gear into the first housing to obtain the first housing assembly. The camera detection unit performs visual inspection on the first housing assembly; The second housing feeding and assembly unit feeds the second housing and assembles the second housing onto the first housing assembly to obtain the cover assembly; the first assembly unit, the first sector gear feeding and assembly unit, the second assembly unit, the camera detection unit, and the second housing feeding and assembly unit are arranged sequentially along the first circulating conveyor line; A welding unit, located between the first and second circulating conveyor lines, welds the first housing assembly and the second housing together and places them into the second carrier; The welding height detection unit and the airtightness detection unit perform thickness detection and internal airtightness detection on the cover assembly after welding. The sealing ring assembly oil injection unit supplies the sealing ring and installs it in the designated slot of the cover assembly to obtain the door lock locking device assembly; The unloading unit removes the door lock locking assembly from the second carrier for unloading. The welding height detection unit, the airtightness detection unit, the sealing ring assembly and oil injection unit, and the unloading unit are arranged sequentially along the second circulating conveyor line.

2. The automated assembly line for automotive central locking system components as described in claim 1, characterized in that, It also includes a first oil injection unit disposed between the first sector gear feeding assembly unit and the second assembly unit, a second oil injection unit disposed between the second assembly unit and the camera detection unit, a first waste discharge unit disposed between the camera detection unit and the second housing feeding assembly unit, and a second waste discharge unit disposed downstream of the airtightness detection unit; the first oil injection unit includes a second XYZ transfer module and a first oil injection valve disposed at the movable end of the second XYZ transfer module.

3. The automated assembly line for automotive central locking system components as described in claim 1, characterized in that, The first carrier is provided with a first bearing limiting groove that supports and limits the first housing; the second carrier is provided with a second bearing limiting groove that supports and limits the second housing; both the first bearing limiting groove and the second bearing limiting groove are provided in pairs and are distributed in a mirror image.

4. The automated assembly line for automotive central locking system components as described in claim 1, characterized in that, The first assembly unit includes a first handling robot, a first housing feeding device whose material supply position is set within the working range of the first handling robot, and a gear feeding device; Both the first housing feeding device and the gear feeding device include a full-load material tray feeding mechanism and an empty material tray receiving mechanism arranged side by side along the X direction, a first material tray positioning mechanism located above the end of the full-load material tray feeding mechanism near the first circulating conveyor line, a second material tray positioning mechanism located above the end of the empty material tray receiving mechanism near the first circulating conveyor line, and a material tray transfer mechanism for transferring the material tray from the first material tray positioning mechanism to the second material tray positioning mechanism; The first handling robot includes a first multi-axis robot body, a second support plate disposed at the movable end of the first multi-axis robot body, a first gripper assembly disposed on the second support plate and used for gripping the first housing, a second gripper assembly disposed on the second support plate and used for gripping the gear set, and a third cylinder for driving the first gripper assembly to move up and down.

5. The automated assembly line for automotive central locking system components as described in claim 1, characterized in that, The first sector gear feeding assembly unit includes a first vibratory feeding mechanism, a first receiving plate that connects to the output end of the first vibratory feeding mechanism, a cover plate that covers the corresponding receiving groove in the first receiving plate, a fourth cylinder that drives the cover plate to move horizontally, and a transport mechanism that grabs and assembles the first sector gear in the first receiving plate into the first housing in the first carrier. The transport mechanism includes a first XYZ transfer module, an eleventh support plate disposed at the movable end of the first XYZ transfer module, a third support plate elastically floating on the eleventh support plate, a first rotary cylinder fixed on the third support plate, a first rotary plate driven by the first rotary cylinder to rotate around the Z-axis, and a first clamping module disposed on the first rotary plate for clamping a sector gear; the first clamping module includes a third gripper assembly fixed on the first rotary plate for clamping the body of the sector gear and a second positioning pin fixed on the cylinder body of the third gripper assembly for insertion into the shaft hole of the sector gear.

6. The automated assembly line for automotive central locking system components as described in claim 1, characterized in that, The second assembly unit includes a second transport robot, a motor feeding device and a second sector gear feeding device with the material supply position set within the working range of the second transport robot, a receiving module for receiving the second sector gear picked up by the second transport robot, and a test transport mechanism for transporting and assembling the second sector gear on the receiving module into the first housing after load testing.

7. The automated assembly line for automotive central locking system components as described in claim 6, characterized in that, The second handling robot includes a second multi-axis robot body, a fourth support plate disposed at the movable end of the second multi-axis robot body, a sixth cylinder and a seventh cylinder fixed on the fourth support plate, a fifth support plate driven by the sixth cylinder to move up and down, a second clamping module disposed on the fifth support plate for clamping a motor assembly, and a third clamping module driven by the seventh cylinder to move up and down for clamping a second sector gear. The second clamping module includes a fourth gripper assembly fixed on the fifth support plate for clamping the motor body, a swing clamp plate rotatably disposed on the cylinder body of the fourth gripper assembly and aligned with the end of the worm gear, and an eighth cylinder fixed on the fifth support plate and driving the swing clamp plate to swing to press the end of the worm gear. The receiving module includes a ninth cylinder and a second receiving plate that is driven by the ninth cylinder to move along the X direction. The second receiving plate is provided with a conforming receiving groove that conforms to the shape of the second sector gear.

8. The automated assembly line for automotive central locking system components as described in claim 6, characterized in that, The test handling mechanism includes a third XYZ transfer module, a sixth support plate disposed at the movable end of the third XYZ transfer module, a tenth cylinder and a load test module fixed on the sixth support plate, a fourth clamping module driven by the tenth cylinder to move up and down, and an N-box disposed within the movable range of the third XYZ transfer module. The load test module includes a seventh support plate elastically floating on the sixth support plate, a pressure sensor disposed on the seventh support plate, a pressure probe disposed on the sensing end of the pressure sensor, and a pressure rod disposed on the seventh support plate for pressing the spring body. During testing, the third XYZ transfer module drives the pressure probe to align with the detection protrusion of the spring and drives the end of the spring to press down to a set height. At this time, the pressure magnitude of the pressure sensor is collected, and the spring is judged to be qualified based on the pressure magnitude.

9. The automated assembly line for automotive central locking system components as described in claim 1, characterized in that, The second housing feeding and assembly unit includes a third handling robot, a second housing feeding device with the material supply position set within the working range of the third handling robot, and a second housing positioning module for secondary positioning of the second housing; The third handling robot includes a third multi-axis robot body, an eighth support plate disposed at the movable end of the third multi-axis robot body, a fifth clamping module fixed on the eighth support plate for picking up the second shell from the second shell feeding device and placing it on the second shell positioning module, and a sixth clamping module fixed on the eighth support plate for picking up the second shell from the second shell positioning module and placing it in the first carrier for assembly with the first shell cover. The second housing positioning module includes a support plate for supporting the second housing, a contour limiting plate fixed on the support plate and limiting the position of one end of the second housing in the Y direction, a thirteenth cylinder disposed on the support plate, a positioning pressure plate driven by the thirteenth cylinder to horizontally push the second housing to abut against the contour limiting plate, and a sixth gripper assembly disposed on the support plate and clamping both sides of the second housing in the X direction.

10. The automated assembly line for automotive central locking system components as described in claim 1, characterized in that, The welding unit includes a first support module and a second support module arranged opposite to each other, a flipping mechanism that flips the cover assembly on the first support module and places it on the second support module, a welding mechanism located next to the flipping mechanism, and a fourth transport robot that transports the cover assembly on the second support module into the welding mechanism and the cover assembly in the welding mechanism into a second carrier on the second circulating conveyor line; the flipping mechanism includes a fourteenth cylinder, a ninth support plate that moves up and down driven by the fourteenth cylinder, a second rotary cylinder fixed on the ninth support plate, a second rotary plate that rotates around a horizontal axis driven by the second rotary cylinder, and a seventh gripper assembly disposed on the second rotary plate.

11. The automated assembly line for automotive central locking system components as described in claim 1, characterized in that, The welding height detection unit includes a fourth XYZ transfer module, a displacement sensor disposed at the movable end of the fourth XYZ transfer module, and a first clamping module that presses the cover assembly in the second carrier downward. The airtightness testing unit includes a second pressing module that presses the product to maintain a stable position, a plugging module that seals the shaft hole on the product, an airtight docking module that seals and connects with the airtightness testing interface on the product, and an airtightness instrument connected to the airtightness docking module; the second pressing module includes a sixteenth cylinder, a seventeenth cylinder driven by the sixteenth cylinder to move along the X direction, and a pressing block driven by the seventeenth cylinder to move up and down; the plugging module includes an eighteenth cylinder, a nineteenth cylinder driven by the eighteenth cylinder to move along the X direction, and a sealing plug driven by the nineteenth cylinder to move up and down; the airtightness docking module includes a twentieth cylinder, a twenty-first cylinder driven by the twentieth cylinder to move along the X direction, and an airtight connector driven by the twenty-first cylinder to move up and down; the airtight connector is connected to the airtightness instrument.

12. The automated assembly line for automotive central locking system components as described in claim 1, characterized in that, The sealing ring assembly and oil injection unit includes a second vibratory feeding mechanism, a third receiving plate connected to the output end of the second vibratory feeding mechanism, a twenty-second cylinder that drives the third receiving plate to misalign and distribute materials, and an oil injection and transportation mechanism that assembles the sealing rings on the third receiving plate into the corresponding slots on the cover assembly and injects oil into them; the oil injection and transportation mechanism includes a fifth XYZ transfer module, a tenth support plate disposed at the movable end of the fifth XYZ transfer module, a stripping sleeve and a twenty-third cylinder fixed on the tenth support plate, a sealing ring picking rod passing through the stripping sleeve vertically, a twenty-fourth cylinder fixed on the tenth support plate and driving the sealing ring picking rod to move vertically, and a second oil injection valve that is moved vertically by the twenty-third cylinder.

13. A production method based on the automated assembly line for automotive central locking door lock assembly as described in claim 1, characterized in that, Includes the following steps: S1. The first assembly unit includes a first handling robot, a first housing feeding device and a gear feeding device whose material supply position is set within the working range of the first handling robot; the first housing feeding device automatically supplies the first housing, the gear feeding device automatically supplies the gear set, the first handling robot picks up the first housing from the first housing feeding device and places it into the first carrier, and picks up the gear set from the gear feeding device and assembles it into the first housing. S2. The first circulating conveyor line transports the first carrier, carrying the first housing and gear set together, to the next work station; the first sector gear feeding and assembly unit includes a first vibrating feeding mechanism and a conveying mechanism; the first vibrating feeding mechanism automatically supplies the first sector gear, and the conveying mechanism picks up the first sector gear and assembles it into the first housing, and meshes with the pinion on the gear set at a set position; S3. The first circulating conveyor line transports the first carrier, carrying the first housing, gear set, and first sector gear together to the next workstation; the first oiling unit oils the designated gear structure. S4. The first circulating conveyor line transports the first carrier, carrying the first housing, gear set, and first sector gear together, to the next workstation; the second assembly unit includes a second handling robot, a motor feeding device and a second sector gear feeding device with material supply positions set within the working range of the second handling robot, a receiving module, and a testing and handling mechanism; the motor feeding device automatically supplies motor components, the second sector gear feeding device automatically supplies the second sector gear, the second handling robot picks up the motor components from the motor feeding device and assembles them into the first housing, and the worm gear in the motor components meshes with the large gear in the gear set; the second handling robot picks up the second sector gear from the second sector gear feeding device and places it on the receiving module; S5. The test and handling mechanism performs load testing on the spring sheet on the second sector gear, and assembles the qualified second sector gear into the first housing. The second sector gear is located above the first sector gear and is coaxially arranged with the first sector gear. S6. The first circulating conveyor line transports the first carrier, carrying the first housing, gear set, first sector gear, and second sector gear together, to the next work station; the designated gear structure is lubricated through the second lubrication unit; S7. The first circulating conveyor line transports the first carrier, carrying the first housing, gear set, first sector gear, and second sector gear together to the next workstation; the camera inspection unit performs visual inspection on the products in the first carrier according to the inspection items. S8. If any item fails the inspection in step S7, it is removed from the first circulating conveyor line; if the item passes the inspection, it is conveyed to the next workstation. S9. The second housing feeding assembly unit includes a third handling robot, a second housing feeding device with the material supply position set within the working range of the third handling robot, and a second housing positioning module. The second housing feeding device automatically supplies the second housing. The third handling robot picks up the second housing from the second housing feeding device and then transports it to the second housing positioning module for positioning. The third handling robot picks up the second housing from the second housing positioning module and transports it to the first carrier, where it is fitted with the first housing cover to form a closing assembly. S10, the welding unit includes a first support module and a second support module arranged opposite to each other, a flipping mechanism arranged between the first support module and the second support module, a welding mechanism located next to the flipping mechanism, and a fourth handling robot; The third transport robot picks up the lid assembly from the first carrier and transports it to the first support module. The flipping mechanism flips the lid assembly and places it on the second support module. The fourth transport robot picks up the lid assembly from the second support module and transports it to the welding mechanism. The welding mechanism performs ultrasonic welding on the lid assembly to weld the first shell and the second shell together. The fourth transport robot then transports the welded lid assembly from the welding mechanism to the second carrier in the second circulating conveyor line. S11, The second circulating conveyor line transports the second carrier carrying the cover assembly to the next work station; The welding height detection unit checks whether the thickness of the cover assembly at multiple points meets the design requirements. S12, the second circulation conveyor line transports the second carrier carrying the cover assembly to the next workstation; the airtightness testing unit checks whether the internal sealing of the cover assembly after welding meets the requirements; if there is a defect, it is discharged from the second circulation conveyor line; S13. The second circulating conveyor line transports the second carrier carrying the cover assembly together to the next work station; the sealing ring assembly oil injection unit includes a second vibrating feeding mechanism and an oil injection and conveying mechanism; the second vibrating feeding mechanism automatically supplies the sealing ring, and the oil injection and conveying mechanism picks up the sealing ring from the output end of the second vibrating feeding mechanism and assembles it into the designated hole groove on the cover assembly, and then performs an oil injection operation on the hole groove to obtain the door lock locking device assembly.

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