Multi-specification adaptive magnetic system assembly line

Abstract

The invention relates to a magnetic system assembly line which comprises a wiring terminal assembly device, a coil assembly assembly device and a double-cart feeding and discharging device, the wiring terminal assembly device is used for assembling a wiring frame, a wiring board and screws and is provided with a wiring terminal carrier, and a V-shaped positioning groove of the wiring terminal carrier is matched with the edge of one side of the lower end of the rectangular wiring frame; the rectangular wiring frame is obliquely and vertically arranged to enable an inner diagonal line to be vertical, a wiring board inserting part is inserted, a screw is screwed to form a wiring terminal, the coil assembly assembling equipment is used for assembling the wiring terminal, a coil and a static contact piece and is provided with at least two magnetic system carriers, and each carrier is matched with the coil of the corresponding specification; respectively welding the coil with the wiring board and the static contact to form a magnetic system assembly; the double-cart feeding and discharging equipment is used for discharging of the magnetic system assembly and comprises a first cart, a second cart and a material disc, the magnetic system assembly is loaded on the material disc, and the first cart supplies the unloaded material disc. The problems that when multi-specification magnetic systems are assembled, a magnetic system carrier needs to be replaced frequently, and clamping stagnation is prone to occurring when a wiring board and a wiring frame are inserted are solved.

Description

Technical Field

[0001] This invention relates to the field of magnetic system installation technology, and in particular to a multi-specification compatible magnetic system assembly line. Background Technology

[0002] The magnetic system is the core component of the circuit breaker, used to trip the circuit breaker by impacting the free-trip module when the current is abnormal. It is usually composed of components such as coil, stationary contact, and terminals. The terminals consist of a square terminal frame, a terminal plate, and screws. The terminal frame has a square cavity structure with through holes on both side walls. The terminal plate is a one-piece bent Z-shaped plate structure, including a body, a plug-in part and a connecting part formed by bending the two ends of the body in opposite directions. The body, plug-in part, and connecting part are perpendicular to each other to form a Z shape. The width of the plug-in part of the terminal plate is adapted to the width of the terminal frame cavity. The plug-in part is fitted into the terminal frame. The screw is screwed into the terminal frame and is used to press the wire passing through the terminal frame against the surface of the plug-in part after screwing in. The coil has a winding part and a first pin and a second pin respectively led out from the two ends of the winding part. The first pin of the coil is welded to the connecting part of the terminal plate, and the second pin of the coil is welded to the connector on the stationary contact.

[0003] As a key connecting component of the magnetic system, the assembly accuracy of the terminal block directly affects the reliability of the magnetic system. For example, CN222957973U discloses an assembly equipment for the magnetic system inside a circuit breaker. This equipment uses a ring conveyor belt to transport the carrier and can assemble multiple magnetic systems simultaneously. However, in the current assembly equipment for the magnetic system inside the circuit breaker, during the terminal block assembly stage, a rectangular terminal frame is usually placed horizontally on the carrier. The plug part of the terminal block needs to be inserted into the cavity of the terminal frame horizontally. Because the width of the plug part and the width of the terminal frame cavity are precisely matched and the gap is extremely small, jamming is easily caused by misalignment during horizontal insertion, resulting in low assembly efficiency and easy damage to components, affecting the overall assembly quality.

[0004] The specifications of the magnetic system coils need to be matched according to parameters such as the rated current and tripping characteristics of the circuit breaker, resulting in the need for assembling magnetic systems of various specifications in actual production. For example, the fully automatic magnetic component assembly equipment disclosed in CN2229712813U uses welding fixtures of fixed specifications, which can only accommodate coils, terminal blocks and stationary contacts of a single specification. When it is necessary to switch product specifications, the entire fixture must be replaced or the equipment must be extensively debugged. This is not only cumbersome to operate and has low switching efficiency, but also prone to reduced assembly accuracy and increased production costs due to improper fixture replacement; moreover, the welding operation effect is poor.

[0005] In the automated production and transfer of workpieces, the loading and unloading of pallets is a crucial step in material handling, directly impacting production efficiency and operational safety. For example, the trolley-type loading and unloading equipment (CN218707266U) uses a loading pallet to support the bottom layer of stacked pallets. A Z-axis drive module moves the entire stacked pallet synchronously, and a transfer module then moves individual pallets. However, this structure has significant drawbacks: First, the Z-axis drive module needs to lift and lower all the stacked pallets, resulting in high energy consumption due to the heavy load. Furthermore, heavy loads accelerate the wear of core components such as lead screws and motors, reducing the equipment's lifespan. Second, the high center of gravity of the pallet stack makes it prone to swaying during lifting and lowering, leading to insufficient positioning accuracy of the transfer module and a potential safety hazard of pallet tipping. Summary of the Invention

[0006] The purpose of this invention is to overcome the defects of the prior art. This invention provides a multi-specification adaptable magnetic system assembly line, which solves the problems of frequent replacement of magnetic system carriers and easy jamming of terminal blocks and wiring frames during the assembly of multi-specification magnetic systems.

[0007] The technical solution of the present invention: a multi-specification adaptable magnetic system assembly line, comprising a terminal assembly device, a coil assembly device, and a double trolley loading and unloading device connected in sequence; The terminal assembly equipment is used to assemble a terminal frame, a terminal block, and screws. It is equipped with a terminal carrier, which has a V-shaped positioning groove that matches one edge of the lower end of the rectangular terminal frame, so that the rectangular terminal frame is tilted and its inner diagonal is vertical. The terminal assembly equipment inserts the plug part of the terminal block into the vertical inner diagonal area of ​​the rectangular terminal frame, and then screws onto the rectangular terminal frame to form a terminal. The coil assembly equipment is used to assemble terminals, coils and stationary contacts. It is equipped with at least two magnetic system carriers, each of which is adapted to a coil of a corresponding specification. The coil assembly equipment welds and fixes the coil to the terminal block and stationary contact to form a magnetic system assembly. The dual-trolley loading and unloading equipment is used for unloading magnetic system components. It includes a first trolley, a second trolley, a tray, and a tray handling group for transporting individual trays. The trays are used to load magnetic system components. The first trolley supplies empty trays, and the second trolley stacks and stores fully loaded trays after loading magnetic system components.

[0008] By adopting the above technical solution, the entire process of "terminal assembly → coil assembly → magnetic system component unloading" is automated and closed-loop, completely eliminating the reliance on manual intervention and efficiently solving the industry pain points of low efficiency and frequent positioning deviations in traditional segmented operations.

[0009] 1. Anti-jamming during insertion: The V-shaped positioning groove of the terminal block carrier adapts to the edge of the rectangular terminal block, forcing the terminal block to tilt and stand upright, so that its inner diagonal is vertical to form the longest through space, providing sufficient insertion margin for the terminal block plug-in part, avoiding jamming problems and component damage in horizontal insertion from the root, and greatly improving assembly smoothness. 2. Multi-specification compatibility: The coil assembly equipment is equipped with at least two magnetic system carriers. By adapting to coils of different specifications, it can meet the production needs of multiple magnetic systems without changing the fixtures. The switching is convenient and the assembly accuracy is stable. 3. Highly Efficient and Safe Material Unloading: The dual-trolley loading and unloading system operates on a cyclical model of "empty tray supply → magnetic system component loading → full tray storage," enabling automatic tray switching and continuous unloading. The independent handling design for each tray effectively reduces equipment load and energy consumption, ensures stability during tray transfer, and eliminates the risk of tipping. This meets the practical needs of fully automated, precise, and efficient production of multi-specification magnetic systems.

[0010] A further provision of the present invention: the terminal assembly equipment includes a frame, on which a carrier conveyor line is provided, and a terminal board loading unit, a terminal frame loading and straightening unit, a screw assembly unit, and a terminal transfer unit are sequentially arranged along the conveying direction of the carrier conveyor line; a plurality of terminal carriers are arranged on the carrier conveyor line, each terminal carrier including a base, the upper surface of which is provided with a V-shaped positioning groove, a horizontal bearing surface, and a terminal board station; the horizontal bearing surface is located on the side of the V-shaped positioning groove; the horizontal bearing surface is used for horizontal positioning of the rectangular terminal frame; the terminal board station is used for positioning the terminal board, so that the terminal board is in a side-lying state and its plug-in part corresponds to the top of the V-shaped positioning groove; the terminal board loading unit is used to load the terminal board in a side-lying state. The rectangular terminal frame is moved to the terminal block station in a lying position. The terminal frame loading and straightening unit is used to place the lower edge of the rectangular terminal frame, which is close to the horizontal bearing surface, into the V-shaped positioning groove, and drive the rectangular terminal frame to move along the V-shaped positioning groove to the assembly position, so that the plug part of the terminal block is inserted into the vertical inner diagonal area of ​​the rectangular terminal frame. The terminal frame loading and straightening unit can also drive the tilted rectangular terminal frame to tilt towards the horizontal bearing surface, so that it is in a lying position and the lower end of the rectangular terminal frame is vertically raised to approach the plug part of the terminal block. The screw assembly unit is used to deliver screws and screw them onto the rectangular terminal frame in the lying position, thereby forming a terminal block. The terminal block transfer unit is used to transfer the terminal block to the coil assembly equipment.

[0011] With the above-mentioned further configuration, the V-shaped positioning groove of the terminal carrier forces the rectangular terminal frame to be tilted and upright with its inner diagonal vertical. In conjunction with the side-lying positioning of the terminal block, this vertical inner diagonal area forms the longest through space inside the rectangular terminal frame, providing sufficient insertion margin for the plug-in part of the terminal block. Subsequently, the terminal frame loading and straightening unit drives the rectangular terminal frame to tilt to the side of the horizontal bearing surface, so that it is in a flat state, and the lower end of the rectangular terminal frame is vertically erected and closely close to the plug-in part, forming a stable pre-assembly positioning, avoiding relative displacement between the two during subsequent screw assembly. Finally, the screw assembly unit accurately screws in the screws.

[0012] A further feature of the present invention includes: a wire frame stop and a movable clamping block respectively provided at both ends of the horizontal bearing surface of the carrier; the wire frame stop extends into a V-shaped positioning groove to limit the rectangular wiring frame that moves along the V-shaped positioning groove to the assembly position; the lower end of the movable clamping block is rotatably connected to the carrier via a hinge shaft, and the upper end is a clamping end; an elastic reset member is provided on the carrier, which is a tension spring, one end of which is hooked to the connecting shaft at the upper end of the movable clamping block, and the other end of which is hooked to the fixed shaft of the carrier; when the rectangular wiring frame is in a flat position, the elastic reset member can drive the clamping end of the movable clamping block to move closer to the wire frame stop, so as to stop the wire frame stop. The mounting base is used to clamp and position the rectangular wiring frame. The wiring board station is located on the wiring frame stop, which has a first contour positioning surface and positioning posts. The first contour positioning surface and positioning posts cooperate to position the inner and outer sides of the wiring board. The first contour positioning surface has a Z-shaped structure, including a positioning middle surface and a first positioning end surface and a second positioning end surface extending in opposite directions from both ends of the positioning middle surface. The positioning middle surface, the first positioning end surface and the second positioning end surface respectively abut against the outer side of the wiring board body, the plug-in part and the connecting part. Multiple positioning posts are spaced apart along the extension direction of the first contour positioning surface to abut against and limit the inner side of the wiring board.

[0013] With the above-mentioned further configuration, the wire frame stop extends into the V-shaped positioning groove, precisely defining the assembly position of the rectangular wiring frame and preventing excessive movement; the elastic reset component drives the movable clamping block to cooperate with the wire frame stop to clamp the wiring frame after it is laid flat, preventing slippage during subsequent operations and ensuring positioning stability; the Z-shaped contour positioning surface and positioning post position the wiring plate bidirectionally from both the inner and outer sides, distributing the force points to avoid deformation and ensuring that the plug-in part is always aligned with the diagonal area inside the wiring frame, improving insertion accuracy.

[0014] A further feature of the present invention: the terminal block feeding unit includes a terminal block feeding tray, a terminal block feeding rail, a terminal block clamping mechanism one, and a terminal block clamping mechanism two; the upstream end of the terminal block feeding rail is connected to the outlet of the terminal block feeding tray, and the downstream end is provided with a terminal block picking position; the terminal block feeding rail is used to sequentially transport multiple vertically upright terminal blocks to the terminal block picking position, the terminal block feeding rail has a terminal block channel inside, and a track surface at the upper end, the vertically upright terminal block insertion part is inserted downward into the terminal block channel, and the body part is slidably mounted on... On the track surface, the connecting part extends out of the terminal block channel; the terminal block picking position is provided with a picking port for exposing the plug part of the terminal block; the terminal block clamping mechanism one is used to clamp the plug part of the terminal block at the terminal block picking position and drive the terminal block to rotate around a horizontal axis, so that the terminal block changes from a vertical position to a side-lying position. The terminal block clamping mechanism one includes a first gripper, a first auxiliary positioning gripper, a first linear drive module and a first rotary drive module; the first gripper is used to extend into the picking port and clamp the plug part of the terminal block, and the first auxiliary positioning gripper is used to... The first linear drive module is used to drive the first gripper and the first auxiliary positioning gripper to move linearly, and when the first gripper grips the plug-in part, the first auxiliary positioning gripper simultaneously abuts the plug-in part; the first rotary drive module is used to drive the first gripper and the first auxiliary positioning gripper to rotate around the horizontal axis; the second connector clamping mechanism is used to clamp the plug-in part of the connector in a side-lying state and drive the connector to rotate around the vertical axis, so that the connector is moved and positioned to the connector station. The second connector clamping mechanism includes a second gripper, a second auxiliary positioning gripper, a second linear drive module and a second rotary drive module; the second linear drive module is used to drive the second gripper and the second auxiliary positioning gripper to move linearly, and when the second gripper grips the plug-in part, the second auxiliary positioning gripper simultaneously abuts the plug-in part; the second rotary drive module is used to drive the second gripper and the second auxiliary positioning gripper to rotate around the vertical axis; the connector loading unit also includes a detection sensor for detecting whether there is material at the connector loading position, and a staggered loading component for blocking the connector to achieve staggered loading.

[0015] With a further refinement, the coil positioning slots of different specification magnetic system carriers are adapted to the winding sections of the corresponding specification coils. The first and second coil feeding units are selected as needed, and the corresponding specification coil is placed into the coil positioning slot. The terminals and stationary contacts are placed into the terminal positioning slot and stationary contact positioning slot, respectively. The terminal block connection and stationary contact connector extend towards the coil positioning slot. The first and second leads of the coil extend to both sides and are welded to the connection and connector, respectively. The terminal block feeding rail enables the vertical and orderly transport of the terminal block. The two-stage clamping mechanism, through rotational switching and angle adjustment, enables the terminal block to be transported from the supply... The fully automated side-lying positioning system utilizes a combination of the first gripper and the first auxiliary positioning gripper. Through rotational drive, the terminal block is precisely switched from a vertical to a side-lying position. The synchronous engagement of the first auxiliary positioning gripper ensures the stability of the terminal block's position during the switch, preventing displacement or detachment. The second gripper and the second auxiliary positioning gripper, through linear movement and vertical axis rotation, precisely transfer the side-lying terminal block to its designated workstation. The engagement of the second auxiliary positioning gripper further guarantees positioning accuracy during the transfer process. A staggered loading mechanism prevents congestion at the material handling station, and detection sensors ensure continuous material feeding, preventing process interruptions caused by empty grippers.

[0016] A further embodiment of the present invention includes: the wiring frame feeding and straightening unit comprising a wiring frame feeding tray, a wiring frame feeding rail, a wiring frame clamping mechanism, and a wiring frame straightening mechanism; the upstream end of the wiring frame feeding rail is connected to the outlet of the wiring frame feeding tray, and the downstream end is provided with a wiring frame picking position; the wiring frame feeding rail is used to sequentially transport multiple vertically upright rectangular wiring frames to the wiring frame picking position; the wiring frame clamping mechanism is used to clamp the rectangular wiring frame at the wiring frame picking position and drive it to rotate around a horizontal axis, so that the rectangular wiring frame changes from a vertically upright position to an inclined upright position, and then moves it to be placed in the V-shaped positioning groove of the carrier, and drives the rectangular wiring frame to move along the V-shaped positioning groove to the assembly position; the wiring frame straightening mechanism is used to push the inclined upright rectangular wiring frame to tilt towards the horizontal bearing surface, so that it is in a flat position; the wiring frame feeding rail includes a first rail, a second rail, and a third rail connecting the downstream end of the first rail and the upstream end of the second rail, which are parallel to each other. The upstream end of the first rail connects to the outlet of the wiring frame feed tray, and the downstream end of the third rail is provided with a wiring frame picking position. The first rail transports the rectangular wiring frames from the wiring frame feed tray to the third rail. The rectangular wiring frames in the third rail are pushed to the second rail by the first pushing mechanism, and the rectangular wiring frames in the second rail are pushed to the wiring frame picking position by the second pushing mechanism. The wiring frame straightening mechanism and the wiring frame clamping mechanism are respectively located on both sides of the carrier conveyor line. The wiring frame clamping mechanism includes a third gripper, a third linear drive module, and a third rotary drive module. The third gripper is used to clamp the rectangular wiring frame. The third linear drive module is used to drive the third gripper to move linearly. The third rotary drive module is used to drive the third gripper to rotate around a horizontal axis. The wiring frame straightening mechanism includes a driving component and a push rod that is driven to extend and retract. The push rod extends downward at an angle to the top of the carrier conveyor line. The extension action of the push rod flattens the inclined rectangular wiring frame.

[0017] With the above-mentioned further design, the wiring frame feeding rail adopts a three-section rail design to achieve stable and orderly conveying of rectangular wiring frames. The first and second pushing mechanisms control the conveying rhythm in stages to avoid material accumulation. The wiring frame clamping mechanism completes the conversion of the rectangular wiring frame from vertical to inclined vertical position through the linear movement of the third gripper and the rotation of the horizontal axis, and moves it to the assembly position along the V-shaped positioning groove to ensure initial positioning accuracy. The wiring frame straightening mechanism adopts a downwardly extending push rod, which smoothly pushes the inclined rectangular wiring frame to a flat position through telescopic movement, so that it fits against the horizontal bearing surface of the carrier, providing a stable foundation for subsequent screw assembly. The clamping mechanism and the straightening mechanism, which are set on both sides of the carrier conveyor line, form a collaborative working space to avoid action interference and improve the overall smoothness of action. The material pick-up port design facilitates precise clamping by the clamps, reduces blind spots in operation, and ensures that each rectangular wiring frame can be reliably gripped.

[0018] A further provision of the present invention: the carrier conveyor line includes a first carrier line and a second carrier line for sequentially carrying multiple terminal block carriers, and a carrier drive mechanism. The two carrier lines are arranged parallel to each other along the X-axis and extend along the Y-axis. The upstream ends of the first carrier line and the second carrier line are connected together, and the downstream ends of the first carrier line and the second carrier line are connected together. The carrier drive mechanism includes a first X-axis drive component, a first Y-axis drive component, a second X-axis drive component, and a second Y-axis drive component. The first X-axis drive component is used to push the terminal block carrier at the upstream end of the first carrier line to the upstream end of the second carrier line along the X-axis direction. The first Y-axis drive is used to push multiple terminal carriers on the second carrier line to slide downstream along the Y-axis. The second X-axis drive is used to push the terminal carrier at the downstream end of the second carrier line to the downstream end of the first carrier line along the X-axis direction. The second Y-axis drive is used to push multiple terminal carriers on the first carrier line to slide upstream along the Y-axis. The terminal transfer unit includes a fourth gripper, a fourth linear drive module, and a fourth rotary drive module. The fourth gripper is used to clamp the terminal on the terminal carrier at the downstream end of the second carrier line and send it to the magnetic system carrier at the terminal loading station in the coil assembly equipment.

[0019] With the above-mentioned further configuration, the dual-carrying-line circulation structure enables continuous flow of the terminal carrier, eliminating the need for manual return of the carrier and improving the continuous operation efficiency of terminal assembly. At the same time, the fourth gripper, the fourth linear drive module, and the fourth rotary drive module in the terminal transfer unit cooperate with each other. The fourth gripper precisely holds the terminal, while the fourth linear drive module and the fourth rotary drive module provide linear and rotary motion, which can quickly deliver the terminal to the magnetic system carrier at the terminal loading station in the coil assembly equipment, further improving the working efficiency and assembly accuracy of the entire assembly line.

[0020] A further provision of the present invention: the coil assembly equipment includes a frame, on which a carrier circular conveyor line is provided. Along the carrier circular conveyor line are sequentially arranged a terminal feeding station, a stationary contact feeding unit, a first coil feeding unit, a second coil feeding unit, a first welding unit, a second welding unit, and a magnetic system component transfer unit. At least two types of magnetic system carriers adapted to different specifications of magnetic systems are configured on the carrier circular conveyor line. Each magnetic system carrier is provided with a coil positioning groove and terminal positioning grooves and stationary contact grooves located on both sides of the coil positioning groove. The different specifications of the coil positioning grooves are connected to the corresponding magnetic system components. The winding section of the coil is adapted to the specified specifications; the terminal positioning slot on the magnetic system carrier is used to accommodate the terminal; the stationary contact feeding unit is used to place the stationary contact in the stationary contact positioning slot; the first coil feeding unit or the second coil feeding unit is used to place the coil of the corresponding specification in the coil positioning slot; the first welding unit is used to weld and fix the first pin of the coil to the connection part of the terminal board; the second welding unit is used to weld and fix the second pin of the coil to the joint of the stationary contact, thereby forming a magnetic system assembly; the magnetic system assembly transfer unit is used to transfer the magnetic system assembly to the double trolley loading and unloading equipment.

[0021] With the above-mentioned further configuration, the design of the circular conveyor line allows the magnetic system carriers to circulate and connect sequentially at each station, achieving continuous assembly operations. The coil positioning slots of magnetic system carriers of different specifications are designed to match the dimensions of the corresponding components, ensuring the positioning accuracy of each component during assembly. The first and second coil feeding units select coils of corresponding specifications according to production requirements and embed their winding portions into the coil positioning slots, ensuring the compatibility between the coils and the carriers. The first and second welding units respectively weld the coil pins to the terminal block connection and the stationary contact joint, achieving seamless connection between the assembly line and subsequent processes.

[0022] A further provision of the present invention: both the first welding unit and the second welding unit are provided with an electrode feeding assembly and a welding assembly; the first pin of the coil corresponds to the front side of the connection portion of the terminal block, and the second pin corresponds to the front side of the connector of the stationary contact piece; the electrode feeding assembly of the first welding unit is used to feed the electrode to the middle of the connection portion between the first pin of the coil and the terminal block, and is welded and fixed by the welding assembly; the electrode feeding assembly of the second welding unit is used to feed the electrode to the middle of the connector between the second pin of the coil and the stationary contact piece, and is welded and fixed by the welding assembly; each welding assembly includes a first welding block and a second welding block. In the first welding unit, the first welding block of the welding assembly can move up and down to enter and exit behind the connection portion of the terminal block, and the second welding block corresponds to the front side of the first pin of the coil, and can move towards the first pin to cooperate with the first welding block to achieve hot welding and fixing of the first pin and the connection portion; in the second welding unit, the first welding block of the welding assembly can move up and down to enter and exit behind the connector of the stationary contact piece, and the first... The two solder blocks correspond to the front side of the second pin of the coil and can move towards the second pin to cooperate with the first solder block to achieve hot soldering and fixing of the second pin to the connector; the magnetic system carrier is provided with a terminal carrier, a coil carrier and a contact carrier, and the terminal positioning groove, the coil positioning groove and the stationary contact positioning groove are respectively provided on their respective carriers; an empty area is formed between the terminal carrier and the coil carrier for the first solder block to be inserted, and the connecting part of the terminal block and the first pin of the coil both extend to the empty area and are arranged opposite to each other; the first solder block can enter and exit the stationary contact positioning groove, and the stationary contact has a bent head that is embedded in the stationary contact positioning groove, the front end of the bent head extends to form a connector, and the bent head and the connector together form a clearance opening for the first solder block to be inserted; the opposite side walls of the terminal positioning groove are respectively provided with positioning slots and second contour positioning surfaces; the positioning slots are used to form insertion positioning with the plug-in end edge of the terminal block, and the second contour positioning surface is Z-shaped and forms contact positioning with the terminal block.

[0023] With the above-mentioned further configuration, the electrode feeding assembly controls the electrode feeding position to ensure that the electrode accurately reaches the middle of the coil pin and the corresponding welding part, providing a foundation for high-quality welding; the first and second welding blocks of the welding assembly work together, applying pressure and heat to the pin and welding part from different directions through the coordination of up-down and horizontal movement, to achieve reliable hot-welding fixation, ensuring welding strength and electrical connection stability; the first welding unit and the second welding unit perform welding operations on different pins of the coil respectively, with clear division of labor, improving the overall welding efficiency. The magnetic system carrier achieves precise positioning and independent assembly of each component through the partitioned design of terminal carriers, coil carriers, and contact carriers. The empty area not only provides operating space for the welding action of the first welding block, but also the matching design of the stationary contact positioning groove and the bend head, using the avoidance opening to ensure that the first welding block is inserted without interference. At the same time, the enclosing structure of the bend head and the connector enhances the positioning stability of the stationary contact on the carrier. The positioning bayonet of the terminal positioning groove and the Z-shaped contour positioning surface form multi-dimensional constraints, fixing the terminal block from both the end edge embedding and the body surface contact levels, effectively preventing the offset caused by vibration or external force during assembly and ensuring assembly accuracy.

[0024] A further embodiment of the present invention: the magnetic system component transfer unit includes a first conveyor line and a second conveyor line for sequentially conveying multiple positioning boxes, a positioning box drive mechanism, and a magnetic system gripper mechanism. The two conveyor lines extend along the Y-axis and are arranged vertically in the Z-axis direction. The positioning boxes are used to carry and align the magnetic system components. The positioning box drive mechanism includes an upstream material picking box seat, a first Z-axis drive and a third Y-axis drive corresponding to the upstream material picking box seat, a downstream material picking box seat, a second Z-axis drive and a fourth Y-axis drive corresponding to the downstream material picking box seat. The first Z-axis drive is used to drive the upstream material picking box seat to rise and fall, and the second Z-axis drive is used to drive the downstream material picking box seat to rise and fall. When the upstream material picking box seat is connected to the upstream end of the second conveyor line, it is used to receive the empty positioning box conveyed upstream by the second conveyor line. The first Z-axis drive is used to drive... The upstream material picking box seat rises to connect with the upstream end of the first conveyor line. The magnetic system gripper mechanism is used to grab the magnetic system components and place them in the empty positioning box on the upstream material picking box seat. The third Y-axis drive is used to push the positioning box loaded with the magnetic system components on the upstream material picking box seat to the upstream end of the first conveyor line. When the downstream material picking box seat connects with the downstream end of the first conveyor line, it is used to receive the positioning box loaded with the magnetic system components transported downstream from the first conveyor line. The positioning box on the downstream material picking box seat supplies magnetic system components to the double trolley loading and unloading equipment. The second Z-axis drive is used to drive the downstream material picking box seat to descend to connect with the downstream end of the second conveyor line. The fourth Y-axis drive is used to push the empty positioning box on the downstream material picking box seat to the second conveyor line. The empty positioning box on the second conveyor line is transported upstream to the connected upstream material picking box seat to complete the positioning box cycle.

[0025] By employing the aforementioned further configuration, two conveyor lines extending along the Y-axis and arranged vertically along the Z-axis enable the cyclical transport of the positioning boxes, reducing manual intervention and improving production efficiency. The various driving components and the picking box holder in the positioning box drive mechanism cooperate with each other, allowing the positioning boxes to accurately rise, fall, and move along the Y-axis during transport, ensuring the stability and accuracy of the magnetic system components during transfer. The magnetic system gripper mechanism reliably grasps and places the magnetic system components, further guaranteeing the smooth operation of the entire assembly line.

[0026] A further feature of the present invention: the dual-trolley loading and unloading device includes a frame, which is divided into a loading area and a unloading area along the X-axis. The first trolley and the second trolley are movably housed in their respective areas. The tops of the loading area and the unloading area are connected to form a tray transfer station. The frame is also equipped with a magnetic system component gripping mechanism. The tray handling group includes a tray transfer mechanism, a loading drive mechanism, and an unloading drive mechanism. The loading drive mechanism is used to transfer the top empty tray of the stacked trays on the first trolley to the top of the loading area. The tray transfer mechanism is used to transfer the tray to the top of the loading area. The magnetic system component gripping mechanism is used to clamp and place the magnetic system components onto an empty tray at the top of the unloading area. The unloading drive mechanism is used to move the tray loaded with multiple magnetic system components from the top of the unloading area to a second trolley. The tray transfer mechanism includes a pair of transfer grippers that can open and close along the Y-axis and slide synchronously along the X-axis. The loading drive mechanism includes a pair of loading grippers that can open and close along the Y-axis and slide synchronously along the Z-axis. The unloading drive mechanism includes a pair of unloading grippers that can open and close along the Y-axis and slide synchronously along the Z-axis. Sliding; each loading jaw and each unloading jaw is constructed with clearance space, which allows the corresponding transfer jaw to slide in and out relative to each other along the Z-axis; the pair of loading jaws close to clamp the uppermost single tray on the first trolley and can drive the tray to move upward along the Z-axis to the top of the loading area. At this time, the clearance space of the pair of loading jaws is used to allow the pair of transfer jaws at the top of the loading area to enter relative to each other; the pair of transfer jaws can close to replace the pair of loading jaws to clamp the tray; when the pair of loading jaws open to avoid the X-axis sliding trajectory of the transfer jaws, the pair of transfer jaws can drive the clamped tray to slide along the X-axis to the top of the unloading area; position A pair of unloading grippers at the top of the unloading area can close to replace a pair of transfer grippers to hold the material tray. At this time, the clearance space of the pair of unloading grippers is used to accommodate the pair of transfer grippers. After the pair of unloading grippers moves the held material tray down along the Z-axis to avoid the X-axis sliding trajectory of the transfer grippers, the pair of transfer grippers can slide along the X-axis to the top of the loading area. Each loading gripper and unloading gripper includes a clamping arm and multiple clamping claws on it. The multiple clamping claws are spaced apart along the X-axis and form a clearance space. Each transfer gripper includes a transfer arm and a transfer claw on it. The transfer claws can move in and out of the clearance space formed by adjacent clamping claws.

[0027] By employing a further configuration, the independent transfer and stacking of individual trays is achieved through the following action logic: "The loading gripper clamps the top single tray and moves it upward along the Z-axis → The transfer gripper takes over and moves it along the X-axis → The unloading gripper takes over and moves it downward along the Z-axis to stack it → The transfer gripper slides back to its original position along the X-axis to wait." The loading gripper only clamps the top single tray in the first trolley, moving independently up and down along the Z-axis to avoid loading the entire stack of trays. The clearance space provides a Z-axis access channel for the transfer gripper, ensuring interference-free clamping during replacement. The transfer gripper opens and closes along the Y-axis to take over clamping the tray from the loading gripper, then slides along the X-axis to move the tray from the loading area to the unloading area, completing the cross-area tray transfer. Its sliding trajectory is achieved by the opening and closing of a pair of loading grippers to allow unobstructed movement, or by the downward movement of the loading gripper to further avoid the sliding trajectory of the transfer gripper along the X-axis. Unloading gripper: After the material tray is transferred to the top of the unloading area, the transfer gripper receives it through the clearance space, takes over gripping the material tray, and moves it downward along the Z-axis, stacking the material tray onto the second trolley. The downward movement simultaneously provides clearance space for the transfer gripper to return to its original position. Dual trolleys: These are independently housed in the loading and unloading areas, respectively. The first trolley can replenish material trays at any time, and the second trolley can transfer material trays at any time, without interfering with the continuous operation of the equipment. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a structural diagram of the terminal assembly equipment of the present invention; Figure 3 This is a structural diagram of the vehicle conveyor line of the present invention; Figure 4 This is a bottom structural diagram of the vehicle conveyor line of the present invention; Figure 5 This is a structural diagram of the terminal block carrier of the present invention; Figure 6 This is a structural diagram of the wireframe stop of the present invention; Figure 7 This is a structural diagram of the present invention after the terminal block is placed on the carrier. Figure 8 This is a structural diagram of the carrier of the present invention after a rectangular wiring frame is placed on the V-shaped positioning groove. Figure 9 This is a structural diagram of the carrier of the present invention after a rectangular wiring frame is placed on the horizontal bearing surface; Figure 10 This is a structural diagram of the wiring board feeding unit of the present invention; Figure 11 This is a structural diagram of a terminal block clamping mechanism, where the first gripper is in the state before rotation, and a is the rotation direction of the first gripper. Figure 12 This is a structural diagram of a terminal block clamping mechanism, where the first gripper is in the rotated state; Figure 13 This is a structural diagram of a terminal block clamping mechanism, where b is the rotation direction of the second gripper. Figure 14 The diagram shows the structure of the terminal block clamping mechanism 2, which clamps and delivers the terminal block to the terminal carrier. Figure 15 This is a structural diagram of the wiring frame feeding and straightening unit of the present invention; Figure 16 for Figure 15Diagram showing the connection between the feed rail and the pushing mechanism in the middle wiring frame; Figure 17 for Figure 15 Structural diagram of the feed rail in the middle wiring frame; Figure 18 for Figure 15 Structural diagram of the middle wiring frame clamp mechanism; Figure 19 for Figure 15 Structural diagram of the center frame alignment mechanism; Figure 20 for Figure 15 Structural diagram of the middle screw assembly unit; Figure 21 This is a structural diagram of the coil assembly equipment of the present invention; Figure 22 This is a structural diagram of the circular conveyor line of the vehicle according to the present invention; Figure 23 This is a structural diagram of the magnetic system carrier of the present invention; Figure 24 This is a structural diagram of the coil, terminal block and stationary contact of the present invention mounted on a magnetic system carrier; Figure 25 This is a structural diagram of the electrode feeding assembly of the present invention; Figure 26 This is a structural diagram of the welding assembly of the present invention; Figure 27 This is a structural diagram of the upstream end of the two conveyor lines of the magnetic system component transfer unit of the present invention; Figure 28 This is a structural diagram of the downstream end of the two conveyor lines of the magnetic system component transfer unit of the present invention; Figure 29 This is a structural diagram of the double-trolley loading and unloading device of the present invention; Figure 30 This is a top view of the internal structure of the present invention; Figure 31 This is a diagram of the internal structure of the present invention; Figure 32 This is a structural diagram of the feeding drive mechanism of the present invention; Figure 33 This is a structural diagram of the feeding drive mechanism of the present invention; Figure 34 This is a structural diagram of the material tray transfer mechanism of the present invention. Detailed Implementation

[0029] The technical solutions in this embodiment 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, and 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.

[0030] like Figure 1-34 As shown, the present invention provides a multi-specification adaptable magnetic system assembly line, comprising a terminal assembly device 1, a coil assembly device 2, and a double trolley loading and unloading device 3 connected in sequence. Each device achieves coordinated operation through an electrical control system such as a PLC controller to ensure orderly connection and operation of each link. The terminal assembly equipment 1 is used to assemble the terminal frame 4, terminal block 5, and screws 6. It includes a terminal carrier 110, which has a V-shaped positioning groove 1102. This V-shaped positioning groove 1102 is adapted to one side edge of the lower end of the rectangular terminal frame 4, allowing the rectangular terminal frame 4 to stand at an angle with its inner diagonal vertical. The depth of the V-shaped positioning groove ensures the stable standing of the terminal frame. The included angle of the V-shaped positioning groove can be designed to be 90°. The terminal assembly equipment 1 inserts the plug portion 51 of the terminal block 5 into the vertical inner diagonal area of ​​the rectangular terminal frame 4, and then screws 6 onto the rectangular terminal frame 4 to form the terminal 7. Specifically, the terminal assembly equipment 1 includes... The machine includes a frame 11, on which a carrier conveyor line 12 is provided, and a terminal block loading unit 13, a terminal frame loading and straightening unit 14, a screw assembly unit 15, and a terminal transfer unit 16 are arranged sequentially along the conveying direction of the carrier conveyor line 12; a plurality of terminal carriers 110 are arranged on the carrier conveyor line 12, and each terminal carrier 110 includes a base 1101, the upper surface of which is provided with a V-shaped positioning groove 1102, a horizontal bearing surface 1103, and a terminal block station 1104, the horizontal bearing surface 1103 being located on the side of the V-shaped positioning groove 1102; the horizontal bearing surface 1103 is used for the horizontal positioning of the rectangular terminal frame 4; the terminal block station 1104... 104 is used to position the terminal block 5, so that the terminal block 5 is in a side-lying state and its plug-in part 51 corresponds to the upper part of the V-shaped positioning groove 1102; the terminal block loading unit 13 is used to transfer the terminal block 5 in a side-lying state to the terminal block station 1104; the terminal frame loading and straightening unit 14 is used to place the lower end of the rectangular terminal frame 4 and the edge near the horizontal bearing surface 1103 into the V-shaped positioning groove 1102, and drive the rectangular terminal frame 4 to move along the V-shaped positioning groove 1102 to the assembly position, so that the plug-in part 51 of the terminal block 5 is inserted into the vertical inner diagonal area of ​​the rectangular terminal frame 4; the terminal frame loading and straightening unit 14 can also drive the inclined rectangular terminal frame 4 towards the horizontal bearing surface 1102. 103 is tilted to the side, so that it lies flat and the lower end of the rectangular wiring frame 4 is vertically raised to abut against the plug part 51 of the wiring plate 5; the screw assembly unit 15 is used to transport the screw 6 and screw it onto the rectangular wiring frame 4 in the flat state, thereby forming the terminal 7; specifically, the screw assembly unit includes a screw screwing machine, a lateral positioning component and a pressing positioning component; the pressing positioning component includes a pressing drive component and a pressing block, the pressing drive component is a cylinder or an electric cylinder, which can drive the pressing block to press against the surface of the flat rectangular wiring frame; the lateral positioning component includes a lateral drive component and a lateral pressing block, the lateral drive component is a cylinder or an electric cylinder, which can drive the lateral pressing block to abut against one end of the flat rectangular wiring frame.The screw-in machine includes a screw feed tube screw-in assembly, which is used to screw the screws at the outlet of the screw feed tube into the threaded holes at the other end of the rectangular terminal frame. The screw-in assembly is a conventional structure such as CN111250967A or CN222957973U, featuring a screwdriver bit, a rotary drive module for driving the bit's rotation, and a linear drive module, enabling the screwing in and out of the locking screws. The terminal transfer unit 16 is used to transfer the terminal blocks 7 to the coil assembly equipment 2. It also includes a detection unit for screening qualified and unqualified products.

[0031] Specifically, the carrier 1101 has a wire frame stop 1105 and a movable clamping block 1106 respectively provided at both ends of the horizontal bearing surface 1103. The wire frame stop 1105 extends into the V-shaped positioning groove 1102 to limit the rectangular wiring frame 4 that moves along the V-shaped positioning groove 1102 to the assembly position. The lower end of the movable clamping block 1106 is rotatably connected to the carrier 1101 through a hinge shaft, and the upper end is a clamping end 11061. An elastic reset member 1107 is provided on the carrier 1101. 7 is a tension spring, one end of which is hooked to the connecting shaft 11062 at the upper end of the movable clamping block 1106, and the other end is hooked to the fixed shaft 11011 of the carrier 1101; when the rectangular wiring frame 4 is in a flat state, the elastic reset member 1107 can drive the clamping end 11061 of the movable clamping block 1106 to move closer to the wire frame stop 1105, so as to cooperate with the wire frame stop 1105 to achieve clamping and positioning of the rectangular wiring frame 4; the wiring board station 1104 is provided on the wire frame stop 1105, and the wire frame stop 1105 is provided with the first A contour positioning surface 11051 and a positioning post 11052 are provided. The first contour positioning surface 11051 and the positioning post 11052 cooperate to position the inner and outer sides of the wiring board 5. The first contour positioning surface 11051 has a Z-shaped structure, including a positioning middle surface 110511 and a first positioning end surface 110512 and a second positioning end surface 110513 extending in opposite directions from both ends of the positioning middle surface 110511. The positioning middle surface 110511, the first positioning end surface 110512, and the second positioning end surface 110513 are respectively... The positioning pins 11052 are spaced apart along the extension direction of the first contour positioning surface 11051 and are used to abut and limit the inner surface of the terminal block 5. One of the positioning pins corresponds to the corner between the positioning middle surface and the first positioning end surface and abuts against the inner surface of the corner of the terminal block body and the plug-in part. The wire frame stop is provided with a plug hole, and the positioning pin is adapted to be inserted into the plug hole. The wire frame stop is detachably inserted into the mounting hole of the carrier through the positioning pin shaft. The terminal block carrier has a first light guide hole below the terminal block position and a second light guide hole below the horizontal bearing surface. The first light guide hole and the second light guide hole work together with the sensor to realize the position determination of the terminal block and the rectangular terminal frame. The sensor can be a photoelectric sensor. During operation, the terminal block is placed at the terminal block station, and the Z-shaped contour positioning surface fits against various parts of the terminal block from the outside, while the positioning post abuts against it from the inside, forming a bidirectional positioning. After the terminal frame is placed in the V-shaped positioning groove, it moves along the groove to the wire frame stop to achieve a limit. When the terminal frame is tilted to the horizontal bearing surface, it squeezes the upper end of the movable clamping block to make it rotate around the hinge axis, and the tension spring stores force. After the terminal frame is completely flat, the tension spring returns to its original position, driving the movable clamping block to move closer to the wire frame stop, clamping and fixing the terminal frame.

[0032] Specifically, the connector plate feeding unit 13 includes a connector plate feeding tray 131, a connector plate feeding rail 132, a connector plate clamping mechanism one 133, and a connector plate clamping mechanism two 134; the upstream end of the connector plate feeding rail 132 is connected to the outlet of the connector plate feeding tray 131, and the downstream end is provided with a connector plate picking position 1321; the connector plate feeding rail 132 is used to sequentially transport multiple vertically placed connector plates 5 to the connector plate picking position 1321, the connector plate feeding rail 132 has a connector plate channel 1322 inside, and a track surface 1323 at the upper end, and the vertically placed connector plate 5 with its plug-in part 51 facing downward is inserted into the connector plate channel 132. 2. The main body 53 is slidably disposed on the track surface 1323, and the connecting part 52 extends out of the terminal block channel 1322; the terminal block picking position 1321 is provided with a picking port for exposing the plug part 51 of the terminal block 5; the first terminal block clamping mechanism 133 is used to clamp the plug part 51 of the terminal block 5 at the terminal block picking position 1321 and drive the terminal block 5 to rotate around the horizontal axis, so that the terminal block 5 changes from a vertical position to a side-lying position; the second terminal block clamping mechanism 134 is used to clamp the connecting part 52 of the side-lying terminal block 5 and drive the terminal block 5 to rotate around the vertical axis, so that the terminal block 5 is transferred and positioned to the terminal block station 1104.

[0033] Specifically, the connector clamping mechanism 133 includes a first gripper 1331, a first auxiliary positioning gripper 1332, a first linear drive module 1333, and a first rotary drive module 1334; the first gripper 1331 is used to extend into the feeding port and clamp the plug-in portion 51 of the connector 5, and the first auxiliary positioning gripper 1332 is used to abut against the side of the connecting portion 52 of the connector 5; the first linear drive module 1333 is used to drive the first gripper 1331 and the first auxiliary positioning gripper 1332 to move linearly. Furthermore, when the first gripper 1331 clamps the insertion part 51, the first auxiliary positioning gripper 1332 simultaneously abuts against the connection part 52; the first rotary drive module 1334 is used to synchronously drive the first gripper 1331 and the first auxiliary positioning gripper 1332 to rotate around a horizontal axis; the second terminal block clamping mechanism 134 includes a second gripper 1341, a second auxiliary positioning gripper 1342, a second linear drive module 1343, and a second rotary drive module 1344; the second linear drive module 1343 is used to drive the first... The two grippers 1341 and the second auxiliary positioning gripper 1342 move linearly, and when the second gripper 1341 grips the connecting part 52, the second auxiliary positioning gripper 1342 simultaneously abuts against the plug-in part 51; the second rotary drive module 1344 is used to synchronously drive the second gripper 1341 and the second auxiliary positioning gripper 1342 to rotate around the vertical axis; the terminal block feeding unit 13 also includes a detection sensor 135 for detecting whether there is material at the terminal block picking position 1321, and a staggered feeding component 136 for blocking the terminal block 5 to achieve staggered feeding. The detection sensor 135 can be a photoelectric sensor, which is installed on one side of the picking position to detect whether there is material; the staggered feeding component 136 includes a first blocking block 1361 and a second blocking block 1362. The first blocking block 1361 and the second blocking block 1362 are respectively located on one side of the terminal block feeding rail 132. The first blocking block 1361 and the second blocking block 1362 extend and retract alternately to achieve that only one terminal block is released to the terminal block picking position at a time.

[0034] Specifically, the wiring frame feeding and straightening unit 14 includes a wiring frame feeding tray 141, a wiring frame feeding rail 142, a wiring frame clamping mechanism 143, and a wiring frame straightening mechanism 144. The upstream end of the wiring frame feeding rail 142 is connected to the outlet of the wiring frame feeding tray 141, and the downstream end is provided with a wiring frame picking position 1421. The wiring frame feeding rail 142 is used to sequentially transport multiple vertically placed rectangular wiring frames 4 to the wiring frame picking position 1421. The wiring frame picking position 1421 is provided with a picking port for the rectangular wiring frames 4 to be exposed. The wiring frame clamping mechanism 143 is used to clamp the rectangular wiring frames 4 at the wiring frame picking position 1421 and drive them to rotate around a horizontal axis, so that the rectangular wiring frames... 4. The rectangular wiring frame 4 is changed from a vertical position to an inclined position, then transferred and placed in the V-shaped positioning groove 1102 of the carrier 1101, and the rectangular wiring frame 4 is moved along the V-shaped positioning groove 1102 to the assembly position; the wiring frame straightening mechanism 144 is used to push the inclined rectangular wiring frame 4 to tilt to the side of the horizontal bearing surface 1103, so that it is in a flat position; the wiring frame feeding rail 142 includes a first feeding rail 1423, a second feeding rail 1424 and a third feeding rail 1425 that are parallel to each other. The upstream end of the first feeding rail 1423 is connected to the outlet of the wiring frame feeding tray 141, and the third feeding rail 1425 is connected to the outlet of the wiring frame feeding tray 141. A wire frame picking position 1421 is set at the downstream end; the first material rail 1423 conveys the rectangular wire frame 4 of the wire frame feeding tray 141 to the third material rail 1425. The rectangular wire frame 4 in the third material rail 1425 is pushed to the second material rail 1424 by the first pushing mechanism 145, and the rectangular wire frame 4 in the second material rail 1424 is pushed to the wire frame picking position 1421 by the second pushing mechanism 146. Both the first and second pushing mechanisms are composed of a linear drive 1471 and a push block 1472, used to push the wire frame. The linear drive is a cylinder or an electric cylinder; the wire frame straightening mechanism 144 and the wire frame clamping mechanism 143 are respectively set on both sides of the carrier conveyor line 12. The frame clamping mechanism 143 includes a third gripper 1431, a third linear drive module 1432, and a third rotary drive module 1433. The third gripper 1431 is used to extend into the material pick-up port and clamp the rectangular wiring frame 4. The third linear drive module 1432 is used to drive the third gripper 1431 to move linearly. The third rotary drive module 1433 is used to drive the third gripper 1431 to rotate around a horizontal axis. The wiring frame straightening mechanism 144 includes a drive member 1441 and a push rod 1442 driven by it to extend and retract. The push rod 1442 extends downward at an angle to above the carrier conveyor line 12. The extension action of the push rod 1442 straightens the inclined rectangular wiring frame 4 to a flat position.

[0035] Specifically, the carrier conveyor line 12 includes a first carrier line 121 and a second carrier line 122 for sequentially carrying multiple terminal carriers 110, and a carrier drive mechanism. The two carrier lines are arranged parallel to each other along the X-axis and extend along the Y-axis. The upstream ends of the first carrier line 121 and the second carrier line 122 are connected, and the downstream ends of the first carrier line 121 and the second carrier line 122 are connected. The carrier drive mechanism includes a first X-axis drive member 1231, a first Y-axis drive member 1232, a second X-axis drive member 1233, and a second Y-axis drive member 1234. The first X-axis drive member 1231 is used to push the terminal carriers 110 at the upstream end of the first carrier line 121 to the upstream end of the second carrier line 122. The first Y-axis drive member 1232 is used to push the multiple terminal carriers 110 on the second carrier line 122 to slide downstream along the Y-axis. The second X-axis drive member 1233 is used to push the terminal carriers 110 on the second carrier line 122 to slide downstream along the Y-axis. The terminal carrier 110 at the downstream end is pushed to the downstream end of the first carrier line 121. The second Y-axis drive 1234 is used to push the multiple terminal carriers 110 on the first carrier line 121 to slide upstream along the Y-axis. The terminal transfer unit 16 includes a fourth gripper 161, a fourth linear drive module 162 and a fourth rotary drive module 163. The fourth gripper 161 is used to clamp the terminal 7 on the terminal carrier 110 at the downstream end of the second carrier line 122 and send it to the magnetic system carrier 210 of the terminal loading station 23 in the coil assembly equipment 2. The frame 11 of the terminal assembly equipment 1 has a terminal picking window, and the frame 21 of the coil assembly equipment 2 has a terminal loading window. The terminal loading window corresponds to the terminal picking window. The terminal 7 is taken out by the terminal picking window of the terminal assembly equipment 1 and enters the coil assembly equipment 2 from the terminal loading window.

[0036] The coil assembly equipment 2 is used to assemble the terminal block 7, coil 8, and stationary contact 9. It is equipped with at least two types of magnetic system carriers 210, each of which is adapted to a coil 8 of a corresponding specification. The coil assembly equipment 2 welds and fixes the coil 8 to the terminal block 5 and the stationary contact 9 to form a magnetic system assembly 10. The coil assembly equipment 2 includes a frame 21, on which a carrier ring conveyor line 22 is provided. The ring conveyor line may be composed of a ring guide rail, a transmission chain, a carrier mounting base, a servo drive unit, and an electromagnetic positioning unit. The ring guide rail is fixed on the frame, and the transmission chain meshes with the guide rail. The carrier mounting bases are evenly distributed on the chain and are used to fix the magnetic system carriers. A servo drive unit is connected to a chain gear via a reducer to drive the circular conveyor to rotate at a constant speed. An electromagnetic positioning unit is installed below each workstation to stop the conveyor when the carrier reaches its designated position. Along the circular conveyor line 22, the following components are arranged sequentially: a terminal feeding station 23, a stationary contact feeding unit 24, a first coil feeding unit 25, a second coil feeding unit 26, a first welding unit 27, a second welding unit 28, and a magnetic system component transfer unit 29. At least two types of magnetic system carriers 210 adapted to different specifications of magnetic systems are configured on the circular conveyor line 22. Each magnetic system carrier 210 is equipped with a coil positioning groove 2101 and terminal positioning grooves 2102 located on both sides of the coil positioning groove 2101. The stationary contact plate positioning groove 2103 and the coil positioning groove 2101 of different specifications are adapted to the winding part 81 of the corresponding specification coil 8; the terminal loading station 23 is connected to the terminal transfer unit 16; the terminal positioning groove 2102 on the magnetic system carrier 210 is used to accommodate the terminal 7 transferred and transported by the terminal transfer unit 16; the stationary contact plate loading unit 24 is used to place the stationary contact plate 9 into the stationary contact plate positioning groove 2103; the first coil loading unit 25 or the second coil loading unit 26 is used to place the coil 8 of the corresponding specification into the coil positioning groove 2101; the first welding unit 27 is used to weld and fix the first pin 82 to the connection part 52 of the terminal board 5. The second welding unit 28 is used to weld and fix the second pin 83 to the connector 91 of the stationary contact 9, thereby forming the magnetic system assembly 10; the magnetic system assembly transfer unit 29 is used to transfer the magnetic system assembly 10 to the double trolley loading and unloading device 3; wherein the stationary contact loading unit 24, the first coil loading unit 25, and the second coil loading unit 26 have loading components, and their loading components are conventionally designed and have the same structure as CN2229712813U. The loading component of the stationary contact loading unit includes a stationary contact loading channel and a stationary contact clamping component, which clamps the stationary contact into the stationary contact placement slot; the loading component of the coil loading unit includes a coil loading channel and a coil clamping component, which clamps the coil into the coil placement slot; Specifically, both the first welding unit 27 and the second welding unit 28 are equipped with an electrode feeding assembly 211 and a welding assembly 212; the first pin 82 of the coil 8 corresponds to the front side of the connection portion 52 of the terminal block 5, and the second pin 83 corresponds to the front side of the connector 91 of the stationary contact piece 9; the electrode feeding assembly 211 of the first welding unit 27 is used to feed the electrode 213 to the middle of the connection portion 52 of the terminal block 5 and the first pin 82 of the coil 8, and is welded and fixed by the welding assembly 212; the electrode feeding assembly 211 of the second welding unit 28 is used to feed the electrode 213 to the middle of the connector 91 of the terminal block 9 and the second pin 83 of the coil 8, and is welded and fixed by the welding assembly 212; each welding assembly 212 includes a first welding block 2121 and a second welding block 2122, the first welding block and the second welding block can be formed by... The first welding block 2121 of the welding assembly 212 in the first welding unit 27 can move up and down to enter and exit behind the connecting part 52 of the terminal block 5; the second welding block 2122 corresponds to the front side of the first pin 82 of the coil 8, and can move towards the first pin 82 to cooperate with the first welding block 2121 to achieve hot welding and fixation of the first pin 82 and the connecting part 52; the first welding block 2121 of the welding assembly 212 in the second welding unit 28 can move up and down to enter and exit behind the connector 91 of the stationary contact piece 9; the second welding block 2122 corresponds to the front side of the second pin 83 of the coil 8, and can move towards the second pin 83 to cooperate with the first welding block 2121 to achieve hot welding and fixation of the second pin 83 and the connector 91, and each first welding block and second welding block can be driven to slide by the corresponding cylinder or electric cylinder. Specifically, each of the aforementioned electrode feeding assemblies is the same as the conventional design and structure of CN222971284U, including an electrode roll, a clamping member for clamping or loosening the electrode, and a feeding drive. The feeding drive is used to transport the electrode on the electrode roll to the area to be welded via the clamping member.

[0037] Specifically, the magnetic system carrier 210 is provided with a terminal carrier 2104, a coil carrier 2105, and a contact carrier 2106. The terminal positioning groove 2102, the coil positioning groove 2101, and the stationary contact positioning groove 2103 are respectively provided on their respective carriers. A space 2107 is formed between the terminal carrier 2104 and the coil carrier 2105, into which the first solder block 2121 can be inserted. The connecting part 52 of the terminal block 5 and the first pin 82 of the coil 8 both extend into the space 2107 and are arranged opposite to each other. The first solder block 2121 can enter and exit the stationary contact positioning groove 2103. The stationary contact 9 has a bent head 92 that is embedded in the stationary contact positioning groove 2103. The front end of the bent head 92 extends to form a connector 91. The bent head 92 and the connector 91 together form a clearance opening 93 for the insertion of the first solder block 2121. The second pin 83 of the coil 8 extends towards the contact carrier 2106 and is positioned opposite to the connector 91 of the stationary contact 9. The opposite sidewalls of the terminal positioning groove 2102 are respectively provided with positioning slots 21021 and second contour positioning surfaces 21022. The positioning slots 21021 are used to form insertion positioning with the end edge of the plug-in part 51 of the terminal block 5. The second contour positioning surface 21022 is Z-shaped and also includes a positioning middle surface, a first positioning end surface and a second positioning end surface. The positioning middle surface, the first positioning end surface and the second positioning end surface respectively form contact positioning with the body part 53, the plug-in part 51 and the connecting part 52 of the terminal block 5.

[0038] Specifically, the magnetic system component transfer unit 29 includes a first conveyor line 291 and a second conveyor line 292 for sequentially conveying multiple positioning boxes 20, a positioning box drive mechanism, and a magnetic system gripper mechanism 294. The two conveyor lines extend along the Y-axis and are arranged vertically in the Z-axis direction. The positioning box 20 is used to carry and align the magnetic system component 10. The positioning box drive mechanism includes an upstream material picking box seat 2931, a first Z-axis drive component 2932 and a third Y-axis drive component 2933 corresponding to the upstream material picking box seat 2931, and a downstream material picking box. The upstream material receiving box seat 2934, the corresponding downstream material receiving box seat 2934, the second Z-axis drive 2935, and the fourth Y-axis drive 2936; the first Z-axis drive 2932 is used to drive the upstream material receiving box seat 2931 to rise and fall, and the second Z-axis drive 2935 is used to drive the downstream material receiving box seat 2934 to rise and fall; when the upstream material receiving box seat 2931 is connected to the upstream end of the second conveyor line 292, it is used to receive the empty positioning box 20 conveyed upstream by the second conveyor line 292; the first Z-axis drive 2932 is used to drive the upstream material receiving box seat 2934 to rise and fall. 931 rises to connect with the upstream end of the first conveyor line 291. The magnetic system gripper mechanism 294 is used to grasp the magnetic system component 10 and place it on the empty positioning box 20 of the upstream material picking box seat 2931. The third Y-axis drive 2933 is used to push the positioning box 20 loaded with the magnetic system component 10 on the upstream material picking box seat 2931 to the upstream end of the first conveyor line 291. When the downstream material picking box seat 2934 connects with the downstream end of the first conveyor line 291, it is used to receive the positioning box loaded with the magnetic system component 10 being conveyed downstream from the first conveyor line 291. 20. The positioning box 20 on the downstream material picking box seat 2934 is supplied to the magnetic system component 10 of the double-trolley loading and unloading device 3. The second Z-axis drive 2935 is used to drive the downstream material picking box seat 2934 to descend and dock with the downstream end of the second conveyor line 292. The fourth Y-axis drive 2936 is used to push the empty positioning box 20 on the downstream material picking box seat 2934 onto the second conveyor line 292. The empty positioning box 20 on the second conveyor line 292 is then transported upstream to the docking upstream material picking box seat 2931 to complete the cycle of the positioning box 20. The first and second conveyor lines can be belt conveyor tracks, equipped with limit sensors to detect whether the workpiece is in position.

[0039] The dual-trolley loading and unloading device 3 is used for unloading the magnetic system component 10. It includes a first trolley 32, a second trolley 33, a tray 34, and a tray transport group for transporting a single tray. The tray 34 is used to load the magnetic system component 10. The first trolley 32 supplies empty trays, and the second trolley 33 stacks and stores full trays after loading the magnetic system component 10. The dual-trolley loading and unloading device 3 includes a frame 31, which is divided into a loading area 311 and a unloading area 312 along the X-axis. The first trolley 32 and the second trolley 33 are movably housed in their respective areas. The tops of the loading area 311 and the unloading area 312 are connected to form a tray transfer station. The frame 31 is also equipped with a magnetic system component gripping mechanism 35. The tray handling group includes a tray transfer mechanism 36, a loading drive mechanism 37, and an unloading drive mechanism 38. The loading drive mechanism 37 is used to transfer the uppermost single empty tray 34 of the first trolley 32 to the loading area. At the top of region 311, the tray transfer mechanism 36 is used to move the tray 34 laterally between the top of the loading region 311 and the top of the unloading region 312. The magnetic system component gripping mechanism 35 is connected to the magnetic system component transfer unit 29 and is used to clamp and place the magnetic system component 10 on the empty tray 34 at the top of the unloading region 312. The magnetic system component gripping mechanism 35 is used to remove the magnetic system component 10 from the positioning box 20 on the downstream material picking box seat 2934. The unloading drive mechanism 38 is used to move the tray 34 loaded with multiple magnetic system components 10 from the top of the unloading region 312 and place it on the second trolley 33.

[0040] Specifically, the tray transfer mechanism 36 includes a pair of transfer grippers 361, which can open and close along the Y-axis and slide synchronously along the X-axis. The loading drive mechanism 37 includes a pair of loading grippers 371, which can open and close along the Y-axis and slide synchronously along the Z-axis. The unloading drive mechanism 38 includes a pair of unloading grippers 381, which can open and close along the Y-axis and slide synchronously along the Z-axis. Each loading gripper 371 and each unloading gripper 381 is provided with a clearance space 39. Space 39 allows the corresponding transfer grippers 361 to slide in and out relative to each other along the Z-axis; the pair of loading grippers 371 close to grip the uppermost single tray 34 among the multiple trays 34 stacked on the first trolley 32, and can drive the tray 34 to move upward along the Z-axis to the top of the loading area 311. At this time, the clearance space 39 of the pair of loading grippers 371 is used to allow the pair of transfer grippers 361 at the top of the loading area 311 to enter relative to each other; the pair of transfer grippers 361 can close to replace the pair of loading grippers 371 located at the top of the loading area 311 to grip the tray 361. Material tray 34; when a pair of loading jaws 371 open to avoid the X-axis sliding trajectory of transfer jaws 361, the pair of transfer jaws 361 can drive the clamped material tray 34 to slide along the X-axis to the top of the unloading area 312; a pair of unloading jaws 381 located at the top of the unloading area 312 can close to replace the pair of transfer jaws 361 to clamp the material tray 34, at which time the clearance space 39 of the pair of unloading jaws 381 is used to accommodate the pair of transfer jaws 361; when the pair of unloading jaws 381 drive the clamped material tray 34 to move downward along the Z-axis to avoid the transfer jaws. When the X-axis sliding trajectory of 361 is being followed, the pair of transfer grippers 361 can slide along the X-axis to the top of the loading area 311; each loading gripper 371 and unloading gripper 381 includes a gripping arm 301 and a plurality of gripping claws 302 disposed thereon, the plurality of gripping claws 302 being spaced apart along the X-axis and forming the clearance space 39; each transfer gripper 361 includes a transfer arm 3611 and a transfer claw 3612 disposed thereon, the transfer claw 3612 being able to enter and exit the clearance space 39 formed by adjacent gripping claws on the gripping arm 301.

[0041] The tray transfer mechanism 36 includes a pair of transfer grippers 361, a third Y-axis drive module 362, and an X-axis drive module 363. The third Y-axis drive module 362 drives the pair of transfer grippers 361 to open and close along the Y-axis direction, and the X-axis drive module 363 drives the pair of transfer grippers 361 to slide synchronously along the X-axis direction. There are two sets of X-axis drive modules 363, with the pair of transfer grippers symmetrically arranged on the first sliding seats 3631 of the two X-axis drive modules 363. The first sliding seat of the group drives the sliding along the X-axis. Each transfer gripper 361 includes a transfer arm 3611 and a transfer claw 3612 mounted thereon. The third Y-axis drive module 362 is a linear power cylinder. The cylinder body is fixed on the first sliding seat 3631 of the X-axis drive module. The output ends of the two linear power cylinders are respectively connected to the transfer arms 3611 of a pair of transfer grippers. By extending and retracting the piston rod of the power cylinder, the pair of transfer grippers are driven to open and close synchronously along the Y-axis direction to achieve clamping or releasing of the material tray.

[0042] The feeding drive mechanism 37 includes a pair of feeding grippers 371, a first Y-axis drive module 372, and a first Z-axis drive module 373. The first Y-axis drive module 372 is used to drive the pair of feeding grippers 371 to open and close along the Y-axis direction, and the first Z-axis drive module 373 is used to drive the pair of feeding grippers 371 to slide synchronously along the Z-axis direction. The first Z-axis drive module 373 is provided with a second sliding seat 3731 that can slide along the Z-axis. The first Z-axis drive module 373 drives the second sliding seat 3731 to slide. The first Y-axis drive module 372 is a linear power cylinder, and the cylinder body is fixed on the second sliding seat 3731. The output ends of the two linear power cylinders are respectively connected to the clamping arms 301 of the pair of feeding grippers. By extending and retracting the piston rod of the power cylinder, the pair of feeding grippers are driven to open and close synchronously along the Y-axis direction to realize the clamping or releasing of the material tray.

[0043] The feeding drive mechanism 38 includes a pair of feeding grippers 381, a second Y-axis drive module 382, ​​and a second Z-axis drive module 383. The second Y-axis drive module 382 is used to drive the pair of feeding grippers 381 to open and close along the Y-axis direction, and the second Z-axis drive module 383 is used to drive the pair of feeding grippers 381 to slide synchronously along the Z-axis direction. The second Z-axis drive module 383 is provided with a third sliding seat 3831 that can slide along the Z-axis. The second Y-axis drive module 382 is a linear power cylinder, and the cylinder body is fixed on the third sliding seat 3831. The output ends of the two linear power cylinders are respectively connected to the clamping arms 301 of the pair of feeding grippers. By extending and retracting the piston rod of the power cylinder, the pair of feeding grippers are driven to open and close synchronously along the Y-axis direction to realize the clamping or releasing of the material tray.

[0044] The clamping claws are configured with three parts: a middle clamping claw and two side clamping claws on both sides. A clearance space is formed between the middle clamping claw and the two side clamping claws. The transfer claws are configured with two parts. The two transfer claws can respectively enter and exit the clearance space between the middle clamping claw and the two side clamping claws, and the middle clamping claw can enter and exit the gap between the two transfer claws.

[0045] Of course, the above-mentioned loading and unloading grippers can be equipped with two grippers, while the transfer gripper has one gripper. Each gripper includes a pair of clamping plates spaced apart vertically, forming a clamping gap between the pair of clamping plates, which is used to accommodate the side edge of the material tray.

[0046] Among them, the linear power cylinder is a pneumatic cylinder, hydraulic cylinder or electric cylinder; the screw drive linear drive module is a conventional design, the core of which includes a motor, screw, guide rail and sliding seat. The motor is fixed to one end of the screw, the guide rail is set parallel to the screw, the sliding seat is fitted on the screw and the guide rail, the motor drives the screw to rotate, and drives the sliding seat to drive the gripper to slide linearly back and forth; the belt drive linear drive module is also a conventional design, including a transmission pulley set and a transmission belt structure.

[0047] The magnetic system component gripping mechanism can be a three-axis robot, which is a conventional design. It mainly includes an X-axis moving unit, a Y-axis moving unit, a Z-axis moving unit, and a gripper assembly: the X-axis and Y-axis moving units adopt belt-driven linear drive modules, the Z-axis moving unit adopts a lead screw-driven linear drive module, and the gripper assembly consists of pneumatic fingers adapted to the shape and size of the workpiece, achieving workpiece gripping through the opening and closing of the pneumatic fingers.

[0048] The tray includes a base and several workpiece carriers. The surface of the base is provided with multiple insertion holes arranged horizontally and vertically. The bottom surface of the workpiece carrier is provided with insertion posts. The workpiece carrier and the base are detachably connected by insertion posts and corresponding insertion holes. Each workpiece carrier has an assembly boss on its upper surface.

[0049] The core function of the dual-cart loading and unloading equipment is to unload workpieces from an empty tray or load a tray full of workpieces onto the production line. The overall working principle is based on the coordinated action of mechanisms along the X, Y, and Z axes. The first and second carts have the same structure, differing only in their functional division.

[0050] The aforementioned feeding tray adopts a conventional vibratory feeding tray structure to achieve directional arrangement and output of workpieces; the grippers are pneumatic grippers; the linear drive module adopts a conventional linear drive structure in CN222957973U, such as a linear slide rail + cylinder drive structure, or a screw and nut transmission mechanism, which can drive the corresponding grippers to slide linearly along the X, Y / Z axes; the rotary drive module can select a rotary cylinder, rotary motor, or indirect rotary structure that drives the swing arm with a linear drive according to the actual working conditions, thereby driving the grippers to rotate.

[0051] The working principle of this invention is as follows: 1. Terminal assembly stage Terminal board feeding: The terminal board feeding tray transports the vertically placed terminal boards to the feeding position via the feeding rail. After the detection sensor detects the material, the staggered peak component blocks subsequent terminal boards. The first gripper of the clamping mechanism one extends into the feeding port to clamp the plug part of the terminal board, and the first auxiliary positioning gripper abuts against the connecting part. After being rotated 90° by the first rotation drive module, it is converted to a side-lying state. The clamping mechanism two takes over clamping the connecting part. After rotating around the Z-axis to adjust the angle, it positions the terminal board at the terminal board station and fixes it bidirectionally by the Z-shaped contour positioning surface and the positioning post.

[0052] Terminal frame feeding and alignment: The terminal frame feeding tray transports the terminal frame to the third material rail via the first material rail, the first pushing mechanism pushes it to the second material rail, and the second pushing mechanism pushes it to the picking position; the third gripper of the clamping mechanism holds the terminal frame, rotates it around the horizontal axis to tilt and stand upright, moves it into the V-shaped positioning groove and moves it along the groove to the terminal frame stop for limitation, at which time the terminal board plug is inserted into the diagonal area inside the terminal frame; the pushing rod of the alignment mechanism extends, pushing the terminal frame to tilt and lie flat on the horizontal bearing surface, and the movable clamping block cooperates with the terminal frame stop to clamp the terminal frame under the action of the elastic reset member.

[0053] Screw assembly: The screw assembly unit delivers screws and screws them onto the flat terminal frame to form a terminal block; the fourth jaw of the terminal block transfer unit holds the terminal block and transfers it through the feeding port and feeding window to the magnetic system carrier of the coil assembly equipment.

[0054] 2. Coil assembly stage Feeding: The magnetic system carrier moves along the circular conveyor line to the terminal feeding station, where the terminal is received by the terminal positioning slot; it moves to the stationary contact feeding station, where the stationary contact feeding unit places the bent head of the stationary contact into the stationary contact positioning slot, and the joint extends toward the coil positioning slot; then, according to the specifications, the first coil feeding unit or the second coil feeding unit places the coil of the corresponding specification into the coil positioning slot, the winding part is adapted and positioned, and the first pin and the second pin extend toward the terminal and the stationary contact respectively.

[0055] Welding operation: The carrier moves to the first welding station, where the electrode feeding assembly of the first welding unit feeds the electrode to the middle of the connection between the first pin of the coil and the terminal block. The first welding block is inserted upward into the empty area, and the second welding block moves backward towards the first pin to clamp and weld the first pin to the connection. Moving to the second welding station, the electrode feeding assembly of the second welding unit feeds the electrode to the middle of the connection between the second pin of the coil and the stationary contact joint. The first welding block is inserted upward into the clearance opening, and the second welding block moves backward towards the second pin to clamp and weld the second pin to the joint to form a magnetic system assembly.

[0056] 3. Double-cart loading and unloading stage Material tray transfer: A pair of feeding jaws of the feeding drive mechanism clamps the single empty material tray on the top layer of the first trolley and moves it upward along the Z-axis to the top of the feeding area; a pair of transfer jaws enter the clearance space of the feeding jaws and take over clamping the material tray. After the feeding jaws move downward to make clearance, the transfer jaws move the material tray to the top of the unloading area along the X-axis; a pair of transfer jaws enter the clearance space of the unloading jaws and take over clamping the material tray. After the unloading jaws move downward to make clearance, the transfer jaws return to their original position along the X-axis.

[0057] Magnetic system component unloading and tray stacking: The magnetic system component gripping mechanism takes the magnetic system component from the positioning box of the downstream material picking box and places it in the tray at the top of the unloading area; after the tray is full, a pair of unloading claws drive the tray to move down along the Z-axis and stack it on the second trolley; the first trolley can replenish empty trays at any time, and the second trolley can transport out full trays at any time without affecting the continuous operation of the equipment.

[0058] It should be noted that in the description of this invention, all directional indications (such as up, down, front, back, etc.) are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. Furthermore, in this invention, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. In the description of this invention, "several" means at least two, such as two, three, etc., unless otherwise explicitly defined. In the description of this invention, unless otherwise explicitly specified and defined, the terms "installed," "connected," "linked," "fixed," and "attached" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A multi-specification adapted magnetic system assembly line, characterized by, The application relates to a terminal assembly device (1), a coil assembly device (2) and a double-trolley feeding and discharging device (3) which are sequentially connected. The terminal assembly device (1) is used for assembling a terminal frame (4), a terminal plate (5) and a screw (6), and is provided with a terminal carrier (110), wherein the terminal carrier (110) is provided with a V-shaped positioning groove (1102) which is matched with one side edge of the lower end of the rectangular terminal frame (4), so that the rectangular terminal frame (4) is inclined and vertically erected, and the inner diagonal line of the rectangular terminal frame (4) is in a vertical state; the terminal assembly device (1) inserts the plug-in part (51) of the terminal plate (5) into the vertical inner diagonal line area of the rectangular terminal frame (4), and then rotates and connects the screw (6) with the rectangular terminal frame (4), so as to form a terminal (7); The coil assembly device (2) is used for assembling the terminal (7), a coil (8) and a static contact (9), and is provided with at least two kinds of magnetic system carriers (210), wherein each magnetic system carrier (210) is matched with a coil (8) of a corresponding specification; the coil assembly device (2) welds and fixes the coil (8) with the terminal plate (5) and the static contact (9) respectively, so as to form a magnetic system assembly (10); The double-trolley feeding and discharging device (3) is used for discharging the magnetic system assembly (10), and comprises a first trolley (32), a second trolley (33), a tray (34) and a tray carrying group which is used for carrying single trays; the tray (34) is used for loading the magnetic system assembly (10); the first trolley (32) supplies empty trays; and the second trolley (33) stacks and stores the full trays which load the magnetic system assembly (10).

2. The multi-specification adapted magnetic system assembly line of claim 1, wherein, The terminal assembly device (1) comprises a rack (11) provided with a carrier conveying line (12), a terminal plate loading unit (13), a terminal frame loading and aligning unit (14), a screw assembling unit (15) and a terminal transferring unit (16) arranged in sequence along the conveying direction of the carrier conveying line (12); the carrier conveying line (12) is provided with a plurality of terminal carriers (110), the terminal carrier (110) comprises a carrier seat (1101), the upper surface of the carrier seat (1101) is provided with a V-shaped positioning groove (1102), a horizontal bearing surface (1103) and a terminal plate station (1104), the horizontal bearing surface (1103) is arranged on the side of the V-shaped positioning groove (1102); the horizontal bearing surface (1103) is used for positioning a rectangular terminal frame (4) in a horizontal state; the terminal plate station (1104) is used for positioning a terminal plate (5) in a horizontal state, and the insertion part (51) of the terminal plate (5) corresponds to the position above the V-shaped positioning groove (1102); the terminal plate loading unit (13) is used for moving the terminal plate (5) in a horizontal state to the terminal plate station (1104); the terminal frame loading and aligning unit (14) is used for arranging the edge of the lower end of the rectangular terminal frame (4) close to the side of the horizontal bearing surface (1103) in the V-shaped positioning groove (1102), and driving the rectangular terminal frame (4) to move along the V-shaped positioning groove (1102) to an assembling position, so that the insertion part (51) of the terminal plate (5) is inserted into the vertical inner diagonal line area of the rectangular terminal frame (4); the terminal frame loading and aligning unit (14) can also drive the rectangular terminal frame (4) in an inclined vertical state to be flipped to the horizontal bearing surface (1103) to be in a horizontal state, and the lower end of the rectangular terminal frame (4) is vertically erected to be close to the insertion part (51) of the terminal plate (5); the screw assembling unit (15) is used for conveying and threadedly connecting a screw (6) on the rectangular terminal frame (4) in a horizontal state, thereby forming a terminal (7); the terminal transferring unit (16) is used for transferring the terminal (7) to a coil assembly device (2).

3. The multi-specification adapted magnetic system assembly line of claim 2, wherein, The carrier (1101) is provided with a wire frame stop seat (1105) and a movable clamping block (1106) at both ends of the horizontal bearing surface (1103), the wire frame stop seat (1105) extends into the V-shaped positioning groove (1102) and is used for limiting the rectangular wire frame (4) moving to the assembly position along the V-shaped positioning groove (1102); the movable clamping block (1106) is rotatably connected to the carrier (1101) through a hinge shaft at the lower end and is provided with a clamping end (11061) at the upper end; the carrier (1101) is provided with an elastic reset member (1107), the elastic reset member (1107) is a tensile spring, one end of which is hooked to the connecting shaft rod (11062) at the upper end of the movable clamping block (1106) and the other end is hooked to the fixed shaft rod (11011) of the carrier (1101); when the rectangular wire frame (4) is in a flat state, the elastic reset member (1107) can drive the clamping end (11061) of the movable clamping block (1106) to approach the wire frame stop seat (1105) to realize the clamping and positioning of the rectangular wire frame (4) in cooperation with the wire frame stop seat (1105); the wiring board station (1104) is arranged on the wire frame stop seat (1105), the wire frame stop seat (1105) is provided with a first contour positioning surface (11051) and a positioning column (11052), the first contour positioning surface (11051) and the positioning column (11052) cooperate to realize the positioning of the inner and outer sides of the wiring board (5); the first contour positioning surface (11051) is a Z-shaped structure, including a positioning middle surface (110511) and a first positioning end surface (110512) and a second positioning end surface (110513) reversely extended from both ends of the positioning middle surface (110511), the positioning middle surface (110511), the first positioning end surface (110512) and the second positioning end surface (110513) respectively abut against the outer side surfaces of the body part (53), the plug-in part (51) and the connecting part (52) of the wiring board (5); the positioning column (11052) is arranged in multiple and is spaced along the extension direction of the first contour positioning surface (11051) and is used for abutting against and limiting the inner side surface of the wiring board (5).

4. The multi-specification adapted magnetic system assembly line of claim 1 or 2 or 3, wherein: The terminal block feeding unit (13) comprises a terminal block feeding tray (131), a terminal block feeding track (132), a terminal block clamp mechanism I (133), and a terminal block clamp mechanism II (134). The upstream end of the terminal block feeding track (132) is connected with the outlet of the terminal block feeding tray (131), and the downstream end is provided with a terminal block taking position (1321). The terminal block feeding track (132) is used for sequentially conveying a plurality of vertically standing terminal blocks (5) to the terminal block taking position (1321). The terminal block feeding track (132) has a terminal block channel (1322) inside and an upper end having a track surface (1323). The plug-in part (51) of the vertically standing terminal block (5) is inserted into the terminal block channel (1322) downward, the body part (53) is slidably arranged on the track surface (1323), and the connecting part (52) is extended out of the terminal block channel (1322). The terminal block taking position (1321) is provided with a taking opening for exposing the plug-in part (51) of the terminal block (5). The terminal block clamp mechanism I (133) is used for clamping the plug-in part (51) of the terminal block (5) at the terminal block taking position (1321) and rotating the terminal block (5) around a horizontal shaft to convert the terminal block (5) from a vertically standing state to a side-lying state. The terminal block clamp mechanism I (133) comprises a first clamping jaw (1331), a first auxiliary positioning jaw (1332), a first linear driving module (1333), and a first rotary driving module (1334). The first clamping jaw (1331) is used for extending into the taking opening and clamping the plug-in part (51) of the terminal block (5). The first auxiliary positioning jaw (1332) is used for abutting against the side edge of the connecting part (52) of the terminal block (5). The first linear driving module (1333) is used for driving the first clamping jaw (1331) and the first auxiliary positioning jaw (1332) to move linearly. When the first clamping jaw (1331) clamps the plug-in part (51), the first auxiliary positioning jaw (1332) synchronously abuts against the connecting part (52). The first rotary driving module (1334) is used for synchronously driving the first clamping jaw (1331) and the first auxiliary positioning jaw (1332) to rotate around a horizontal shaft. The terminal block clamp mechanism II (134) is used for clamping the connecting part (52) of the terminal block (5) in a side-lying state and rotating the terminal block (5) around a vertical shaft to move and position the terminal block (5) to a terminal block station (1104). The terminal block clamp mechanism II (134) comprises a second clamping jaw (1341), a second auxiliary positioning jaw (1342), a second linear driving module (1343), and a second rotary driving module (1344). The second linear driving module (1343) is used for driving the second clamping jaw (1341) and the second auxiliary positioning jaw (1342) to move linearly. When the second clamping jaw (1341) clamps the connecting part (52), the second auxiliary positioning jaw (1342) synchronously abuts against the plug-in part (51).The second rotary drive module (1344) is used for synchronously driving the second clamping jaw (1341) and the second auxiliary positioning jaw (1342) to rotate around a vertical shaft; the terminal block feeding unit (13) further comprises a detection sensor (135) for detecting whether the terminal block taking material position (1321) has material, and a staggered feeding assembly (136) for blocking the terminal block (5) to realize staggered feeding.

5. The multi-specification adapted magnetic system assembly line of claim 1 or 2 or 3, wherein: The wiring frame feeding and aligning unit (14) comprises a wiring frame feeding tray (141), a wiring frame feeding track (142), a wiring frame clamp mechanism (143), and a wiring frame aligning mechanism (144). The upstream end of the wiring frame feeding track (142) is connected with the outlet of the wiring frame feeding tray (141), and the downstream end is provided with a wiring frame taking position (1421). The wiring frame feeding track (142) is used for sequentially conveying a plurality of vertically standing rectangular wiring frames (4) to the wiring frame taking position (1421). The wiring frame clamp mechanism (143) is used for clamping the rectangular wiring frame (4) at the wiring frame taking position (1421) and rotating it around a horizontal shaft to convert the rectangular wiring frame (4) from a vertical standing state to an inclined standing state, then moving and placing it in the V-shaped positioning groove (1102) of the carrier (1101), and driving the rectangular wiring frame (4) to move along the V-shaped positioning groove (1102) to the assembly position. The wiring frame aligning mechanism (144) is used for pushing the inclined rectangular wiring frame (4) to flip and fall to the horizontal carrier surface (1103) side to make it in a flat state. The wiring frame feeding track (142) comprises a first track (1423), a second track (1424), and a third track (1425) connecting the downstream end of the first track (1423) and the upstream end of the second track (1424). The upstream end of the first track (1423) is connected with the outlet of the wiring frame feeding tray (141), and the downstream end of the third track (1425) is provided with the wiring frame taking position (1421). The first track (1423) conveys the rectangular wiring frame (4) of the wiring frame feeding tray (141) to the third track (1425). The rectangular wiring frame (4) in the third track (1425) is pushed by the first pushing mechanism (145) to the second track (1424), and the rectangular wiring frame (4) in the second track (1424) is pushed by the second pushing mechanism (146) to the wiring frame taking position (1421). The wiring frame aligning mechanism (144) and the wiring frame clamp mechanism (143) are arranged on both sides of the carrier conveying line (12). The wiring frame clamp mechanism (143) comprises a third clamp jaw (1431), a third linear driving module (1432), and a third rotary driving module (1433). The third clamp jaw (1431) is used for clamping the rectangular wiring frame (4). The third linear driving module (1432) is used for driving the third clamp jaw (1431) to move linearly. The third rotary driving module (1433) is used for driving the third clamp jaw (1431) to rotate around a horizontal shaft. The wiring frame aligning mechanism (144) comprises a driving member (1441) and a push rod (1442) driven to extend and retract by the driving member (1441). The push rod (1442) extends downwardly and above the carrier conveying line (12) to make the inclined rectangular wiring frame (4) in a flat state by the extension action of the push rod (1442).

6. The multi-specification adapted magnetic system assembly line of claim 1 or 2 or 3, wherein: The carrier conveying line (12) comprises a first carrying line (121) and a second carrying line (122) for sequentially carrying a plurality of terminal carriers (110), and a carrier driving mechanism, the two carrying lines are arranged in parallel along the X-axis direction and extend along the Y-axis direction, upstream ends of the first carrying line (121) and the second carrying line (122) are connected in an abutting manner, downstream ends of the first carrying line (121) and the second carrying line (122) are connected in an abutting manner, the carrier driving mechanism comprises a first X-axis driving member (1231), a first Y-axis driving member (1232), a second X-axis driving member (1233) and a second Y-axis driving member (1234), the first X-axis driving member (1231) is used for pushing the terminal carrier (110) at the upstream end of the first carrying line (121) to the upstream end of the second carrying line (122) along the X-axis direction, the first Y-axis driving member (1232) is used for pushing the plurality of terminal carriers (110) on the second carrying line (122) to slide downstream along the Y-axis, the second X-axis driving member (1233) is used for pushing the terminal carrier (110) at the downstream end of the second carrying line (122) to the downstream end of the first carrying line (121) along the X-axis direction, and the second Y-axis driving member (1234) is used for pushing the plurality of terminal carriers (110) on the first carrying line (121) to slide upstream along the Y-axis; the terminal transfer unit (16) comprises a fourth clamping jaw (161), a fourth linear driving module (162) and a fourth rotary driving module (163), the fourth clamping jaw (161) is used for clamping the terminal (7) on the terminal carrier (110) at the downstream end position of the second carrying line (122) and sending it to the magnetic system carrier (210) of the terminal feeding station (23) of the coil assembly assembly device (2).

7. The multi-specification adapted magnetic system assembly line of claim 1 or 2 or 3, wherein: The coil assembly assembly equipment (2) comprises a rack (21), a carrier ring conveying line (22) is arranged on the rack (21), a wiring terminal feeding station (23), a static contact piece feeding unit (24), a first coil feeding unit (25), a second coil feeding unit (26), a first welding unit (27), a second welding unit (28) and a magnetic system assembly transfer unit (29) are arranged in sequence along the carrier ring conveying line (22); at least two kinds of magnetic system carriers (210) suitable for different specifications of magnetic systems are arranged on the carrier ring conveying line (22), each magnetic system carrier (210) is provided with a coil positioning groove (2101) and a wiring terminal positioning groove (2102) and a static contact piece positioning groove (2103) located on both sides of the coil positioning groove (2101), the coil positioning groove (2101) of different specifications is matched with the winding part (81) of the corresponding specification coil (8); the wiring terminal positioning groove (2102) on the magnetic system carrier (210) is used for accommodating the wiring terminal (7), the static contact piece feeding unit (24) is used for placing the static contact piece (9) in the static contact piece positioning groove (2103), the first coil feeding unit (25) or the second coil feeding unit (26) is used for placing the coil (8) of the corresponding specification in the coil positioning groove (2101); the first welding unit (27) is used for welding and fixing the first pin (82) of the coil (8) and the connecting part (52) of the wiring plate (5), the second welding unit (28) is used for welding and fixing the second pin (83) of the coil (8) and the joint (91) of the static contact piece (9), so as to form the magnetic system assembly (10); the magnetic system assembly transfer unit (29) is used for transferring the magnetic system assembly (10) to the double-trolley up-down feeding equipment (3).

8. The multi-specification adapted magnetic system assembly line of claim 7, wherein: The first welding unit (27) and the second welding unit (28) are provided with an electrode feeding assembly (211) and a welding assembly (212); the first pin (82) of the coil (8) corresponds to the front side of the connecting portion (52) of the terminal block (5), and the second pin (83) corresponds to the front side of the joint (91) of the static contact (9); the electrode feeding assembly (211) of the first welding unit (27) is used for feeding the electrode (213) to the middle of the first pin (82) of the coil (8) and the connecting portion (52) of the terminal block (5), and is welded and fixed by the welding assembly (212); the electrode feeding assembly (211) of the second welding unit (28) is used for feeding the electrode (213) to the middle of the second pin (83) of the coil (8) and the joint (91) of the static contact (9), and is welded and fixed by the welding assembly (212); each welding assembly (212) comprises a first welding block (2121) and a second welding block (2122); the first welding block (2121) of the welding assembly (212) in the first welding unit (27) can move in and out of the back of the connecting portion (52) of the terminal block (5) up and down, and the second welding block (2122) corresponds to the front side of the first pin (82) of the coil (8) and can move to the side of the first pin (82) to cooperate with the first welding block (2121) to realize the hot welding fixation of the first pin (82) and the connecting portion (52); the first welding block (2121) of the welding assembly (212) in the second welding unit (28) can move in and out of the back of the joint (91) of the static contact (9) up and down, and the second welding block (2122) corresponds to the front side of the second pin (83) of the coil (8) and can move to the second pin (83) to cooperate with the first welding block (2121) to realize the hot welding fixation of the second pin (83) and the joint (91); the magnetic system carrier (210) is provided with a terminal carrier (2104), a coil carrier (2105) and a contact carrier (2106), the terminal positioning groove (2102), the coil positioning groove (2101) and the static contact positioning groove (2103) are respectively arranged on the corresponding carriers; the terminal carrier (2104) and the coil carrier (2105) form an empty area (2107) for inserting the first welding block (2121), and the connecting portion (52) of the terminal block (5) and the first pin (82) of the coil (8) extend into the empty area (2107) and are oppositely arranged; the first welding block (2121) can move in and out of the static contact positioning groove (2103), the static contact (9) has a elbow portion (92) embedded in the static contact positioning groove (2103), the front end of the elbow portion (92) extends to form the joint (91), and the elbow portion (92) and the joint (91) jointly enclose an avoiding opening (93) for inserting the first welding block (2121); the opposite side walls of the terminal positioning groove (2102) are respectively provided with a positioning bayonet (21021) and a second contour positioning surface (21022).The positioning notch (21021) is used for plug-in positioning with the end edge of the plug part (51) of the terminal block (5), and the second profile positioning surface (21022) is Z-shaped and is used for contact positioning with the terminal block (5).

9. The multi-specification adapted magnetic system assembly line of claim 7, wherein: The magnetic system assembly transfer unit (29) comprises a first conveying line (291) and a second conveying line (292) for conveying a plurality of positioning boxes (20) in sequence, a positioning box driving mechanism and a magnetic system gripper mechanism (294), the two conveying lines extend along the Y axis and are arranged in an up-down manner along the Z axis, the positioning box (20) is used for carrying and aligning the magnetic system assembly (10), the positioning box driving mechanism comprises an upstream material taking box seat (2931), a first Z-axis driving member (2932) and a third Y-axis driving member (2933) corresponding to the upstream material taking box seat (2931), and a downstream material taking box seat (2934), a second Z-axis driving member (2935) and a fourth Y-axis driving member (2936) corresponding to the downstream material taking box seat (2934), the first Z-axis driving member (2932) is used for driving the upstream material taking box seat (2931) to ascend and descend, and the second Z-axis driving member (2935) is used for driving the downstream material taking box seat (2934) to ascend and descend; when the upstream material taking box seat (2931) is docked at the upstream end of the second conveying line (292), it is used for receiving the empty positioning box (20) conveyed upstream by the second conveying line (292), the first Z-axis driving member (2932) is used for driving the upstream material taking box seat (2931) to ascend to dock the upstream end of the first conveying line (291), the magnetic system gripper mechanism (294) is used for grabbing the magnetic system assembly (10) and placing it in the empty positioning box (20) on the upstream material taking box seat (2931), the third Y-axis driving member (2933) is used for pushing the positioning box (20) loaded with the magnetic system assembly (10) on the upstream material taking box seat (2931) to the upstream end of the first conveying line (291), when the downstream material taking box seat (2934) is docked at the downstream end of the first conveying line (291), it is used for receiving the positioning box (20) loaded with the magnetic system assembly (10) conveyed downstream by the first conveying line (291), the positioning box (20) on the downstream material taking box seat (2934) supplies the magnetic system assembly (10) for the double-pushing cart loading and unloading equipment (3), the second Z-axis driving member (2935) is used for driving the downstream material taking box seat (2934) to descend to dock the downstream end of the second conveying line (292), and the fourth Y-axis driving member (2936) is used for pushing the empty positioning box (20) on the downstream material taking box seat (2934) to the second conveying line (292), the empty positioning box (20) on the second conveying line (292) is conveyed upstream to the docked upstream material taking box seat (2931), so as to complete the circulation of the positioning box (20).

10. The multi-specification adapted magnetic system assembly line of claim 1 or 2 or 3, wherein: The double-trolley feeding and discharging equipment (3) comprises a rack (31), the rack (31) is provided with a feeding area (311) and a discharging area (312) in the X-axis direction, the first trolley (32) and the second trolley (33) are movably accommodated in the corresponding area respectively, and the top of the feeding area (311) and the discharging area (312) is communicated to form a tray transfer station; the rack (31) is further provided with a magnetic system assembly grabbing mechanism (35), the tray conveying group comprises a tray transfer mechanism (36), a feeding driving mechanism (37) and a discharging driving mechanism (38), the feeding driving mechanism (37) is used for moving the uppermost empty tray (34) of the stacked trays (34) on the first trolley (32) to the top of the feeding area (311), the tray transfer mechanism (36) is used for transferring the tray (34) between the top of the feeding area (311) and the top of the discharging area (312), the magnetic system assembly grabbing mechanism (35) is used for clamping and placing the magnetic system assembly (10) on the empty tray (34) on the top of the discharging area (312), and the discharging driving mechanism (38) is used for moving the tray (34) loaded with a plurality of magnetic system assemblies (10) from the top of the discharging area (312) to the second trolley (33); wherein the tray transfer mechanism (36) comprises a pair of transfer clamps (361), the pair of transfer clamps (361) can be opened and closed along the Y-axis and can slide along the X-axis synchronously, the feeding driving mechanism (37) comprises a pair of feeding clamps (371), the pair of feeding clamps (371) can be opened and closed along the Y-axis and can slide along the Z-axis synchronously, and the discharging driving mechanism (38) comprises a pair of discharging clamps (381), the pair of discharging clamps (381) can be opened and closed along the Y-axis and can slide along the Z-axis synchronously; each feeding clamp (371) and each discharging clamp (381) are provided with a avoiding space (39), the avoiding space (39) is used for the relative sliding in and out of the corresponding transfer clamp (361) along the Z-axis; the pair of feeding clamps (371) are closed to clamp the uppermost single tray (34) on the first trolley (32) and can drive the tray (34) to move upwards along the Z-axis to the top of the feeding area (311), at this time, the avoiding space (39) of the pair of feeding clamps (371) is used for the relative entry of the pair of transfer clamps (361) on the top of the feeding area (311); the pair of transfer clamps (361) can replace the pair of feeding clamps (371) to clamp the tray (34); when the pair of feeding clamps (371) are opened to avoid the X-axis sliding track of the transfer clamp (361), the pair of transfer clamps (361) can drive the clamped tray (34) to slide along the X-axis to the top of the discharging area (312); the pair of discharging clamps (381) on the top of the discharging area (312) can replace the pair of transfer clamps (361) to clamp the tray (34), at this time, the avoiding space (39) of the pair of discharging clamps (381) is used for accommodating the pair of transfer clamps (361).After a pair of lower material clamping jaws (381) drive the clamped material tray (34) to move downward along the Z axis to avoid the X-axis sliding track of the transfer clamping jaw (361), the pair of transfer clamping jaws (361) can slide along the X axis to the top of the feeding area (311); each feeding clamping jaw (371) and lower material clamping jaw (381) includes a material clamping arm (301) and a plurality of material clamping jaw hands (302) arranged thereon, the plurality of material clamping jaw hands (302) are spaced along the X axis and form an avoidance space (39); each transfer clamping jaw (361) includes a transfer arm (3611) and a transfer jaw hand (3612) arranged thereon, and the transfer jaw hand (3612) can enter and exit the avoidance space (39) formed by the adjacent material clamping jaw hands.

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