Welding equipment and welding method for sensor with built-in bead of oil pan

Abstract

The invention discloses welding equipment and a welding method for a sensor with balls arranged in an oil disc. The welding equipment comprises a workbench, a feeding oil disc moving mechanism, a steel ball feeding and carrying mechanism, a welding mechanism, a discharging mechanism and a discharging disc moving mechanism, wherein the feeding oil disc moving mechanism, the steel ball feeding and carrying mechanism, the welding mechanism, the discharging mechanism and the discharging disc moving mechanism are arranged on the workbench. The feeding oil disc moving mechanism splits multiple layers of oil discs and conveys the oil discs to a bead placing working position, the steel ball feeding and carrying mechanism completes bead placing in the oil discs and accurately carries sensors after bead placing, and the welding mechanism achieves concentric welding of steel balls and sensor sealing openings through visual alignment and fine adjustment. The discharging mechanism and the discharging disc moving mechanism complete product transferring and disc stacking after welding. The equipment is automatic in the whole process, unwelded products are carried without oil spilling, the product quality is stable, the model switching operation is simple, and the yield is high.

Description

Technical Field

[0001] This invention relates to the field of sensor welding technology, and more specifically to a sensor welding equipment and welding method with built-in beads in an oil pan. Background Technology

[0002] Pressure sensors receive external pressure through an insulating diaphragm and transmit it to a silicon piezoresistive sensing element via an internal oil medium, achieving precise pressure-to-electrical signal conversion. They are core components in industrial control, automotive electronics, and other fields. During assembly, "oil medium sealing" is a critical process: after injecting oil medium into the sensor, a steel ball is sealed to the oil inlet (i.e., the sealing port) using piezoresistive welding. It is essential to ensure that the oil medium does not spill out of the sealing port during handling, and that the sealing port and the steel ball are coaxial with the welding head of the welding machine; otherwise, the product will be scrapped or its accuracy will be compromised.

[0003] However, existing equipment has significant drawbacks when handling sensors without an outer edge at the sealing opening: the sensor must first be removed from a temporary oil pan (with the oil level above the sealing opening to prevent leakage during pre-storage), a steel ball must be placed in an empty position outside the oil pan, and then it must be transferred to the welding machine. In this process, the sensor without an outer edge lacks a grasping reference, making it prone to tilting during handling, resulting in oil spillage and a high scrap rate; moreover, after placing the steel ball, it needs to be transported to the welding machine a second time, accumulating large positioning errors, making it difficult to ensure the coaxiality of the sealing opening and the welding head, further reducing the yield rate and becoming a bottleneck restricting the high-quality production of sensors. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a sensor welding device and welding method with built-in beads in an oil pan.

[0005] This invention discloses a sensor welding device with built-in balls in an oil pan, including a worktable and an oil pan moving mechanism, a ball feeding and handling mechanism, a welding mechanism, a unloading mechanism, and an unloading pan moving mechanism disposed on the worktable.

[0006] The feeding oil tray moving mechanism is used to horizontally split and stack multiple layers of sensor oil trays with built-in oil medium, to transfer a single sensor oil tray to the bead placement work position, and to transfer the empty sensor oil tray that has completed sensor picking to a preset area for stacking.

[0007] The steel ball feeding and transporting mechanism includes a steel ball feeding mechanism, a ball placement mechanism, and a transporting mechanism. The steel ball feeding mechanism is used to store steel balls and lift individual steel balls to a preset feeding position. The ball placement mechanism is used to pick up steel balls from the preset feeding position and move them to the ball placement working position, where the ball is placed into the sensor sealing port in the sensor oil pan to be placed. The transporting mechanism is used to grab the sensor after the ball is placed, align it visually according to the angle of the steel ball, rotate the sensor to a preset posture, and transport it to the welding mechanism station.

[0008] The welding mechanism is used to rotate the pins of the bead-placed sensor to the clearance position, and to finely adjust the posture of the bead-placed sensor through visual alignment so that the sealing port, steel ball and welding head of the welding machine are concentric, thereby realizing piezoresistive welding. After welding, the welding sensor is transferred to the welding unloading station of the unloading mechanism by the conveying mechanism.

[0009] The unloading mechanism is used to clamp the welded sensor and move it to the unloading work position;

[0010] The unloading tray moving mechanism is used to split the multi-layer empty sensor oil trays, and convey a single empty sensor oil tray to the unloading work position to receive the post-welded sensors, and convey the full tray filled with post-welded sensors to a preset position for stacking.

[0011] As a further improvement of the present invention, the feeding oil tray moving mechanism includes a stacked oil tray splitting component, an empty oil tray stacking component, and a feeding tray moving module that connects the stacked oil tray splitting component, the empty oil tray stacking component, and the bead placement working position.

[0012] The stacked oil pan splitting component is used to split the bottom layer of the stacked multi-layered sensor oil pans to be placed into a single sensor oil pan. The feeding tray moving module moves the split single sensor oil pan to the bead placement working position. After the sensor is removed after the bead is placed in the single sensor oil pan, the feeding tray moving module moves the empty sensor oil pan to the empty oil pan stacking component for stacking.

[0013] As a further improvement of the present invention, the steel ball feeding mechanism includes a support assembly, a bottom plate of the material cylinder, a material cylinder, a guide shaft, a linear bearing, a lifting plate, and a lifting cylinder;

[0014] The support assembly is mounted on the workbench, the bottom plate of the material cylinder is mounted on the support assembly, the material cylinder is mounted on the bottom plate of the material cylinder, and a discharge hole is provided above the material cylinder, which constitutes the preset feeding position. A through-beam sensor is provided on the bottom plate of the material cylinder corresponding to the discharge hole. The guide shaft is vertically mounted below the bottom plate of the material cylinder, and the lifting plate is located below the bottom plate of the material cylinder and is slidably mounted on the guide shaft via the linear bearing. The lifting cylinder is located below the lifting plate, and its extended end extends vertically upward and is connected to the lifting plate and the top rod.

[0015] Under the lifting action of the lifting cylinder and the guiding action of the guide shaft and linear bearing, the top rod moves upward, passes through the bottom plate of the material cylinder, and pushes the steel balls in the material cylinder out of the discharge hole. The through-beam sensor is used to detect whether steel balls are pushed out.

[0016] As a further improvement of the present invention, the bead placement mechanism includes a bracket, a bead placement X-axis module, a bead placement Z-axis module, a bead placement camera, and a suction head;

[0017] The bracket is set on the workbench, the bead placement X-axis module is mounted on the bracket, the bead placement Z-axis module is set on the movable end of the bead placement X-axis module, and the bead placement camera and suction head are respectively set on the movable end of the bead placement Z-axis module;

[0018] Driven by the X-axis and Z-axis ball placement modules, the suction head moves to the preset feeding position to pick up the steel ball, then transfers the picked-up steel ball to the ball placement working position, and completes the placement of the ball in the sensor sealing port in the ball placement working position.

[0019] The bead placement camera is used to identify the position of the sensor sealing port in the sensor oil pan during the bead placement process, and guide the bead placement mechanism to accurately place the steel ball into the sealing port.

[0020] As a further improvement of the present invention, the conveying mechanism includes a conveying X-axis module, a conveying Z-axis module, a rotating gripper, and a conveying camera;

[0021] The X-axis transport module is mounted on the bracket, the Z-axis transport module is located at the movable end of the X-axis transport module, and the rotating gripper and transport camera are respectively located at the movable end of the Z-axis transport module.

[0022] Driven by the X-axis and Z-axis transport modules, the rotating gripper moves to the bead placement station to grab the sensor after bead placement and transfers the sensor to the welding mechanism station.

[0023] The transport camera is used to identify the angle of the steel ball on the sensor during the transport process, guide the rotating gripper to rotate the sensor after placing the ball to a preset welding posture, and place the sensor after placing the ball at a preset position in the welding mechanism station.

[0024] As a further improvement of the present invention, the welding mechanism includes a lower electrode movement adjustment mechanism and a welding machine pressing mechanism located behind it;

[0025] The lower electrode movement adjustment mechanism includes a lower electrode X-axis module, a pusher cylinder, a clamping cylinder, a lower electrode assembly, and a lower electrode Y-axis module; the lower electrode X-axis module is disposed on the worktable, the pusher cylinder, the clamping cylinder, and the lower electrode assembly are respectively disposed on the movable end of the lower electrode Y-axis module, and the lower electrode Y-axis module is disposed on the movable end of the lower electrode X-axis module;

[0026] The welding machine pressing mechanism includes a pressing support, a pressing cylinder, a pressure adjustment unit, an upper electrode assembly, and a welding head; the pressing support is disposed on the worktable, the pressing cylinder is disposed on the pressing support, the pressure adjustment unit is connected to the movable end of the pressing cylinder, the upper electrode assembly is connected to the pressure adjustment unit, and the welding head is disposed below the upper electrode assembly.

[0027] The clamping cylinder is used to clamp the bead-placed sensor transferred by the conveying mechanism, and the pusher cylinder is used to push the pin of the bead-placed sensor to the clearance position; the bead-placed sensor is moved to directly below the welding head and coaxial with the welding head under the drive of the lower electrode X-axis module and Y-axis module.

[0028] As a further improvement of the present invention, the unloading mechanism includes an unloading bracket, an unloading Y-axis module, an unloading Z-axis cylinder, and an unloading gripper cylinder;

[0029] The unloading bracket is mounted on the workbench, the unloading Y-axis module is mounted on the unloading bracket, the unloading Z-axis cylinder is mounted on the movable end of the unloading Y-axis module, and the unloading gripper cylinder is mounted on the movable end of the unloading Z-axis cylinder.

[0030] Driven by the Z-axis unloading cylinder and the Y-axis unloading module, the unloading gripper cylinder moves to the welding unloading station to grab the post-weld sensor and transfer the post-weld sensor to the unloading station.

[0031] As a further improvement of the present invention, the unloading tray moving mechanism includes a stacked empty oil tray splitting component, a full oil tray stacking component, and an unloading tray moving module that connects the stacked empty oil tray splitting component, the full oil tray stacking component, and the unloading workstation.

[0032] The stacked empty oil pan splitting assembly is used to split the bottom layer of the single empty sensor oil pan from the multi-layer stacked empty sensor oil pans. The unloading tray moving module moves the split single empty sensor oil pan to the unloading work position to receive the welded sensor. After the welded sensor is filled in the single empty sensor oil pan, the unloading tray moving module moves the full oil pan carrying the welded sensor to the full oil pan stacking assembly for stacking.

[0033] This invention discloses a sensor welding method with built-in beads in an oil pan, which is applied to the aforementioned sensor welding equipment and includes:

[0034] Step S1, Oil Pan Loading and Disassembly: The oil pan with multiple layers of stacked layers and built-in oil medium is disassembled by the oil pan moving mechanism, and a single oil pan is transferred to the bead placement work position. The oil pan contains several bead sensors, and the oil level is higher than the sensor sealing port.

[0035] Step S2, Steel Ball Feeding and Placement: The steel ball feeding mechanism lifts a single steel ball to the preset feeding position. Under the visual guidance of the placement camera, the placement mechanism picks up the steel ball from the preset feeding position and moves it to the placement working position, accurately placing the steel ball on the sealing port of the sensor in the sensor oil pan to be placed.

[0036] Step S3, Sensor handling and attitude adjustment after bead placement: The handling mechanism picks up the sensor after bead placement by rotating jaws, identifies the angle of the steel ball under the visual guidance of the handling camera, drives the rotating jaws to rotate the sensor to the preset welding posture, and then transfers the sensor to the welding mechanism station.

[0037] Step S4, Welding Preparation and Alignment: The clamping cylinder of the welding mechanism clamps the sensor, and the pusher cylinder turns the sensor pin to the clearance position. The sensor position is finely adjusted by the X-axis module and Y-axis module of the lower electrode to make the sensor sealing port, steel ball and welding head concentrically aligned.

[0038] Step S5, Piezoresistive Welding: The welding machine's pressing mechanism drives the welding head to press down, and the steel ball is welded and fixed to the sensor's sealing port by piezoresistive welding to form a pressure-bearing cavity filled with oil medium.

[0039] Step S6, Post-weld unloading and palletizing: The conveying mechanism moves the post-weld sensor to the welding unloading station. The unloading mechanism picks up the post-weld sensor and moves it to the unloading station. The unloading pallet moving mechanism splits the multi-layer empty sensor oil pans and conveys a single empty sensor oil pan to the unloading station to receive the sensor. After the empty sensor oil pan is full, the full pan is conveyed to the preset position for stacking.

[0040] As a further improvement of the present invention, step S2 further includes: a through-beam sensor detecting whether a steel ball is ejected from a preset feeding position; if no steel ball is detected, the steel ball feeding mechanism performs multiple lifting actions, and if no steel ball is detected after multiple checks, the equipment issues a steel ball shortage warning.

[0041] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0042] This invention integrates a feeding oil pan moving mechanism, a steel ball feeding and handling mechanism, a welding mechanism, a discharging mechanism, and a discharging pan moving mechanism into a fully automated welding system, effectively solving the pain points of traditional equipment and improving production efficiency. The feeding oil pan moving mechanism can automatically disassemble multi-layer sensor oil pans to be placed, and transport a single oil pan to the bead placement position. After material removal, the empty oil pans can be automatically stacked, avoiding oil leakage caused by manual disassembly and handling. The steel ball feeding and handling mechanism directly places the beads in the oil pan without removing the sensor, fundamentally solving the problem of tilting and oil leakage during the handling of sensors without outer edges. Furthermore, the sensor posture is adjusted visually during handling, reducing positioning errors.

[0043] The welding mechanism of this invention, through the coordinated action of the lower electrode movement adjustment mechanism and the welding machine pressing mechanism, clamps the sensor with a cylinder to fix it, and pushes the pin with a cylinder to avoid the pin. Combined with X and Y axis module fine-tuning and visual alignment, it ensures concentricity of the sealing port, steel ball, and welding head, solving the problem of poor coaxiality in traditional welding. The welding machine pressing mechanism precisely controls the welding head pressure, ensuring reliable welding of the steel ball and the sealing port, forming a sealed pressure-bearing cavity. The unloading mechanism smoothly transports the post-weld sensor to the unloading position, and the unloading tray movement mechanism automatically splits the empty tray to receive and stacks the full tray, completing the production closed loop.

[0044] The overall equipment of this invention realizes unmanned operation of the entire process from disassembling the tray, placing the beads, welding to stacking the trays, which greatly improves efficiency. At the same time, the "built-in beads + visual alignment" design reduces oil leakage and welding errors, improves yield, and the modular structure also makes it easy to switch product models, adapting to the needs of large-scale high-quality production. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of a sensor welding device with built-in beads in an oil pan, as disclosed in one embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of the structure of the oil pan moving mechanism of a sensor welding equipment with built-in beads in an oil pan, as disclosed in an embodiment of the present invention.

[0047] Figure 3 This is a schematic diagram of the stacked oil pan splitting assembly of a sensor welding device with built-in oil pan beads, as disclosed in one embodiment of the present invention.

[0048] Figure 4 This is a schematic diagram of the structure of an empty oil pan stacking assembly of a sensor welding device with built-in oil pan beads, as disclosed in an embodiment of the present invention.

[0049] Figure 5 This is a schematic diagram of the steel ball feeding and handling mechanism of a sensor welding device with built-in oil pans, as disclosed in an embodiment of the present invention.

[0050] Figure 6 This is a schematic diagram of the steel ball feeding mechanism of a sensor welding device with built-in oil pan according to an embodiment of the present invention;

[0051] Figure 7 This is a schematic diagram of the overall structure of the bead placement mechanism and the conveying mechanism of the sensor welding equipment with built-in beads in the oil pan, as disclosed in one embodiment of the present invention.

[0052] Figure 8 This is a schematic diagram of the welding mechanism of a sensor welding device with built-in beads in an oil pan, as disclosed in an embodiment of the present invention.

[0053] Figure 9This is a schematic diagram of the lower electrode movement adjustment mechanism of a sensor welding device with built-in oil pan beads, as disclosed in an embodiment of the present invention.

[0054] Figure 10 This is a schematic diagram of the welding machine pressing mechanism of a sensor welding equipment with built-in oil pan beads disclosed in one embodiment of the present invention;

[0055] Figure 11 This is a schematic diagram of the feeding mechanism of a sensor welding device with built-in beads in an oil pan, as disclosed in an embodiment of the present invention.

[0056] Figure 12 This is a schematic diagram of the feeding tray moving mechanism of a sensor welding device with built-in oil pan beads, as disclosed in an embodiment of the present invention.

[0057] Figure 13 This is a flowchart of a sensor welding method with built-in beads in an oil pan, as disclosed in one embodiment of the present invention.

[0058] In the picture:

[0059] 1. Workbench;

[0060] 2. Feeding oil pan moving mechanism; 2.1 Feeding pan moving module; 2.2 Stacking oil pan splitting assembly; 2.2.1 First support assembly; 2.2.2 First oil pan guide hopper; 2.2.3 Telescopic side connection assembly; 2.2.4 Two-way lifting assembly; 2.3 Empty oil pan stacking assembly; 2.3.1 Second support assembly; 2.3.2 Second oil pan guide hopper; 2.3.3 Fixed side connection assembly; 2.3.4 Lifting assembly;

[0061] 3. Steel ball feeding and handling mechanism; 3.1 Steel ball feeding mechanism; 3.1.1 Third support assembly; 3.1.2 Material cylinder bottom plate; 3.1.3 Material cylinder; 3.1.4 Storage box; 3.1.5 Guide shaft; 3.1.6 Linear bearing; 3.1.7 Lifting plate; 3.1.8 Lifting cylinder; 3.2 Steel ball placement and post-placement product handling mechanism; 3.2.1 Bracket; 3.2.2 Steel ball placement X-axis module; 3.2.3 Steel ball placement Z-axis module; 3.2.4 Steel ball placement camera; 3.2.5 Suction head; 3.2.6 Steel ball placement X-axis cable chain; 3.2.7 Handling X-axis module; 3.2.8 Handling X-axis cable chain; 3.2.9 Handling camera; 3.2.10 Handling Z-axis module; 3.2.11 Rotary gripper;

[0062] 4. Welding Mechanism; 4.1 Lower Electrode Movement and Adjustment Mechanism; 4.1.1 Lower Electrode X-axis Module; 4.1.2 Push Pin Cylinder; 4.1.3 Clamping Cylinder; 4.1.4 Lower Electrode Assembly; 4.1.5 Lower Electrode Y-axis Module; 4.2 Welding Machine Pressing Mechanism; 4.2.1 Pressing Support; 4.2.2 Pressing Cylinder; 4.2.3 Pressure Adjustment Unit; 4.2.4 Upper Electrode Assembly; 4.2.5 Welding Head;

[0063] 5. Unloading mechanism; 5.1 Unloading bracket; 5.2 Unloading Y-axis module; 5.3 Unloading Y-axis cable chain; 5.4 Unloading Z-axis cable chain; 5.5 Unloading Z-axis cylinder; 5.6 Unloading gripper cylinder;

[0064] 6. Feeding tray moving mechanism; 6.1 Feeding tray moving module; 6.2 Stacking empty oil tray splitting component; 6.3 Full oil tray stacking component. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0066] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0067] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0068] The present invention will now be described in further detail with reference to the accompanying drawings:

[0069] like Figure 1 As shown, a sensor welding device with built-in beads in an oil pan according to the present invention includes a worktable 1 and an oil pan moving mechanism 2, a steel ball feeding and conveying mechanism 3, a welding mechanism 4, a discharging mechanism 5, and a discharging pan moving mechanism 6 disposed on the worktable 1; wherein, the oil pan moving mechanism 2 is used to horizontally split the stacked multi-layer sensor oil pans containing built-in oil medium, to convey a single sensor oil pan to the bead placement working position, and to transfer the empty sensor oil pan after sensor material removal to a preset area for stacking; the steel ball feeding and conveying mechanism 3 includes a steel ball feeding mechanism 3.1, a bead placement mechanism, and a conveying mechanism, the steel ball feeding mechanism 3.1 is used to store steel balls and lift a single steel ball to a preset feeding position; the bead placement mechanism is used to pick up the steel ball from the preset feeding position and move it to the bead placement working position, and in the bead placement process... The sensor sealing port is filled with a bead in the sensor oil pan at the work position; the transport mechanism is used to pick up the sensor after bead placement, rotate the sensor to the preset posture according to the angle of the steel ball through visual alignment, and transfer it to the welding mechanism station; the welding mechanism 4 is used to turn the pins of the sensor after bead placement to the clearance position, and finely adjust the posture of the sensor after bead placement through visual alignment to make the sealing port, steel ball and welding head 4.2.5 concentric, so as to achieve piezoresistive welding. After welding, the transport mechanism transfers the welded sensor to the welding unloading station of the unloading mechanism 5; the unloading mechanism 5 is used to clamp the welded sensor and transfer it to the unloading work position; the unloading tray moving mechanism 6 is used to split the multi-layer empty sensor oil pan, and transfer a single empty sensor oil pan to the unloading work position to receive the welded sensor, and transfer the full tray filled with welded sensors to the preset position for stacking.

[0070] Specifically:

[0071] like Figure 1 As shown, in the above embodiment, preferably, the workbench 1 is a rectangular table surface, the feeding oil pan moving mechanism 2 is located on the left side of the workbench 1, the steel ball feeding and conveying mechanism 3 spans across the working position of the feeding oil pan moving mechanism 2, the welding mechanism 4 is located on the right side of the steel ball feeding and conveying mechanism 3, the unloading mechanism 5 spans vertically above the working position of the unloading tray moving mechanism 6 and the unloading position of the welding station, and the unloading tray moving mechanism 6 is located at the right rear of the workbench 1.

[0072] like Figure 2As shown, in the above embodiment, preferably, the feeding oil pan moving mechanism 2 includes a stacking oil pan splitting component 2.2, an empty oil pan stacking component 2.3, and a feeding pan moving module 2.1 connecting the stacking oil pan splitting component 2.2, the empty oil pan stacking component 2.3, and the bead placement working position; the stacking oil pan splitting component 2.2 is used to split the bottom layer of the single bead sensor oil pan of the stacked multi-layer bead sensor oil pans, and the feeding pan moving module 2.1 moves the split single bead sensor oil pan to the bead placement working position. After the bead is placed in the single bead sensor oil pan and the sensor is removed, the feeding pan moving module 2.1 moves the empty sensor oil pan to the empty oil pan stacking component 2.3 for stacking.

[0073] like Figure 3 As shown, in the above embodiment, preferably, the stacked oil pan splitting assembly 2.2 includes a first support assembly 2.2.1, a first oil pan guide hopper 2.2.2, a telescopic side connection assembly 2.2.3, and a two-way lifting assembly 2.2.4; wherein, the first support assembly 2.2.1 is disposed on the workbench 1, and a support plate is installed on the first support assembly 2.2.1. Four L-shaped brackets are installed on the support plate via brackets. The four L-shaped brackets are arranged vertically and surround each other to form the first oil pan guide hopper 2.2.2. Telescopic side connection assemblies 2.2.3 are respectively disposed on the opposite sides of the first oil pan guide hopper 2.2.2 on the support plate. The telescopic side connection assembly 2.2.3 is composed of a horizontal telescopic cylinder and a C-shaped clamping plate installed at the end of the horizontal telescopic cylinder. A double-stroke lifting assembly 2.2.4 is installed below the support plate. The extended end of the double-stroke lifting assembly 2.2.4 is connected to a first ejector frame. A linear bearing is provided at the connection between the first ejector frame and the support plate. The first ejector frame can move up and down vertically under the drive of the double-stroke lifting assembly 2.2.4. The C-shaped clamping plates on both sides can clamp or release the oil pan of the bead sensor to be placed horizontally under the drive of their respective horizontal telescopic cylinders.

[0074] like Figure 4As shown, in the above embodiment, preferably, the empty oil pan stacking assembly 2.3 includes a second support assembly 2.3.1, a second oil pan guide hopper 2.3.2, a fixed side connection assembly 2.3.3, and a lifting assembly 2.3.4; wherein, the second support assembly 2.3.1 is set on the workbench, a support plate is installed on the first support assembly 2.2.1, and four L-shaped brackets are installed on the support plate via brackets. The four L-shaped brackets are arranged vertically and surround each other to form the second oil pan guide hopper 2.3.2. Fixed side connection assemblies 2.3.3 are respectively arranged on the opposite sides of the second oil pan guide hopper 2.3.2 on the support plate. The lifting assembly 2.3.4 is installed below the support plate. The extended end of the lifting assembly 2.3.4 is connected to a second ejector frame. A linear bearing is provided at the connection between the ejector frame and the support plate. The ejector frame can move up and down vertically under the drive of the lifting assembly 2.3.4.

[0075] In the above embodiments, preferably, the feeding tray moving module 2.1 is laid horizontally above the support plate of the stacked oil tray splitting assembly 2.2 and above the support plate of the empty oil tray stacking assembly 2.3, so as to receive the bead sensor oil tray that is moved down by the first ejector in the stacked oil tray splitting assembly 2.2 and transport it to the bead placement working position, and transport the empty oil tray after material removal to the empty oil tray stacking assembly 2.3.

[0076] In the above embodiment, preferably, the feeding oil tray moving mechanism 2 operates as follows: The operator places the multi-layer oil tray containing unplaced bead products into the first oil tray guide hopper 2.2.2 at the position of the stacking oil tray splitting component 2.2. The two telescopic side connecting components 2.2.3 extend and receive the multi-layer oil tray containing unplaced bead products. The double-stroke lifting component 2.2.4 rises and lifts the multi-layer oil tray containing unplaced bead products through the first ejector frame. The two telescopic side connecting components 2.2.3 retract, and the double-stroke lifting component 2.2.4 descends the first stroke, lowering the multi-layer oil tray containing unplaced bead products by one oil tray height. The two telescopic side connecting components 2.2.3 then extend and fork to the second oil tray from the bottom up. The double-stroke lifting assembly 2.2.4 descends for the second stroke, placing the first layer of oil pans from bottom to top onto the oil pan moving module 2.1. The oil pan moving module 2.1 then transports the disassembled individual oil pans to the bead placement work position. After the sensors in the oil pan at the bead placement work position are removed, the oil pan moving module 2.1 transports the empty oil pans to the empty oil pan stacking assembly 2.3. The lifting assembly 2.3.4 then raises and places the empty oil pans onto the fixed side connection assembly 2.3.3. The function of the second oil pan guide hopper 2.3.2 is to constrain the planar displacement of the multi-layer empty oil pans during their vertical movement within a certain range, preventing the pin holes between the pallets from becoming misaligned if the range is exceeded. After five layers of empty oil pans are stacked, the equipment prompts the operator to remove them.

[0077] like Figure 5-6As shown, in the above embodiment, preferably, the steel ball feeding mechanism 3.1 includes a third support component 3.1.1, a barrel base plate 3.1.2, a barrel 3.1.3, a guide shaft 3.1.5, a linear bearing 3.1.6, a lifting plate 3.1.7, and a lifting cylinder 3.1.8; wherein, the third support component 3.1.1 is disposed on the workbench 1, the barrel base plate 3.1.2 is disposed on the third support component 3.1.1, the barrel 3.1.3 is disposed on the barrel base plate 3.1.2, a discharge hole is provided above the barrel 3.1.3, the discharge hole constitutes a preset feeding position, and photoelectric sensors are provided on both sides of the barrel base plate 3.1.2 corresponding to the discharge hole; the guide shaft 3.1.5 is vertically disposed on the barrel base plate 3.1. Below 1.2, the lifting plate 3.1.7 is placed below the bottom plate 3.1.2 of the material cylinder and slides on the guide shaft 3.1.5 via the linear bearing 3.1.6; the lifting cylinder 3.1.8 is located below the lifting plate 3.1.7, with its extended end pointing vertically upward and connected to the lifting plate 3.1.7; a top material rod is vertically arranged above the lifting plate 3.1.7; under the lifting action of the lifting cylinder 3.1.8 and the guiding action of the guide shaft 3.1.5 and the linear bearing 3.1.6, the lifting plate 3.1.7 moves upward, and drives the top material rod above it to move upward, passing through the bottom plate 3.1.2 of the material cylinder and pushing the steel balls in the material cylinder 3.1.3 out of the discharge hole, and using a through-beam sensor to detect whether steel balls have been pushed out.

[0078] In the above embodiments, preferably, a storage box 3.1.4 is disposed on the material cylinder 3.1.3 and connected to the bottom plate 3.1.2 of the material cylinder. The storage box 3.1.4 is used to collect and store steel balls.

[0079] like Figure 7 As shown, in the above embodiment, preferably, the bead placement mechanism includes a bracket 3.2.1, a bead placement X-axis module 3.2.2, a bead placement Z-axis module 3.2.3, a bead placement camera 3.2.4, and a suction head 3.2.5; wherein, the bracket 3.2.1 is disposed on the worktable 1, the bead placement X-axis module 3.2.2 is mounted on the bracket, the bead placement Z-axis module 3.2.3 is disposed at the movable end of the bead placement X-axis module 3.2.2, and the bead placement camera 3.2.4 and suction head 3.2.5 are respectively disposed at the movable end of the bead placement Z-axis module 3.2.3. The movable end of module 3.2.3; the suction head 3.2.5, driven by the bead placement X-axis module 3.2.2 and the bead placement Z-axis module 3.2.3, moves to the preset feeding position to pick up steel balls, then transfers the picked-up steel balls to the bead placement working position, and completes the placement of the steel balls into the sensor sealing port in the sensor oil pan to be placed in the bead placement working position; the bead placement camera 3.2.4 is used to identify the position of the sensor sealing port in the sensor oil pan to be placed during the bead placement process, and guides the suction head 3.2.5 to accurately place the steel balls into the sealing port. In this embodiment, the bead placement X-axis drag chain 3.2.6 is set on the bracket 3.2.1 and connected to the moving part of the bead placement X-axis module 3.2.2.

[0080] In the above embodiments, preferably, the conveying mechanism includes a conveying X-axis module 3.2.7, a conveying Z-axis module 3.2.10, a rotating gripper 3.2.11, and a conveying camera 3.2.9; wherein, the conveying X-axis module 3.2.7 is mounted on the bracket 3.2.1, the conveying Z-axis module 3.2.10 is disposed at the movable end of the conveying X-axis module 3.2.7, and the rotating gripper 3.2.11 and the conveying camera 3.2.9 are respectively disposed at the movable end of the conveying Z-axis module 3.2.10; the rotating gripper 3.2.11, driven by the conveying X-axis module 3.2.7 and the conveying Z-axis module 3.2.10, moves to the bead placement position to grab the sensor after bead placement, and transfers the bead-placed sensor to the welding mechanism position; the conveying camera 3.2.9 is used to identify the angle of the steel ball on the sensor during the conveying process, guide the rotating gripper 3.2.11 to rotate the bead-placed sensor to a preset welding posture, and place the bead-placed sensor at a preset position in the welding mechanism position. In this embodiment, the X-direction cable chain 3.2.8 is mounted on the bracket 3.2.1 and connected to the moving part of the X-direction module 3.2.7.

[0081] In the above embodiments, preferably, the bead placement mechanism and the transport mechanism work together to form the bead placement and post-bead transport mechanism 3.2.

[0082] In the above embodiment, preferably, the working mode of the steel ball feeding and conveying mechanism 3 is as follows: the steel ball feeding mechanism 3.1 pushes a single steel ball to the upper discharge hole of the material cylinder 3.1.3. The ball placement and post-placement product conveying mechanism 3.2, with a suction head 3.2.5, picks up the single steel ball and places it on the sensor sealing port after visual recognition at the ball placement work position. The sensor is aimed at the steel ball discharge hole. If no steel ball is detected, the lifting cylinder 3.1.8 and the lifting rod are used to perform multiple lifting actions. After multiple no signals, it is determined that 3.1.3 is short of steel balls, and the equipment issues a prompt that steel balls are short. After the ball is placed, the sensor is clamped by the rotating gripper 3.2.11 of the conveying mechanism. After clamping, the product is rotated to a specific angle by the angle of the steel ball identified by the conveying camera 3.2.9, and then the sensor is placed at the welding unloading station.

[0083] like Figure 8-10As shown, in the above embodiment, preferably, the welding mechanism 4 includes a lower electrode movement adjustment mechanism 4.1 and a welding machine pressing mechanism 4.2 located behind it; wherein, the lower electrode movement adjustment mechanism 4.1 includes a lower electrode X-axis module 4.1.1, a pusher cylinder 4.1.2, a clamping cylinder 4.1.3, a lower electrode assembly 4.1.4, and a lower electrode Y-axis module 4.1.5; the lower electrode X-axis module 4.1.1 is disposed on the worktable 1, the pusher cylinder 4.1.2, the clamping cylinder 4.1.3, and the lower electrode assembly 4.1.4 are respectively disposed at the movable end of the lower electrode Y-axis module 4.1.5, and the lower electrode Y-axis module 4.1.5 is disposed at the movable end of the lower electrode X-axis module 4.1.1; the welding machine pressing mechanism 4.2 includes a pressing support 4.2.1, a pressing cylinder 4.2.2, and a pressure adjustment mechanism. Unit 4.2.3, upper electrode assembly 4.2.4, and welding head 4.2.5; lower pressure support 4.2.1 is set on worktable 1, lower pressure cylinder 4.2.2 is set on lower pressure support 4.2.1, pressure adjustment unit 4.2.3 is connected to the movable end of lower pressure cylinder 4.2.2, upper electrode assembly 4.2.4 is connected to pressure adjustment unit 4.2.3, and welding head 4.2.5 is set below upper electrode assembly 4.2.4; clamping cylinder 4.1.3 is used to clamp the bead-placed sensor transferred by the conveying mechanism, and push pin cylinder 4.1.2 is used to push the pin of the bead-placed sensor to the clearance position; under the drive of lower electrode X-axis module 4.1.1 and lower electrode Y-axis module 4.1.5, the bead-placed sensor moves to directly below welding head 4.2.5 and is coaxial with welding head 4.2.5.

[0084] In the above embodiments, preferably, the pressure adjustment unit 4.2.3 includes, but is not limited to, a pressure sensor.

[0085] In the above embodiment, preferably, the welding mechanism 4 operates as follows: the clamping cylinder 4.1.3 clamps the sensor product after bead placement, the pusher cylinder 4.1.2 pushes the pins of the sensor after bead placement to the clearance position, 3.2.9 identifies the coordinates of the steel ball above the sensor after bead placement, the transport mechanism aligns the steel ball of the sensor after bead placement with the welding head of the welding machine pressing mechanism 4.2 and then presses down to energize and weld, and the transport mechanism then transports the welded sensor to the welding unloading station.

[0086] like Figure 11As shown, in the above embodiment, preferably, the unloading mechanism 5 includes an unloading bracket 5.1, an unloading Y-axis module 5.2, an unloading Y-axis cable chain 5.3, an unloading Z-axis cable chain 5.4, an unloading Z-axis cylinder 5.5, and an unloading gripper cylinder 5.6; wherein, the unloading bracket 5.1 is disposed on the worktable 1, the unloading Y-axis module 5.2 is disposed on the unloading bracket 5.1, the unloading Z-axis cylinder 5.5 is disposed on the movable end of the unloading Y-axis module 5.2, and the unloading gripper cylinder 5.6 is disposed on the movable end of the unloading Z-axis cylinder 5.5; the unloading gripper cylinder 5.6, driven by the unloading Z-axis cylinder 5.5 and the unloading Y-axis module 5.2, moves to the welding unloading station to grab the post-weld sensor and transfer the post-weld sensor to the unloading station. In this embodiment, the Y-axis cable chain 5.3 is mounted on the feeding bracket 5.1 and connected to the movable end of the Y-axis feeding module 5.2, and the Z-axis cable chain 5.4 is mounted on the Y-axis feeding module 5.2 and connected to the movable end of the Z-axis feeding cylinder 5.5.

[0087] like Figure 12 As shown, in the above embodiment, preferably, the unloading tray moving mechanism 6 includes a stacked empty oil tray splitting component 6.2, a full oil tray stacking component 6.3, and an unloading tray moving module 6.1 connecting the stacked empty oil tray splitting component 6.2, the full oil tray stacking component 6.3, and the unloading workstation; wherein, the stacked empty oil tray splitting component 6.2 is used to split the bottom layer of the single empty sensor oil tray of the multi-layered stacked empty sensor oil trays, and the unloading tray moving module 6.1 moves the split single empty sensor oil tray to the unloading workstation to receive the post-welded sensor. After the post-welded sensor is filled in the single empty sensor oil tray, the unloading tray moving module 6.1 moves the full oil tray carrying the post-welded sensor to the full oil tray stacking component 6.3 for stacking.

[0088] In the above embodiments, preferably, the working mode and principle of the stacked empty oil pan splitting component 6.2, the full oil pan stacking component 6.3, and the unloading pan moving module 6.1 in the unloading pan moving mechanism 6 are the same as those of the loading oil pan moving mechanism 2, and will not be described in detail here.

[0089] In the above embodiments, preferably, the coordinate system is established as follows: the X direction is parallel to the long side of the worktable 1, the Y direction is parallel to the short side of the worktable 1, and the Z direction is perpendicular to the surface of the worktable 1.

[0090] like Figure 13 As shown, a sensor welding method with an internal bead in an oil pan according to the present invention is applied to the aforementioned sensor welding equipment and includes:

[0091] Step S1, Oil tray loading and disassembly: The oil tray for the sensor to be placed, which is stacked in multiple layers and contains oil medium, is disassembled by the oil tray moving mechanism 2. The single sensor to be placed is transferred to the ball placement work position. The sensor to be placed contains several sensors to be placed, and the oil level is higher than the sensor sealing port.

[0092] Step S2, Steel ball feeding and placement: The steel ball feeding mechanism 3.1 lifts a single steel ball to the preset feeding position. Under the visual guidance of the placement camera 3.2.4, the placement mechanism picks up the steel ball from the preset feeding position and moves it to the placement working position, accurately placing the steel ball on the sealing port of the sensor in the sensor oil pan to be placed.

[0093] Step S3, Sensor handling and attitude adjustment after bead placement: The handling mechanism picks up the sensor after bead placement using the rotating gripper 3.2.11. Under the visual guidance of the handling camera 3.2.9, it identifies the angle of the steel ball, drives the rotating gripper 3.2.11 to rotate the sensor to the preset welding posture, and then transfers the sensor to the workstation of the welding mechanism 4.

[0094] Step S4, Welding Preparation and Alignment: The clamping cylinder 4.1.3 of the welding mechanism 4 clamps the sensor after the bead is placed, and the pusher cylinder 4.1.2 turns the pin of the sensor after the bead is placed to the clearance position. The position of the sensor after the bead is placed is finely adjusted by the lower electrode X-axis module 4.1.1 and the lower electrode Y-axis module 4.1.5 so that the sealing port of the sensor after the bead is placed, the steel ball and the welding head 4.2.5 are concentrically aligned.

[0095] Step S5, Piezoresistive Welding: The welding machine pressing mechanism 4.2 drives the welding head 4.2.5 to press down, and the steel ball is welded and fixed to the sensor sealing port by piezoresistive welding to form a pressure-bearing cavity filled with oil medium.

[0096] Step S6, Post-weld unloading and palletizing: The conveying mechanism moves the post-weld sensor to the welding unloading station. The unloading mechanism 5 picks up the post-weld sensor and moves it to the unloading station. The unloading pallet moving mechanism 6 splits the multi-layer empty sensor oil pan and conveys a single empty sensor oil pan to the unloading station to receive the sensor. After the empty sensor oil pan is full, the full pan is conveyed to the preset position for stacking.

[0097] In the above embodiment, preferably, step S2 further includes: a through-beam sensor detecting whether a steel ball is ejected from a preset feeding position; if no steel ball is detected, the steel ball feeding mechanism 3.1 performs multiple lifting actions, and if no steel ball is detected after multiple checks, the equipment issues a steel ball shortage warning.

[0098] Advantages of this invention:

[0099] This invention integrates a feeding oil pan moving mechanism 2, a steel ball feeding and handling mechanism 3, a welding mechanism 4, a discharging mechanism 5, and a discharging pan moving mechanism 6 into a workbench 1, forming a fully automated welding system that effectively solves the pain points of traditional equipment and improves production efficiency. The feeding oil pan moving mechanism 2 can automatically disassemble multi-layer sensor oil pans to be placed, and transport a single oil pan to the bead placement position. After material removal, the empty oil pan can be automatically stacked, avoiding oil leakage caused by manual disassembly and handling. The steel ball feeding and handling mechanism 3 directly places the beads in the oil pan without removing the sensor, fundamentally solving the problem of tilting and oil leakage during the handling of sensors without outer edges. Moreover, the sensor posture is adjusted by visual alignment during handling, reducing positioning errors.

[0100] The welding mechanism 4 of this invention, through the coordinated action of the lower electrode movement adjustment mechanism 4.1 and the welding machine pressing mechanism 4.2, clamping cylinder 4.1.3 fixes the sensor, and push-pin cylinder 4.1.2 avoids the pin. Combined with X and Y axis module fine-tuning and visual alignment, it ensures that the sealing port, steel ball, and welding head 4.2.5 are concentric, solving the problem of poor coaxiality in traditional welding. The welding machine pressing mechanism 4.2 precisely controls the pressure of the welding head 4.2.5, ensuring reliable welding of the steel ball and the sealing port, forming a sealed pressure-bearing cavity. The unloading mechanism 5 smoothly transports the post-weld sensor to the unloading position, and the unloading tray movement mechanism 6 automatically splits the empty tray to receive and stacks the full tray, completing the production closed loop.

[0101] The overall equipment of this invention realizes unmanned operation of the entire process from disassembling the tray, placing the beads, welding to stacking the trays, which greatly improves efficiency. At the same time, the "built-in beads + visual alignment" design reduces oil leakage and welding errors, improves yield, and the modular structure also makes it easy to switch product models, adapting to the needs of large-scale high-quality production.

[0102] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An oil pan built-in bead sensor welding apparatus characterized by, The device comprises a workbench, an upper oil tray moving mechanism arranged on the workbench, a steel ball feeding and carrying mechanism, a welding mechanism, a lower feeding mechanism and a lower feeding tray moving mechanism. The upper oil tray moving mechanism is used for horizontally splitting a stacked multi-layer sensor oil tray with built-in oil medium, conveying a single sensor oil tray to a bead placement work station, and transferring an empty sensor oil tray after sensor material is taken to a preset area for stacking. The steel ball feeding and carrying mechanism comprises a steel ball feeding mechanism, a bead placement mechanism and a carrying mechanism. The welding mechanism is used for turning the pin of the sensor after bead placement to an avoiding position, and adjusting the posture of the sensor after bead placement through visual alignment to make the seal, the steel ball and the welding head of the welding machine concentric, so as to realize resistance welding. The lower feeding mechanism is used for clamping the sensor after welding and moving to a lower feeding work station. The lower feeding tray moving mechanism is used for splitting a multi-layer empty sensor oil tray, conveying a single empty sensor oil tray to the lower feeding work station to receive the sensor after welding, and conveying a full tray filled with the sensor after welding to a preset position for stacking.

2. The sensor welding apparatus of claim 1, wherein, The upper oil tray moving mechanism comprises a stacked oil tray splitting assembly, an empty oil tray stacking assembly and an upper tray moving module connected with the stacked oil tray splitting assembly, the empty oil tray stacking assembly and the bead placement work station. The stacked oil tray splitting assembly is used for splitting a single sensor oil tray at the bottom of a stacked multi-layer sensor oil tray.

3. The sensor welding apparatus of claim 1, wherein, The steel ball feeding mechanism comprises a support assembly, a barrel bottom plate, a barrel, a guide shaft, a linear bearing, a lifting plate and a lifting cylinder. The support assembly is arranged on the workbench, the barrel bottom plate is arranged on the support assembly, the barrel is arranged on the barrel bottom plate, a discharging hole is arranged above the barrel, the discharging hole constitutes the preset feeding position, the barrel bottom plate is provided with a pair of sensors corresponding to the discharging hole. The lifting cylinder is arranged below the lifting plate, the extending end of the lifting cylinder is vertically upward and connected with the lifting plate and a lifting rod. Under the jacking action of the lifting cylinder and the guiding action of the guide shaft and the linear bearing, the material ejection rod moves upward, passes through the bottom plate of the barrel, and ejects the steel balls in the barrel from the ejection hole, and whether the steel balls are ejected is detected by the pair of sensors.

4. The sensor welding apparatus of claim 1, wherein, The ball placing mechanism comprises a support, a ball placing X-direction module, a ball placing Z-direction module, a ball placing camera and a suction head. The support is arranged on the workbench, the ball placing X-direction module is arranged on the support, the ball placing Z-direction module is arranged on the movable end of the ball placing X-direction module, and the ball placing camera and the suction head are arranged on the movable end of the ball placing Z-direction module. The suction head is driven by the ball placing X-direction module and the ball placing Z-direction module to move to the preset feeding position to suck the steel balls, and then the sucked steel balls are transferred to the ball placing work position, and the ball placing process is completed in the sensor sealing opening of the sensor oil pan at the ball placing work position. The ball placing camera is used to identify the position of the sensor sealing opening in the sensor oil pan during the ball placing process, and guide the ball placing mechanism to accurately place the steel balls in the sealing opening.

5. The sensor welding apparatus of claim 4, wherein, The carrying mechanism comprises a carrying X-direction module, a carrying Z-direction module, a rotating clamp and a carrying camera. The carrying X-direction module is arranged on the support, the carrying Z-direction module is arranged on the movable end of the carrying X-direction module, and the rotating clamp and the carrying camera are arranged on the movable end of the carrying Z-direction module. The rotating clamp is driven by the carrying X-direction module and the carrying Z-direction module to move to the ball placing work position to grasp the sensor after ball placing, and then the sensor after ball placing is transferred to the welding mechanism work position. The carrying camera is used to identify the angle of the steel balls on the sensor during the carrying process, guide the rotating clamp to rotate the sensor after ball placing to a preset welding posture, and place the sensor after ball placing at a preset position of the welding mechanism work position.

6. The sensor welding apparatus of claim 1, wherein, The welding mechanism comprises a lower electrode moving adjustment mechanism and a welding machine lower pressing mechanism arranged behind the lower electrode moving adjustment mechanism. The lower electrode moving adjustment mechanism comprises a lower electrode X-direction module, a needle pushing cylinder, a clamping cylinder, a lower electrode assembly and a lower electrode Y-direction module, the lower electrode X-direction module is arranged on the workbench, the needle pushing cylinder, the clamping cylinder and the lower electrode assembly are arranged on the movable end of the lower electrode Y-direction module, and the lower electrode Y-direction module is arranged on the movable end of the lower electrode X-direction module. The welding machine lower pressing mechanism comprises a lower pressing support, a lower pressing cylinder, a pressure adjusting unit, an upper electrode assembly and a welding head, the lower pressing support is arranged on the workbench, the lower pressing cylinder is arranged on the lower pressing support, the pressure adjusting unit is connected with the movable end of the lower pressing cylinder, the upper electrode assembly is connected with the pressure adjusting unit, and the welding head is arranged below the upper electrode assembly. The clamping cylinder is used to clamp the sensor after ball placing transferred by the carrying mechanism, and the needle pushing cylinder is used to push the pin of the sensor after ball placing to an avoiding position. The sensor after ball placing is driven by the lower electrode X-direction module and the lower electrode Y-direction module to move to the position directly below and coaxial with the welding head.

7. The sensor welding apparatus of claim 1, wherein, The blanking mechanism comprises a blanking support, a blanking Y-direction module, a blanking Z-direction cylinder and a blanking gripper cylinder. The blanking support is arranged on the workbench, the blanking Y-direction module is arranged on the blanking support, the blanking Z-direction cylinder is arranged at the movable end of the blanking Y-direction module, and the blanking gripper cylinder is arranged at the movable end of the blanking Z-direction cylinder. The blanking gripper cylinder is driven by the blanking Z-direction cylinder and the blanking Y-direction module to move to the welding blanking station to pick up the post-welding sensor, and then the post-welding sensor is transferred to the blanking work station.

8. The sensor welding apparatus of claim 1, wherein, The blanking disc moving mechanism comprises a stacked empty oil disc splitting assembly, a full oil disc stacking assembly and a blanking disc moving module connected with the stacked empty oil disc splitting assembly, the full oil disc stacking assembly and the blanking work station. The stacked empty oil disc splitting assembly is used to split the lowermost single empty sensor oil disc from the stacked multi-layer empty sensor oil disc, the blanking disc moving module moves the split single empty sensor oil disc to the blanking work station to receive the post-welding sensor, and after the post-welding sensor is filled in the single empty sensor oil disc, the blanking disc moving module moves the full oil disc loaded with the post-welding sensor to the full oil disc stacking assembly for stacking.

9. A method of soldering a sensor with an oil pan built-in bead, which is applied to the sensor soldering apparatus according to any one of claims 1 to 8, characterized by, It comprises: Step S1, oil disc loading and splitting: the stacked multi-layer sensor oil disc with built-in oil medium is split by the loading oil disc moving mechanism, and the single sensor oil disc is conveyed to the bead placement work station, the sensor oil disc contains a plurality of sensor beads, and the oil surface is higher than the sealing port of the sensor; Step S2, steel bead feeding and placement: the steel bead feeding mechanism lifts a single steel bead to a preset feeding position, the bead placement mechanism absorbs the steel bead at the preset feeding position under the visual guidance of the bead placement camera and moves to the bead placement work station to accurately place the steel bead on the sealing port of the sensor in the sensor oil disc; Step S3, post-placing sensor handling and posture adjustment: the handling mechanism picks up the post-placing sensor through the rotating gripper, identifies the angle of the steel bead under the visual guidance of the handling camera, drives the rotating gripper to rotate the sensor to a preset welding posture, and then conveys the sensor to the welding mechanism station; Step S4, welding preparation and alignment: the clamping cylinder of the welding mechanism clamps the sensor, the needle pushing cylinder turns the sensor pin to an avoiding position, and the lower electrode X-direction module and Y-direction module finely adjust the position of the sensor to make the sensor sealing port, steel bead and welding head concentrically aligned; Step S5, resistance welding: the welding head is driven downward by the welding machine pressing mechanism, the steel bead and the sensor sealing port are welded and fixed by resistance welding, and a pressure-bearing cavity filled with oil medium is formed; Step S6, post-welding blanking and disc stacking: the handling mechanism moves the post-welding sensor to the welding blanking station, the blanking mechanism picks up the post-welding sensor and moves it to the blanking work station, the blanking disc moving mechanism splits the multi-layer empty sensor oil disc and conveys the single empty sensor oil disc to the blanking work station to receive the sensor, and after the empty sensor oil disc is filled, the full disc is conveyed to a preset position for stacking.

10. The sensor welding method of claim 9, wherein, In the step S2, the detection of the shot sensor on whether the preset feeding position has the steel ball ejected is also included; if no steel ball is detected, the steel ball feeding mechanism performs multiple lifting actions, and when multiple detections still have no steel ball, the device issues a steel ball shortage prompt.

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