A multi-specification adapted magnetic system assembly line

Abstract

The present application relates to a magnetic system assembly pipeline, comprising a terminal assembly device, a coil assembly device and a double-trolley feeding and discharging device, the terminal assembly device is used for assembling terminal frames, terminal plates and screws, and is provided with a terminal carrier, a V-shaped positioning groove of the terminal carrier is matched with a side edge of a lower end of a rectangular terminal frame, the rectangular terminal frame is inclined and vertically placed to make an inner diagonal line vertical, a terminal plate is inserted into a plug-in part of the terminal frame and a screw is screwed to form a terminal, the coil assembly device is used for assembling terminals, coils and static contact pieces, and is provided with at least two kinds of magnetic system carriers, each carrier is matched with a coil of a corresponding specification, and the coil is welded with the terminal plate and the static contact piece to form a magnetic system assembly; the double-trolley feeding and discharging device is used for discharging the magnetic system assembly, and comprises a first trolley, a second trolley and a tray, the tray is loaded with the magnetic system assembly, and the first trolley supplies empty trays. The problems of frequent replacement of magnetic system carriers, easy jamming of plug-in assembly of terminal plates and terminal frames and the like during assembly of magnetic systems of multiple specifications are solved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of magnetic system installation, and particularly relates to a magnetic system assembly line suitable for multiple specifications. BACKGROUND

[0002] The magnetic system is a core component of a circuit breaker and is used for impacting a free tripping module to realize tripping when the current is abnormal. The magnetic system is usually composed of a coil, a static contact piece and a terminal. The terminal is composed of a square terminal frame, a terminal plate and a screw. The terminal frame is a square cavity structure, and the two side walls are provided with penetrating holes. The terminal plate is an integrally bent Z-shaped plate structure, which comprises a body part, a plug-in part and a connecting part which are formed by bending the body part in opposite directions from both ends. The body part, the plug-in part and the connecting part are perpendicular to each other and jointly form a Z shape. The plug-in part of the terminal plate is adapted to the width of the cavity of the terminal frame, is plugged into the terminal frame, and the screw is screwed on the terminal frame. After being screwed, the screw is used to press the wire penetrating into the terminal frame against the surface of the plug-in part. The coil has a winding part, a first lead and a second lead which are respectively led out from both ends of the winding part. The first lead of the coil is welded to the connecting part of the terminal plate, and the second lead of the coil is welded to the connector on the static contact piece.

[0003] The terminal is a key connecting component of the magnetic system, and the assembly precision directly affects the working reliability of the magnetic system. For example, the assembly equipment for the magnetic system in a circuit breaker disclosed in CN222957973U adopts a ring-shaped conveying belt to convey a carrier, and multiple magnetic systems can be assembled synchronously. However, in the assembly process of the terminal, the rectangular terminal frame is usually placed horizontally on the carrier, and the plug-in part of the terminal plate needs to be inserted into the cavity of the terminal frame in the horizontal direction. Since the width of the plug-in part is accurately adapted to the width of the cavity of the terminal frame and the gap is very small, the plug-in part is prone to be stuck due to the deviation in the horizontal insertion, which leads to low assembly efficiency and easily causes damage to the components and affects the overall assembly quality.

[0004] The specifications of the coil of the magnetic system need to be matched according to the rated current and tripping characteristics of the circuit breaker, which leads to the assembly demand of multiple specifications of the magnetic system in actual production. For example, the full-automatic assembly equipment for the magnetic assembly disclosed in CN2229712813U adopts a fixed-specification welding clamp, which can only adapt to a single specification of the coil, the terminal plate and the static contact piece. When the product specification needs to be switched, the clamp needs to be replaced or the equipment needs to be debugged on a large scale. The operation is complicated, the switching efficiency is low, the assembly precision is easily reduced due to improper replacement of the clamp, and the production cost is increased. In addition, the welding operation effect is poor.

[0005] In the automatic production and transfer process of workpieces, the loading and unloading of trays is an important link in material handling, directly affecting production efficiency and job safety. For example, the push cart conveying loading and unloading equipment of CN218707266U uses a loading support plate to support the bottom layer of the stacked trays, and drives the entire stacked tray to slide synchronously through a Z-axis drive module, and then transfers a single tray through a transfer module. However, this structure has obvious defects: first, the Z-axis drive module needs to drive all the stacked trays to lift, which results in high energy consumption due to heavy load, and heavy load conditions can accelerate the wear of core components such as lead screws and motors, reducing the service life of the equipment; second, the center of gravity of the tray stack is high, and the lifting process is prone to shaking, resulting in insufficient positioning accuracy of the transfer module, and there is a safety hazard of the tray falling over. SUMMARY

[0006] The purpose of the present application is to overcome the defects of the prior art, and the present application provides a multi-specification adaptive magnetic system assembly line, which solves the problems of frequent replacement of magnetic system carriers, plug-in installation of wiring boards and wiring frames, and easy jamming during multi-specification magnetic system assembly.

[0007] The technical scheme of the present application is a multi-specification adaptive magnetic system assembly line, which comprises a wiring terminal assembly device, a coil assembly assembly device and a double push cart loading and unloading device connected in turn.

[0008] The wiring terminal assembly device is used to assemble wiring frames, wiring boards and screws, and is provided with a wiring terminal carrier, the wiring terminal carrier is provided with a V-shaped positioning groove, the V-shaped positioning groove is matched with one side edge of the lower end of the rectangular wiring frame, so that the rectangular wiring frame is inclined and vertically placed, and the inner diagonal line thereof is vertical, the wiring terminal assembly device inserts the plug-in part of the wiring board into the vertical inner diagonal line area of the rectangular wiring frame, and then screws are screwed into the rectangular wiring frame to form a wiring terminal.

[0009] The coil assembly assembly device is used to assemble wiring terminals, coils and static contact pieces, and is provided with at least two kinds of magnetic system carriers, each magnetic system carrier is matched with a corresponding specification of coil, and the coil assembly assembly device welds and fixes the coils with the wiring boards and static contact pieces to form a magnetic system assembly.

[0010] The double push cart loading and unloading device is used for the unloading of the magnetic system assembly, which comprises a first push cart, a second push cart, a tray and a tray carrying group for carrying a single tray, the tray is used for loading the magnetic system assembly, the first push cart supplies empty trays, and the second push cart stacks and stores the full load of the loaded magnetic system assembly.

[0011] By using the above technical scheme, the whole process automation closed loop of "wiring terminal assembly → coil assembly assembly → magnetic system assembly unloading" is realized, completely getting rid of the dependence on manual intervention, and efficiently solving the industry pain points of low efficiency and frequent positioning deviation of traditional segmented operation.

[0012] 1. Anti-stuck: The V-shaped positioning groove of the terminal carrier forces the rectangular terminal frame to stand up obliquely, making the inner diagonal line vertical to form the longest through space, providing sufficient insertion allowance for the terminal plate insertion part, avoiding the horizontal insertion stuck problem and component damage from the root, and greatly improving the assembly fluency;

[0013] 2. Multi-specification compatibility: The coil assembly equipment is configured with at least two types of magnetic system carriers, which can meet the production needs of multi-specification magnetic systems without changing the fixture, and the switching is convenient and the assembly precision is stable;

[0014] 3. Efficient and safe blanking: The double-pushing cart blanking realizes automatic switching and continuous blanking through the cycle mode of "empty tray feeding-magnetic system component loading-full tray storage", and the single tray is independently transported, which effectively reduces the equipment load and energy consumption, ensures the stability of the tray transfer process, and eliminates the risk of dumping. It meets the actual needs of multi-specification magnetic system full-process automatic and precise and efficient production.

[0015] Further provided in the application: the terminal assembly equipment comprises a rack, the rack is provided with a carrier conveying line, and an terminal plate loading unit, a terminal frame loading and aligning unit, a screw assembly unit and a terminal transfer unit are sequentially arranged along the conveying direction of the carrier conveying line; a plurality of terminal carriers are arranged on the carrier conveying line, each terminal carrier comprises a carrier seat, the upper surface of the carrier seat is provided with a V-shaped positioning groove, a horizontal bearing surface and a terminal plate station, and the horizontal bearing surface is arranged on the side of the V-shaped positioning groove; the horizontal bearing surface is used for positioning the rectangular terminal frame horizontally; the terminal plate station is used for positioning the terminal plate to make the terminal plate in a side-lying state and the insertion part of the terminal plate correspond to the upper side of the V-shaped positioning groove; the terminal plate loading unit is used for moving the terminal plate in a side-lying state to the terminal plate station; the terminal frame loading and aligning unit is used for arranging the edge of the rectangular terminal frame at the lower end and close to the side of the horizontal bearing surface in the V-shaped positioning groove, and driving the rectangular terminal frame to move along the V-shaped positioning groove to the assembly position, so that the insertion part of the terminal plate is inserted into the vertical inner diagonal line area of the rectangular terminal frame; the terminal frame loading and aligning unit can also drive the obliquely standing rectangular terminal frame to flip to the horizontal bearing surface side to make the rectangular terminal frame in a horizontal state and the lower end of the rectangular terminal frame vertically stand up to approach the insertion part of the terminal plate; the screw assembly unit is used for conveying and threadedly connecting the screw on the rectangular terminal frame in a horizontal state, thereby forming a terminal; and the terminal transfer unit is used for transferring the terminal to a coil assembly equipment.

[0016] With the further arrangement, the V-shaped positioning groove of the terminal carrier forces the rectangular terminal frame to be inclined and vertically stand with the inner diagonal line, and the vertically standing inner diagonal line area forms the longest through space inside the rectangular terminal frame, providing sufficient insertion allowance for the plug-in part of the terminal plate, and then the rectangular terminal frame is driven by the terminal frame loading and positioning unit to be flipped to the horizontal bearing surface, so that the rectangular terminal frame is in a flat state, and the lower end of the rectangular terminal frame is vertically erected and closely leans against the plug-in part, forming a stable pre-assembly position, avoiding the relative displacement of the two during subsequent screw assembly, and finally the screw assembly unit precisely rotates the screw.

[0017] The further arrangement of the application is that the carrier is provided with a wire frame stop seat and a movable clamp block at both ends of the horizontal bearing surface, the wire frame stop seat extends into the V-shaped positioning groove and is used for limiting the rectangular terminal frame moving along the V-shaped positioning groove to the assembly position, the lower end of the movable clamp block is rotationally connected to the carrier through a hinge shaft, and the upper end is a clamping end, an elastic return member is arranged on the carrier, the elastic return member is a tension spring, one end of the elastic return member is hooked to a connecting shaft rod at the upper end of the movable clamp block, and the other end is hooked to a fixed shaft rod of the carrier, when the rectangular terminal frame is in a flat state, the elastic return member can drive the clamping end of the movable clamp block to approach the wire frame stop seat, so as to realize clamping and positioning of the rectangular terminal frame in cooperation with the wire frame stop seat, the terminal plate station is arranged on the wire frame stop seat, the wire frame stop seat is provided with a first profile positioning surface and a positioning column, and the first profile positioning surface and the positioning column cooperate to realize positioning of the inner and outer sides of the terminal plate, the first profile positioning surface is a Z-shaped structure, including a positioning middle surface and first and second positioning end surfaces reversely extended from both ends of the positioning middle surface, the positioning middle surface, the first positioning end surface and the second positioning end surface are respectively in abutment with the outer side surfaces of the body part, the plug-in part and the connecting part of the terminal plate, and a plurality of positioning columns are arranged at intervals along the extension direction of the first profile positioning surface and are used for abutting and limiting the inner side surface of the terminal plate.

[0018] With the further arrangement, the wire frame stop seat extends into the V-shaped positioning groove, accurately limits the assembly position of the rectangular terminal frame, and prevents excessive movement, the elastic return member drives the movable clamp block to clamp the terminal plate after being laid flat, avoids slipping in subsequent operations, and ensures the positioning stability, the Z-shaped profile positioning surface and the positioning column position the terminal plate from the inner and outer sides in a bidirectional manner, disperse the stress points to avoid deformation, ensure that the plug-in part is always aligned with the inner diagonal line area of the terminal frame, and improve the plug-in precision.

[0019] Still further, the wiring board feeding unit comprises a wiring board feeding disc, a wiring board feeding track, a wiring board clamp mechanism I and a wiring board clamp mechanism II; the upstream end of the wiring board feeding track is connected with the outlet of the wiring board feeding disc, and the downstream end is provided with a wiring board taking position; the wiring board feeding track is used for sequentially conveying a plurality of vertically standing wiring boards to the wiring board taking position, and has a wiring board channel inside and a track surface on the upper end, the plug-in part of the vertically standing wiring board is inserted into the wiring board channel downward, the body part is slid on the track surface, and the connecting part is extended out of the wiring board channel; the wiring board taking position is provided with a taking opening for exposing the plug-in part of the wiring board; the wiring board clamp mechanism I is used for clamping the plug-in part of the wiring board at the wiring board taking position and driving the wiring board to rotate around a horizontal shaft, so that the wiring board is converted from the vertically standing state to the side-lying state, and the wiring board clamp mechanism I comprises a first clamping jaw, a first auxiliary positioning jaw, a first linear driving module and a first rotary driving module; the first clamping jaw is used for extending into the taking opening and clamping the plug-in part of the wiring board, and the first auxiliary positioning jaw is used for abutting against the side edge of the connecting part of the wiring board; the first linear driving module is used for driving the first clamping jaw and the first auxiliary positioning jaw to move linearly, and when the first clamping jaw clamps the plug-in part, the first auxiliary positioning jaw abuts against the connecting part synchronously; the first rotary driving module is used for synchronously driving the first clamping jaw and the first auxiliary positioning jaw to rotate around the horizontal shaft; the wiring board clamp mechanism II is used for clamping the connecting part of the wiring board in the side-lying state and driving the wiring board to rotate around a vertical shaft, so that the wiring board is transferred and positioned to a wiring board station, and the wiring board clamp mechanism II comprises a second clamping jaw, a second auxiliary positioning jaw, a second linear driving module and a second rotary driving module; the second linear driving module is used for driving the second clamping jaw and the second auxiliary positioning jaw to move linearly, and when the second clamping jaw clamps the connecting part, the second auxiliary positioning jaw abuts against the plug-in part synchronously; the second rotary driving module is used for synchronously driving the second clamping jaw and the second auxiliary positioning jaw to rotate around the vertical shaft; the wiring board feeding unit further comprises a detection sensor for detecting whether the wiring board taking position has material, and a staggered peak component for blocking the wiring board to realize staggered peak feeding.

[0020] With the further arrangement, the coil positioning slots of the magnetic system carriers of different specifications are respectively matched with the winding parts of the coils of corresponding specifications, the first and second coil feeding units are selected as needed, the corresponding specification coils are placed into the coil positioning slots, the connecting terminals and the static contact pieces are respectively placed into the connecting terminal positioning slots and the static contact piece positioning slots, the connecting plate connecting parts and the static contact piece joints extend to the side of the coil positioning slots, the first and second coil pins extend to the sides and are respectively welded with the connecting parts and the joints; the connecting plate feeding rail realizes the orderly conveying of the vertically standing connecting plates, the two-stage clamp mechanism realizes the full automation of the connecting plates from feeding to side-lying positioning by rotating and changing the state and adjusting the angle, the first clamp jaw and the first auxiliary positioning jaw work together to realize the precise conversion of the connecting plates from vertical standing to side-lying state by rotary driving, the synchronous abutment of the first auxiliary positioning jaw ensures the stability of the position of the connecting plates in the conversion process, avoiding deviation or falling off; the second clamp jaw and the second auxiliary positioning jaw accurately transfer the side-lying connecting plates to the connecting plate station by linear movement and vertical shaft rotation, and the abutting action of the second auxiliary positioning jaw further guarantees the positioning accuracy in the transfer process; the staggered peak component avoids congestion of the taking position, the detection sensor guarantees the continuity of feeding, and prevents the process from being interrupted due to empty clamping.

[0021] Still further, the wire frame feeding and aligning unit comprises a wire frame feeding tray, a wire frame feeding track, a wire frame clamp mechanism and a wire frame aligning mechanism; the upstream end of the wire frame feeding track is connected with the outlet of the wire frame feeding tray, and the downstream end is provided with a wire frame taking position; the wire frame feeding track is used for sequentially conveying a plurality of vertically standing rectangular wire frames to the wire frame taking position; the wire frame clamp mechanism is used for clamping the rectangular wire frame at the wire frame taking position and rotating the rectangular wire frame around a horizontal shaft to convert the rectangular wire frame from vertical standing to inclined standing, and then moving and placing the rectangular wire frame in the V-shaped positioning groove of the carrier and moving the rectangular wire frame along the V-shaped positioning groove to the assembly position; the wire frame aligning mechanism is used for pushing the inclined standing rectangular wire frame to flip over to the horizontal carrying surface side to make the rectangular wire frame in a flat lying state; the wire frame feeding track comprises a first track, a second track and a third track connecting the downstream end of the first track and the upstream end of the second track, the upstream end of the first track is connected with the outlet of the wire frame feeding tray, and the downstream end of the third track is provided with the wire frame taking position; the first track conveys the rectangular wire frame of the wire frame feeding tray to the third track, the rectangular wire frame in the third track is pushed to the second track by a first pushing mechanism, and the rectangular wire frame in the second track is pushed to the wire frame taking position by a second pushing mechanism; the wire frame aligning mechanism and the wire frame clamp mechanism are separately arranged on the two sides of the carrier conveying line, the wire frame clamp mechanism comprises a third jaw, a third linear driving module and a third rotary driving module, the third jaw is used for clamping the rectangular wire frame, the third linear driving module is used for driving the third jaw to move linearly, and the third rotary driving module is used for driving the third jaw to rotate around a horizontal shaft; the wire frame aligning mechanism comprises a driving member and a push rod driven to extend and retract by the driving member, the push rod extends downwardly and upwardly above the carrier conveying line, and the push rod extends and retracts to push the inclined standing rectangular wire frame to a flat lying state.

[0022] With the above further arrangement, the wire frame feeding track is designed in three sections to stably and orderly convey the rectangular wire frame, the first and second pushing mechanisms control the conveying rhythm in stages to avoid material accumulation; the wire frame clamp mechanism controls the third jaw to move linearly and rotate around a horizontal shaft to convert the rectangular wire frame from vertical standing to inclined standing and move the rectangular wire frame along the V-shaped positioning groove to the assembly position to ensure the initial positioning accuracy; the wire frame aligning mechanism adopts the inclined downwardly extending push rod to stably push the inclined standing rectangular wire frame to a flat lying state and fit the horizontal carrying surface of the carrier to provide a stable foundation for subsequent screw assembly; the clamp mechanism and the aligning mechanism arranged on the two sides of the carrier conveying line form a cooperative operation space to avoid motion interference and improve the overall motion fluency; the taking position is designed to facilitate accurate clamping of the clamp mechanism, reduce the operation blind area and ensure that each rectangular wire frame can be reliably grabbed.

[0023] Still further, the application provides that the carrier conveying line comprises a first carrying line and a second carrying line for sequentially carrying a plurality of terminal carriers, 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 and the second carrying line are connected in a butt joint manner, downstream ends of the first carrying line and the second carrying line are connected in a butt joint manner, the carrier driving mechanism comprises a first X-axis driving member, a first Y-axis driving member, a second X-axis driving member and a second Y-axis driving member, the first X-axis driving member is used for pushing the terminal carrier at the upstream end of the first carrying line to the upstream end of the second carrying line along the X-axis direction, the first Y-axis driving member is used for pushing the plurality of terminal carriers on the second carrying line to slide along the Y-axis to the downstream, the second X-axis driving member is used for pushing the terminal carrier at the downstream end of the second carrying line to the downstream end of the first carrying line along the X-axis direction, and the second Y-axis driving member is used for pushing the plurality of terminal carriers on the first carrying line to slide along the Y-axis to the upstream; the terminal transfer unit comprises a fourth gripper, a fourth linear driving module and a fourth rotary driving module, the fourth gripper is used for clamping the terminal on the terminal carrier at the downstream end position of the second carrying line and sending it to the magnetic system carrier of the terminal feeding station of the coil assembly assembling device.

[0024] With the above further arrangement, the double-carrying-line circulation structure realizes continuous flow of the terminal carrier, without manual return of the carrier, and improves the continuous operation efficiency of the terminal assembly; meanwhile, the fourth gripper, the fourth linear driving module and the fourth rotary driving module in the terminal transfer unit cooperate with each other, the fourth gripper accurately clamps the terminal, the fourth linear driving module and the fourth rotary driving module provide linear movement and rotary action for the fourth gripper, and the terminal can be quickly sent to the magnetic system carrier of the terminal feeding station of the coil assembly assembling device, thereby further improving the working efficiency and assembly precision of the entire assembly line.

[0025] Still further, the coil assembly assembling device comprises a rack, the rack is provided with a carrier circular conveying line, and a wiring terminal feeding station, a static contact piece feeding unit, a first coil feeding unit, a second coil feeding unit, a first welding unit, a second welding unit and a magnetic system assembly transfer unit are arranged in sequence along the carrier circular conveying line; at least two kinds of magnetic system carriers adapted to different specifications of magnetic systems are arranged on the carrier circular conveying line, each magnetic system carrier is provided with a coil positioning groove and wiring terminal positioning grooves and static contact piece positioning grooves located on both sides of the coil positioning groove, the coil positioning grooves of different specifications are adapted to the winding parts of the coils of corresponding specifications; the wiring terminal positioning grooves on the magnetic system carrier are used for accommodating the wiring terminals, the static contact piece feeding unit is used for placing the static contact pieces in the static contact piece positioning grooves, and the first coil feeding unit or the second coil feeding unit is used for placing the coils of corresponding specifications in the coil positioning grooves; the first welding unit is used for welding and fixing the first lead of the coil and the connecting part of the wiring plate, and the second welding unit is used for welding and fixing the second lead of the coil and the joint of the static contact piece, so as to form a magnetic system assembly; and the magnetic system assembly transfer unit is used for transferring the magnetic system assembly to the double-trolley feeding and discharging device.

[0026] With the above further setting, the design of the carrier circular conveying line enables the magnetic system carriers to circulate and flow, and each station is sequentially connected to realize continuous assembly operation. The magnetic system carriers of different specifications are matched with the parts of corresponding specifications in the size design of the coil positioning grooves, so as to ensure the positioning accuracy of the parts in the assembly process; the first coil feeding unit and the second coil feeding unit select the coils of corresponding specifications according to production requirements, and embed the winding parts of the coils into the coil positioning grooves, so as to ensure the adaptability of the coils and the carriers; and the first welding unit and the second welding unit weld the lead of the coil and the connecting part of the wiring plate and the joint of the static contact piece respectively, so as to realize seamless connection of the assembly assembly line and subsequent processes.

[0027] The further setting of the present application is that the first welding unit and the second welding unit are provided with electrode feeding assemblies and welding assemblies; the first pin of the coil corresponds to the front side of the connecting part of the terminal block, and the second pin corresponds to the front side of the joint of the static contact piece; the electrode feeding assembly of the first welding unit is used to feed the electrode to the middle of the first pin of the coil and the connecting part of 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 second pin of the coil and the joint of the static contact piece, and is welded and fixed by the welding assembly; each welding assembly comprises a first welding block and a second welding block, the first welding block of the welding assembly in the first welding unit can move in and out of the back of the connecting part of the terminal block, and the second welding block corresponds to the front side of the first pin of the coil and can move to the side of the first pin to realize the soldering and fixing of the first pin and the connecting part in cooperation with the first welding block; the first welding block of the welding assembly in the second welding unit can move in and out of the back of the joint of the static contact piece, and the second welding block corresponds to the front side of the second pin of the coil and can move to the second pin to realize the soldering and fixing of the second pin and the joint in cooperation with the first welding block; the terminal carrier, the coil carrier and the contact piece carrier are arranged on the magnetic system carrier, the terminal positioning groove, the coil positioning groove and the static contact piece positioning groove are arranged on the corresponding carriers respectively; the terminal carrier and the coil carrier form an empty area for the first welding block to insert, and the connecting part of the terminal block and the first pin of the coil extend to the empty area and are arranged oppositely; the first welding block can move in and out of the static contact piece positioning groove, the static contact piece has a elbow part embedded in the static contact piece positioning groove, the front end of the elbow part extends to form a joint, and the elbow part and the joint jointly form an avoiding opening for the first welding block to insert; the opposite side walls of the terminal positioning groove are respectively provided with a positioning bayonet and a second contour positioning surface; the positioning bayonet is used to form a plug-in positioning with the end edge of the plug-in part of the terminal block, and the second contour positioning surface is Z-shaped and forms a contact positioning with the terminal block.

[0028] With the further setting, the electrode feeding assembly controls the electrode conveying position to ensure that the electrode reaches the middle of the coil pin and the corresponding welding position accurately, providing a basis for high-quality welding; the first welding block and the second welding block of the welding assembly act in coordination, and through the cooperation of up-down movement and horizontal movement, pressure and heat are applied to the pin and the welding position from different directions to achieve reliable soldering fixation, ensuring the welding strength and electrical connection stability; the first welding unit and the second welding unit respectively perform welding operations on different pins of the coil, with clear division of labor, improving the overall welding efficiency. Through the partition design of the terminal carrier, the coil carrier and the contact piece carrier, the magnetic system carrier realizes accurate positioning and independent assembly of each component. The setting of the empty area not only provides operating space for the welding action of the first welding block; the cooperation design of the static contact piece positioning groove and the elbow part ensures that the first welding block is inserted without interference, and the enclosing structure of the elbow part and the joint enhances the positioning stability of the static contact piece on the carrier; the positioning bayonet of the terminal positioning groove and the Z-shaped contour positioning surface form multi-dimensional constraints, respectively fixing the terminal plate from the edge embedding and the body surface contact two levels, effectively preventing the deviation caused by vibration or external force during assembly, and ensuring the assembly accuracy.

[0029] Further settings of the application: the magnetic system assembly transfer unit includes a first conveying line and a second conveying line for sequentially conveying a plurality of positioning boxes, a positioning box driving mechanism, and a magnetic system clamp mechanism. The two conveying lines extend along the Y axis and are arranged in an up-down manner in the Z axis direction. The positioning box is used to carry and align the magnetic system assembly. The positioning box driving mechanism includes an upstream material taking box seat, a first Z-axis driving member and a third Y-axis driving member corresponding to the upstream material taking box seat, and a downstream material taking box seat, a second Z-axis driving member and a fourth Y-axis driving member corresponding to the downstream material taking box seat. The first Z-axis driving member is used to drive the upstream material taking box seat to rise and fall. The second Z-axis driving member is used to drive the downstream material taking box seat to rise and fall. When the upstream material taking box seat is connected to the upstream end of the second conveying line, it is used to receive the empty positioning box conveyed upstream by the second conveying line. The first Z-axis driving member is used to drive the upstream material taking box seat to rise to connect to the upstream end of the first conveying line. The magnetic system clamp mechanism is used to grab the magnetic system assembly and place it in the empty positioning box on the upstream material taking box seat. The third Y-axis driving member is used to push the positioning box loaded with the magnetic system assembly on the upstream material taking box seat to the upstream end of the first conveying line. When the downstream material taking box seat is connected to the downstream end of the first conveying line, it is used to receive the positioning box loaded with the magnetic system assembly conveyed downstream by the first conveying line. The positioning box on the downstream material taking box seat supplies the magnetic system assembly to the double cart up-down material equipment. The second Z-axis driving member is used to drive the downstream material taking box seat to descend to connect to the downstream end of the second conveying line. The fourth Y-axis driving member is used to push the empty positioning box on the downstream material taking box seat to the second conveying line. The empty positioning box on the second conveying line is conveyed upstream to the connected upstream material taking box seat to complete the positioning box cycle.

[0030] With the further arrangement, the positioning box is circulated by two conveying lines extending along the Y axis and arranged up and down in the Z axis direction, so as to reduce manual intervention and improve production efficiency. The driving members in the positioning box driving mechanism and the material taking box seat cooperate with each other, so that the positioning box can accurately ascend, descend and move in the Y axis direction during the conveying process, thereby ensuring the stability and accuracy of the magnetic system assembly during the transfer process. The magnetic system gripper mechanism can reliably grasp and place the magnetic system assembly, further ensuring the smooth operation of the entire assembly line.

[0031] Further, the double-trolley feeding and discharging device comprises a rack, the rack is provided with a feeding area and a discharging area along the X-axis direction, the first trolley and the second trolley are movably accommodated in the corresponding area respectively, and the top of the feeding area and the top of the discharging area are communicated to form a tray transfer station; the rack is further provided with a magnetic system assembly grabbing mechanism, the tray conveying group comprises a tray transfer mechanism, a feeding driving mechanism and a discharging driving mechanism, the feeding driving mechanism is used for moving the uppermost empty tray of the stacked trays on the first trolley to the top of the feeding area, the tray transfer mechanism is used for transferring the tray between the top of the feeding area and the top of the discharging area, the magnetic system assembly grabbing mechanism is used for clamping and placing the magnetic system assembly on the empty tray on the top of the discharging area, and the discharging driving mechanism is used for moving the tray loaded with multiple magnetic system assemblies from the top of the discharging area to the second trolley; wherein the tray transfer mechanism comprises a pair of transfer clamps, the pair of transfer clamps can be opened and closed along the Y-axis and can be synchronously slid along the X-axis, the feeding driving mechanism comprises a pair of feeding clamps, the pair of feeding clamps can be opened and closed along the Y-axis and can be synchronously slid along the Z-axis, and the discharging driving mechanism comprises a pair of discharging clamps, the pair of discharging clamps can be opened and closed along the Y-axis and can be synchronously slid along the Z-axis; each feeding clamp and each discharging clamp is constructed with a avoiding space, the avoiding space is used for the relative sliding of the corresponding transfer clamp in and out along the Z-axis; the pair of feeding clamps are closed 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 feeding area, at this time, the avoiding space of the pair of feeding clamps is used for the relative entry of the pair of transfer clamps on the top of the feeding area; the pair of transfer clamps can be closed to replace the pair of feeding clamps to clamp the tray; when the pair of feeding clamps are opened to avoid the X-axis sliding track of the transfer clamp, the pair of transfer clamps can drive the clamped tray to slide along the X-axis to the top of the discharging area; the pair of discharging clamps on the top of the discharging area can be closed to replace the pair of transfer clamps to clamp the tray, at this time, the avoiding space of the pair of discharging clamps is used for accommodating the pair of transfer clamps; after the pair of discharging clamps drive the clamped tray to move downward along the Z-axis to avoid the X-axis sliding track of the transfer clamp, the pair of transfer clamps can slide along the X-axis to the top of the feeding area; each feeding clamp and discharging clamp comprises a clamping arm and a plurality of clamping claws arranged thereon, the plurality of clamping claws are spaced along the X-axis and form the avoiding space; each transfer clamp comprises a transfer arm and a transfer claw arranged thereon, and the transfer claw can relatively enter and exit the avoiding space formed by the adjacent clamping claws.

[0032] With the further setting, the single tray is transferred and stacked by the action logic of "the uppermost single tray in the upper loading gripper is gripped and moved along the Z axis → the transfer gripper is gripped and moved along the X axis → the lower loading gripper is gripped and moved along the Z axis for stacking → the transfer gripper is moved back along the X axis for waiting". The upper loading gripper: only grips the uppermost single tray in the stacked tray in the first trolley, independently lifts along the Z axis, avoids the whole tray load, and provides a Z axis direction access channel for the transfer gripper to realize no interference when the grippers are replaced. The transfer gripper: replaces the upper loading gripper to grip the tray along the Y axis, moves the tray from the upper loading area to the lower loading area along the X axis, completes the cross-area tray transfer, and realizes unobstructed movement through a pair of upper loading grippers to avoid the transfer gripper along the X axis sliding track. The lower loading gripper: after the tray is moved to the top of the lower loading area, the transfer gripper is received through the avoidance space, the tray is gripped and moved along the Z axis to stack the tray to the second trolley, and the lower movement provides avoidance space for the transfer gripper to return. The double trolleys: are independently accommodated in the upper loading area and the lower loading area, the first trolley can supply the tray at any time, the second trolley can transfer the tray at any time, and the two trolleys do not interfere with the continuous operation of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 The structure diagram of the present application; Figure 2 The structure diagram of the terminal assembling equipment of the present application; Figure 3 The structure diagram of the carrier conveying line of the present application; Figure 4 The bottom structure diagram of the carrier conveying line of the present application; Figure 5 The structure diagram of the terminal carrier of the present application; Figure 6 The structure diagram of the wire frame stop seat of the present application; Figure 7 The structure diagram of the present application after placing the terminal board on the carrier seat; Figure 8 The structure diagram of the present application after placing the rectangular terminal frame on the V-shaped positioning groove of the carrier seat; Figure 9 The structure diagram of the present application after placing the rectangular terminal frame on the horizontal bearing surface of the carrier seat; Figure 10 The structure diagram of the terminal board loading unit of the present application; Figure 11 The structure diagram of the terminal board clamp mechanism, wherein the first gripper is in the rotated front state, and a is the rotation direction of the first gripper; Figure 12 The structure diagram of the terminal board clamp mechanism, wherein the first gripper is in the rotated rear state; Figure 13 The structure diagram of the terminal board clamp mechanism, wherein b is the rotation direction of the second gripper; Figure 14 The structure diagram of the terminal board clamp mechanism, wherein b is the rotation direction of the second gripper; Figure 15 The structure diagram of the terminal frame loading and aligning unit of the present application; Figure 16 The structure diagram of the terminal frame loading and aligning unit of the present application; Figure 15The cooperation diagram of the middle terminal block loading rail and the pushing mechanism; Figure 17 For Figure 15 The structure diagram of the middle terminal block loading rail; Figure 18 For Figure 15 The structure diagram of the middle terminal block clamp mechanism; Figure 19 For Figure 15 The structure diagram of the middle terminal block alignment mechanism; Figure 20 For Figure 15 The structure diagram of the middle screw assembly unit; Figure 21 The coil assembly assembly equipment structure diagram of the present application; Figure 22 The carrier ring conveying line structure diagram of the present application; Figure 23 The magnetic system carrier structure diagram of the present application; Figure 24 The structure diagram of the coil, terminal and static contact piece assembled on the magnetic system carrier of the present application; Figure 25 The welding rod feeding assembly structure diagram of the present application; Figure 26 The welding assembly structure diagram of the present application; Figure 27 The upstream end structure diagram of the two conveying lines of the magnetic system assembly transfer unit of the present application; Figure 28 The downstream end structure diagram of the two conveying lines of the magnetic system assembly transfer unit of the present application; Figure 29 The double cart loading and unloading equipment structure diagram of the present application; Figure 30 The internal structure top view of the present application; Figure 31 The internal structure diagram of the present application; Figure 32 The loading driving mechanism structure diagram of the present application; Figure 33 The unloading driving mechanism structure diagram of the present application; Figure 34 The tray transfer mechanism structure diagram of the present application. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0035] As Figures 1-34 shown, a multi-specification adaptive magnetic system assembly assembly line of the present application comprises terminal assembly equipment 1, coil assembly assembly equipment 2 and double cart loading and unloading equipment 3 connected in sequence, each equipment realizes action cooperation through an electrical control system such as a PLC controller, and ensures orderly connection and operation of each link.

[0036] The terminal assembly equipment 1 is used for assembling the terminal frame 4, the terminal plate 5 and the screw 6, and is provided with a terminal carrier 110 provided with a V-shaped positioning groove 1102 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, the groove depth of the V-shaped positioning groove is used to ensure that the terminal frame is stably erected, and the included angle of the V-shaped positioning groove can be designed as 90°. The terminal assembly equipment 1 inserts the insertion part 51 of the terminal plate 5 into the vertical inner diagonal line area of the rectangular terminal frame 4, and then screws the screw 6 on the rectangular terminal frame 4 to form the terminal 7. Specifically, the terminal assembly equipment 1 comprises a rack 11, the rack 11 is provided with a carrier conveying line 12, a terminal plate feeding unit 13, a terminal frame feeding and aligning unit 14, a screw assembling unit 15 and a terminal transfer unit 16 arranged in sequence along the conveying direction of the carrier conveying line 12. A plurality of terminal carriers 110 are arranged on the carrier conveying line 12, 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, and 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 the rectangular terminal frame 4 in a horizontal state. The terminal plate station 1104 is used for positioning the terminal plate 5 in a side-lying state with the insertion part 51 corresponding to the upper side of the V-shaped positioning groove 1102. The terminal plate feeding unit 13 is used for moving the terminal plate 5 in a side-lying state to the terminal plate station 1104. The terminal frame feeding 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 the 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 feeding and aligning unit 14 can also drive the inclined rectangular terminal frame 4 to flip over to the side of the horizontal bearing surface 1103, so that the rectangular terminal frame 4 is in a horizontal state and the lower end is vertically erected to approach the insertion part 51 of the terminal plate 5. The screw assembling unit 15 is used for conveying and screwing the screw 6 on the rectangular terminal frame 4 in a horizontal state to form the terminal 7. Specifically, the screw assembling unit comprises a screwing-in machine, a side positioning assembly and a downward pressing positioning assembly. The downward pressing positioning assembly comprises a downward pressing driving member and a downward pressing block, the downward pressing driving member is a pneumatic cylinder or an electric cylinder, and can drive the downward pressing block to press the surface of the rectangular terminal frame in a horizontal state. The side positioning assembly comprises a side driving member and a side pressing block, the side driving member is a pneumatic cylinder or an electric cylinder, and can drive the side pressing block to abut one end of the rectangular terminal frame in a horizontal state.The screw driving-in machine comprises a screw feeding pipe driving-in assembly, the driving-in assembly is used for rotating the screw at the outlet of the screw feeding pipe into the threaded hole arranged at the other end of the rectangular terminal block, wherein the driving-in assembly is a conventional structure such as CN111250967A and CN222957973U, has a chuck, a rotary driving module for driving the chuck to rotate and a linear driving module, and can realize the rotation and exit of the locking screw; the terminal transfer unit 16 is used for transferring the terminal 7 to the coil assembly assembling equipment 2; further comprising a detection unit for screening out qualified and unqualified products.

[0037] Specifically, the carrier 1101 is provided with a wire frame blocking seat 1105 and a movable clamping block 1106 at both ends of the horizontal bearing surface 1103, the wire frame blocking 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 lower end of the movable clamping block 1106 is rotationally connected with the carrier 1101 through a hinge shaft, and the upper end is a clamping end 11061; 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 on a connecting shaft 11062 at the upper end of the movable clamping block 1106, and the other end is hooked on a fixed shaft 11011 of the carrier 1101; when the rectangular wire frame 4 is in a flat lying state, the elastic reset member 1107 can drive the clamping end 11061 of the movable clamping block 1106 to move close to the wire frame blocking seat 1105, so as to cooperate with the wire frame blocking seat 1105 to achieve clamping and positioning of the rectangular wire frame 4; the terminal block station 1104 is arranged on the wire frame blocking seat 1105, the wire frame blocking seat 1105 is provided with a first profile positioning surface 11051 and a positioning column 11052, and the first profile positioning surface 11051 and the positioning column 11052 cooperate to achieve positioning of the inner and outer sides of the terminal block 5; the first profile 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 reversely extended from both ends of the positioning middle surface 110511, and the positioning middle surface 110511, the first positioning end surface 110512 and the second positioning end surface 110513 respectively abut the outer side surfaces of the body part 53, the plug-in part 51 and the connecting part 52 of the terminal block 5; the positioning column 11052 is arranged in multiple numbers along the extension direction of the first profile positioning surface 11051, and is used for abutting and limiting the inner side surface of the terminal block 5, wherein one of the positioning columns is located at the corner between the positioning middle surface and the first positioning end surface, and abuts the inner side surface of the corner between the body part and the plug-in part of the terminal block; the wire frame blocking seat is provided with a plug hole, the positioning column is adapted to be plug-in mounted in the plug hole, and the wire frame blocking seat is detachably plug-in mounted in the mounting hole of the carrier through the positioning column shaft. The terminal block station of the terminal block carrier is provided with a first light guide hole below, and a second light guide hole below the horizontal bearing surface, the first light guide hole and the second light guide hole cooperate with a sensor to achieve in-situ determination of the terminal block and the rectangular wire frame, and the sensor can be an optical sensor. In work, the terminal block is placed on the terminal block station, the Z-shaped profile positioning surface is attached to each part of the terminal block from the outside, and the positioning column abuts from the inside, so as to form bidirectional positioning; after the terminal block is placed in the V-shaped positioning groove, the terminal block is limited by moving to the wire frame blocking seat, when the terminal block is turned over to the horizontal bearing surface, the upper end of the movable clamping block is pressed to rotate around the hinge shaft, and the tensile spring is charged; after the terminal block is completely flat, the tensile spring resets to drive the movable clamping block to move close to the wire frame blocking seat, and the terminal block is clamped and fixed.

[0038] Specifically, 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 a track surface 1323 at the upper end, the plug-in part 51 of the vertically standing terminal block 5 is inserted into the terminal block channel 1322 downwards, the body part 53 is slid on the track surface 1323, and the connecting part 52 extends 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, so that the terminal block 5 is converted from a vertically standing state to a side-lying state; the terminal block clamp mechanism II 134 is used for clamping the connecting part 52 of the terminal block 5 in the side-lying state and rotating the terminal block 5 around a vertical shaft, so that the terminal block 5 is moved and positioned to the terminal block station 1104.

[0039] Specifically, the terminal block clamp mechanism 133 includes a first clamping jaw 1331, a first auxiliary positioning jaw 1332, a first linear drive module 1333, and a first rotary drive module 1334. The first clamping jaw 1331 is used to extend into the material taking opening and clamp the plug-in part 51 of the terminal block 5. The first auxiliary positioning jaw 1332 is used to abut the side edge of the connecting part 52 of the terminal block 5. The first linear drive module 1333 is used to drive 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 the connecting part 52. The first rotary drive module 1334 is used to synchronously drive the first clamping jaw 1331 and the first auxiliary positioning jaw 1332 to rotate around a horizontal axis. The terminal block clamp mechanism 134 includes a second clamping jaw 1341, a second auxiliary positioning jaw 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 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 the plug-in part 51. The second rotary drive module 1344 is used to synchronously drive the second clamping jaw 1341 and the second auxiliary positioning jaw 1342 to rotate around a vertical axis. The terminal block feeding unit 13 further includes a detection sensor 135 for detecting whether the terminal block taking position 1321 has material, and a off-peak assembly 136 for blocking the terminal block 5 to realize off-peak feeding. The detection sensor 135 can be an optical sensor, which is installed on one side of the taking position and detects whether there is material. The off-peak assembly 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 located on one side of the terminal block feeding rail 132, respectively. The first blocking block 1361 and the second blocking block 1362 are alternately extended and retracted to realize that only one terminal block is sent to the terminal block taking position at a time.

[0040] Specifically, the terminal block feeding and aligning unit 14 comprises a terminal block feeding tray 141, a terminal block feeding track 142, a terminal block clamp mechanism 143, and a terminal block aligning mechanism 144. The upstream end of the terminal block feeding track 142 is connected with the outlet of the terminal block feeding tray 141, and the downstream end is provided with a terminal block taking position 1421. The terminal block feeding track 142 is used for sequentially conveying a plurality of vertically standing rectangular terminal blocks 4 to the terminal block taking position 1421. The terminal block taking position 1421 is provided with a taking opening for the rectangular terminal block 4 to be exposed. The terminal block clamp mechanism 143 is used for clamping the rectangular terminal block 4 at the terminal block taking position 1421 and rotating it around a horizontal shaft to convert the rectangular terminal block 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 moving the rectangular terminal block 4 along the V-shaped positioning groove 1102 to the assembly position. The terminal block aligning mechanism 144 is used for pushing the inclined rectangular terminal block 4 to the horizontal carrier surface 1103 to flip and fall down, so that it is in a flat lying state. The terminal block 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 terminal block feeding tray 141, and the downstream end of the third track 1425 is provided with the terminal block taking position 1421. The first track 1423 conveys the rectangular terminal block 4 from the terminal block feeding tray 141 to the third track 1425. The rectangular terminal block 4 in the third track 1425 is pushed by a first pushing mechanism 145 to the second track 1424. The rectangular terminal block 4 in the second track 1424 is pushed by a second pushing mechanism 146 to the terminal block taking position 1421. The first pushing mechanism and the second pushing mechanism each comprise a linear drive 1471 and a pushing block 1472, which are used for pushing the terminal block. The linear drive is a pneumatic cylinder or an electric cylinder. The terminal block aligning mechanism 144 and the terminal block clamp mechanism 143 are separately arranged on both sides of the carrier conveying line 12. The terminal block clamp mechanism 143 comprises a third clamp jaw 1431, a third linear drive module 1432, and a third rotary drive module 1433. The third clamp jaw 1431 is used for extending into the taking opening and clamping the rectangular terminal block 4. The third linear drive module 1432 is used for driving the third clamp jaw 1431 to move linearly. The third rotary drive module 1433 is used for driving the third clamp jaw 1431 to rotate around a horizontal shaft. The terminal block aligning mechanism 144 comprises a drive 1441 and a push rod 1442 driven by the drive 1441 to extend and retract. The push rod 1442 extends downwardly and above the carrier conveying line 12. Through the extension action of the push rod 1442, the rectangular terminal block 4 in an inclined standing state is converted to a flat lying state.

[0041] Specifically, 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 a butt joint manner, downstream ends of the first carrying line 121 and the second carrying line 122 are connected in a butt joint 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, 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, 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 gripper 161, a fourth linear driving module 162, and a fourth rotary driving module 163, the fourth gripper 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 assembling equipment 2; the terminal taking material window is arranged on the rack 11 of the terminal assembling equipment 1, the terminal feeding window is arranged on the rack 21 of the coil assembly assembling equipment 2, the terminal feeding window corresponds to the terminal taking material window, the terminal 7 is taken out from the terminal taking material window of the terminal assembling equipment 1 and enters the coil assembly assembling equipment 2 from the terminal feeding window.

[0042] The coil assembly assembly equipment 2 is used for assembling the terminal 7, the coil 8 and the static contact 9, is provided with at least two kinds of magnetic system carriers 210, each magnetic system carrier 210 is adapted to the coil 8 of corresponding specification respectively, the coil assembly assembly equipment 2 is welded with the terminal plate 5, the static contact 9 respectively with the coil 8, and the magnetic system assembly 10 is formed;The coil assembly assembly equipment 2 includes rack 21, the rack 21 is provided with carrier ring conveying line 22, the ring conveying line can be ring guide rail, transmission chain, carrier mounting seat, servo drive unit, electromagnetic positioning unit, ring guide rail is fixed on the rack, transmission chain is engaged with guide rail;The carrier mounting seat is uniformly distributed on the chain, is used for fixing the magnetic system carrier;Servo drive unit is connected with chain gear through speed reducer, drives ring line to run at constant speed;Electromagnetic positioning unit is installed below each station, is used for stopping conveying after the carrier is in position;Terminal loading station 23, static contact loading unit 24, first coil loading unit 25, second coil loading unit 26, first welding unit 27, second welding unit 28 and magnetic system assembly transfer unit 29 are sequentially arranged along the carrier ring conveying line 22;The carrier ring conveying line 22 is configured with at least two kinds of magnetic system carriers 210 adapted to different specifications of magnetic system, each magnetic system carrier 210 is provided with coil positioning groove 2101 and terminal positioning groove 2102 and static contact positioning groove 2103 located on both sides of the coil positioning groove 2101, and the coil positioning groove 2101 of different specifications is adapted to the winding part 81 of the corresponding specification coil 8;The terminal loading station 23 is connected with the terminal transfer unit 16, and the terminal positioning groove 2102 on the magnetic system carrier 210 is used to accommodate the terminal 7 transferred and conveyed by the terminal transfer unit 16, the static contact loading unit 24 is used to place the static contact 9 in the static contact positioning groove 2103, the first coil loading unit 25 or the second coil loading unit 26 is used to place the coil 8 of corresponding specification in the coil positioning groove 2101;The first welding unit 27 is used for welding and fixing the first pin 82 and the connecting part 52 of the terminal plate 5, the second welding unit 28 is used for welding and fixing the second pin 83 and the joint 91 of the static contact 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 loading equipment 3;The static contact loading unit 24, the first coil loading unit 25 and the second coil loading unit 26 have loading assemblies, the loading assemblies are the same as CN2229712813U in structure, the loading assembly of the static contact loading unit includes static contact loading channel and static contact clamping part, and the static contact is clamped to the static contact placing groove;The loading assembly of the coil loading unit includes coil loading channel and coil clamping part, and the coil is clamped to the coil placing groove;

[0043] Specifically, the first welding unit 27 and the second welding unit 28 are both provided with a welding rod 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 contact 91 of the static contact piece 9; the welding rod feeding assembly 211 of the first welding unit 27 is used to deliver the welding rod 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 welding rod feeding assembly 211 of the second welding unit 28 is used to deliver the welding rod 213 to the middle of the second pin 83 of the coil 8 and the contact 91 of the static contact piece 9, 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, and the first welding block and the second welding block can be driven to slide by a corresponding air cylinder or electric cylinder; 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; 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 realize the hot welding fixation of the first pin 82 and the connecting portion 52 in cooperation with the first welding block 2121; 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 contact 91 of the static contact piece 9 up and down; 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 realize the hot welding fixation of the second pin 83 and the contact 91 in cooperation with the first welding block 2121, and each first welding block and second welding block can be driven to slide by a corresponding air cylinder or electric cylinder. Specifically, each welding rod feeding assembly is designed conventionally and has the same structure as CN222971284U, and includes a welding rod reel, a clamping member for clamping or releasing the welding rod, and a feeding driving member, and the feeding driving member is used to deliver the welding rod on the welding rod reel to the welding area to be welded through the clamping member.

[0044] 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 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, the connecting part 52 of the terminal block 5 and the first pin 82 of the coil 8 are both extended to the empty area 2107 and oppositely arranged; the first welding block 2121 can enter and exit the static contact positioning groove 2103, the static contact 9 has a elbow part 92 embedded in the static contact positioning groove 2103, the front end of the elbow part 92 extends to form a joint 91, and the elbow part 92 and the joint 91 jointly form an avoiding opening 93 for inserting the first welding block 2121, the second pin 83 of the coil 8 extends to the contact carrier 2106 and oppositely arranged with the joint 91 of the static contact 9; the opposite side walls of the terminal positioning groove 2102 are respectively provided with a positioning bayonet 21021 and a second profile positioning surface 21022; the positioning bayonet 21021 is used for forming plug-in positioning with the end edge of the plug-in part 51 of the terminal block 5; the second profile positioning surface 21022 is Z-shaped, which also includes a positioning middle surface, a first positioning end surface and a second positioning end surface, and 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.

[0045] Specifically, 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 boxes 20 are used to carry and align the magnetic system assemblies 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 to drive the upstream material taking box seat 2931 to ascend and descend. The second Z-axis driving member 2935 is used to drive 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 to receive the empty positioning boxes 20 conveyed upstream by the second conveying line 292. The first Z-axis driving member 2932 is used to drive 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 to grab the magnetic system assemblies 10 and place them on the empty positioning boxes 20 of the upstream material taking box seat 2931. The third Y-axis driving member 2933 is used to push the positioning boxes 20 loaded with the magnetic system assemblies 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 to receive the positioning boxes 20 loaded with the magnetic system assemblies 10 conveyed downstream by the first conveying line 291. The positioning boxes 20 on the downstream material taking box seat 2934 supply the magnetic system assemblies 10 to the double-trolley loading and unloading equipment 3. The second Z-axis driving member 2935 is used to drive the downstream material taking box seat 2934 to descend to dock the downstream end of the second conveying line 292. The fourth Y-axis driving member 2936 is used to push the empty positioning boxes 20 on the downstream material taking box seat 2934 to the second conveying line 292. The empty positioning boxes 20 on the second conveying line 292 are conveyed upstream to the docked upstream material taking box seat 2931 to complete the circulation of the positioning boxes 20. The first conveying line and the second conveying line can be belt-type conveying tracks, which are provided with limit sensors for detecting whether the workpieces are in place.

[0046] The double-trolley loading and unloading device 3 is used for unloading of the magnetic system assembly 10, which comprises a first trolley 32, a second trolley 33, a tray 34 for loading the magnetic system assembly 10, and a tray carrying group for carrying a single tray. The first trolley 32 supplies empty trays, and the second trolley 33 stacks the full trays after loading the magnetic system assembly 10. The double-trolley loading and unloading device 3 comprises a rack 31, which is divided into a loading area 311 and an unloading area 312 along the X-axis direction. The first trolley 32 and the second trolley 33 are movably accommodated in the corresponding areas, respectively. The top of the loading area 311 and the unloading 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 carrying group comprises a tray transfer mechanism 36, a loading driving mechanism 37, and an unloading driving mechanism 38. The loading driving mechanism 37 is used to move the uppermost single empty tray 34 of the first trolley 32 to the top of the loading area 311. The tray transfer mechanism 36 is used to transfer the tray 34 between the top of the loading area 311 and the top of the unloading area 312. The magnetic system assembly grabbing mechanism 35 is connected with the magnetic system assembly transfer unit 29, and is used to clamp and place the magnetic system assembly 10 on the empty tray 34 on the top of the unloading area 312. The magnetic system assembly grabbing mechanism 35 is used to take away the magnetic system assembly 10 in the positioning box 20 on the downstream tray box seat 2934. The unloading driving mechanism 38 is used to move the tray 34 loaded with multiple magnetic system assemblies 10 from the top of the unloading area 312 to the second trolley 33.

[0047] Specifically, the tray transfer mechanism 36 comprises a pair of transfer grippers 361 which are openable and closable along the Y axis and are synchronously slidable along the X axis, the feeding driving mechanism 37 comprises a pair of feeding grippers 371 which are openable and closable along the Y axis and are synchronously slidable along the Z axis, and the discharging driving mechanism 38 comprises a pair of discharging grippers 381 which are openable and closable along the Y axis and are synchronously slidable along the Z axis; each feeding gripper 371 and each discharging gripper 381 is configured with an avoiding space 39 which is used for the corresponding transfer gripper 361 to relatively slide in and out along the Z axis; the pair of feeding grippers 371 are closed to clamp the uppermost single tray 34 in the plurality of 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 feeding area 311, at this time the avoiding space 39 of the pair of feeding grippers 371 is used for the pair of transfer grippers 361 on the top of the feeding area 311 to relatively enter; the pair of transfer grippers 361 can be closed to replace the pair of feeding grippers 371 on the top of the feeding area 311 to clamp the tray 34; when the pair of feeding grippers 371 are opened to avoid the X axis sliding track of the transfer gripper 361, the pair of transfer grippers 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 grippers 381 on the top of the discharging area 312 can be closed to replace the pair of transfer grippers 361 to clamp the tray 34, at this time the avoiding space 39 of the pair of discharging grippers 381 is used to accommodate the pair of transfer grippers 361; when the pair of discharging grippers 381 drive the clamped tray 34 to move downward along the Z axis to avoid the X axis sliding track of the transfer gripper 361, the pair of transfer grippers 361 can slide along the X axis to the top of the feeding area 311; each feeding gripper 371 and each discharging gripper 381 comprises a clamping arm 301 and a plurality of clamping grippers 302 arranged thereon, the plurality of clamping grippers 302 are spaced along the X axis and form the avoiding space 39; each transfer gripper 361 comprises a transfer arm 3611 and a transfer gripper 3612 arranged thereon, the transfer gripper 3612 can relatively enter and exit the avoiding space 39 formed by the adjacent clamping grippers of the clamping arm 301.

[0048] The tray transfer mechanism 36 comprises a pair of transfer clamps 361, a third Y-axis drive module 362 and an X-axis drive module 363. The third Y-axis drive module 362 is used to drive the pair of transfer clamps 361 to open and close along the Y-axis direction. The X-axis drive module 363 is used to drive the pair of transfer clamps 361 to synchronously slide along the X-axis direction. The X-axis drive module 363 is in two groups. The pair of transfer clamps is symmetrically arranged on the first sliding seat 3631 of the two X-axis drive modules 363. The first sliding seat is driven by the X-axis drive module to slide along the X-axis. Each transfer clamp 361 comprises a transfer arm 3611 and a transfer claw hand 3612 arranged 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 with the transfer arms 3611 of the pair of transfer clamps. Through the extension and retraction of the piston rod of the power cylinder, the pair of transfer clamps is driven to synchronously open and close along the Y-axis direction, so as to clamp or release the tray.

[0049] The feeding drive mechanism 37 comprises a pair of feeding clamps 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 clamps 371 to open and close along the Y-axis direction. The first Z-axis drive module 373 is used to drive the pair of feeding clamps 371 to synchronously slide along the Z-axis direction. The second sliding seat 3731 which can slide along the Z-axis is arranged on the first Z-axis drive module 373. The second sliding seat 3731 is driven by the first Z-axis drive module 373 to slide. The first Y-axis drive module 372 is a linear power cylinder. The cylinder body is fixed on the second sliding seat 3731. The output ends of the two linear power cylinders are respectively connected with the clamp arms 301 of the pair of feeding clamps. Through the extension and retraction of the piston rod of the power cylinder, the pair of feeding clamps is driven to synchronously open and close along the Y-axis direction, so as to clamp or release the tray.

[0050] The feeding drive mechanism 37 comprises a pair of feeding clamps 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 clamps 371 to open and close along the Y-axis direction. The first Z-axis drive module 373 is used to drive the pair of feeding clamps 371 to synchronously slide along the Z-axis direction. The second sliding seat 3731 which can slide along the Z-axis is arranged on the first Z-axis drive module 373. The second sliding seat 3731 is driven by the first Z-axis drive module 373 to slide. The first Y-axis drive module 372 is a linear power cylinder. The cylinder body is fixed on the second sliding seat 3731. The output ends of the two linear power cylinders are respectively connected with the clamp arms 301 of the pair of feeding clamps. Through the extension and retraction of the piston rod of the power cylinder, the pair of feeding clamps is driven to synchronously open and close along the Y-axis direction, so as to clamp or release the tray.

[0051] The material clamping jaw hand is provided with three, which are middle material clamping jaw hand and two side material clamping jaw hands, and the middle material clamping jaw hand and the two side material clamping jaw hands form an avoiding space; the transfer jaw hand is provided with two, which can correspond to the avoiding space between the middle material clamping jaw hand and the two side material clamping jaw hands, and the middle material clamping jaw hand can enter and exit the gap between the two transfer jaw hands.

[0052] Of course, the above-mentioned feeding clamping jaw and discharging clamping jaw can be provided with two jaw hands, and the transfer clamping jaw is provided with one jaw hand. Each of the jaw hands comprises a pair of clamping pieces arranged in an upper and lower interval, and a clamping gap is formed between the pair of clamping pieces, which is used for adapting to the side edge of the material tray.

[0053] The linear power cylinder is a gas cylinder, an oil cylinder or an electric cylinder; the screw transmission linear drive module is a conventional design, and the core thereof comprises a motor, a screw, a guide rail and a sliding seat. The motor is fixed to one end of the screw, the guide rail is arranged in parallel with the screw, and the sliding seat is sleeved on the screw and the guide rail. The motor drives the screw to rotate, and drives the sliding seat to drive the clamping jaw to linearly reciprocate.

[0054] The magnetic system assembly grabbing mechanism can adopt a three-axis mechanical hand, which is a conventional design. It mainly comprises an X-axis moving unit, a Y-axis moving unit, a Z-axis moving unit and a clamping jaw assembly. The X-axis moving unit and the Y-axis moving unit adopt a belt transmission linear drive module, the Z-axis moving unit adopts a screw transmission linear drive module, and the clamping jaw assembly is a pneumatic finger, which is adapted to the outer dimensions of the workpiece and realizes clamping of the workpiece through opening and closing of the pneumatic finger.

[0055] The material tray comprises a base and a plurality of workpiece carriers. The surface of the base is provided with a plurality of insertion holes arranged in a transverse and longitudinal interval. The bottom surface of the workpiece carrier is provided with an insertion column. The workpiece carrier and the base are detachably connected through the insertion column and the corresponding insertion hole. The upper surface of each workpiece carrier is provided with an assembly boss.

[0056] The core function of the double-pushing cart feeding and discharging equipment is to realize feeding of workpieces on the production line to the empty material tray or feeding of the material tray loaded with workpieces to the production line. The overall working principle is based on the cooperative action of the X, Y and Z three-axis mechanisms. The first pushing cart and the second pushing cart have the same structure, but different functions.

[0057] The above feeding tray adopts a conventional vibrating feeding tray structure to realize directional arrangement and output of the workpiece; the clamping jaw is a pneumatic clamping jaw; the linear driving module adopts a conventional linear driving structure in CN222957973U, such as a linear sliding rail + cylinder driving structure or a screw nut transmission mechanism, which can drive the corresponding clamping jaw to linearly slide along the X, Y / Z axes; the rotary driving module can select a rotary cylinder, a rotary motor or an indirect rotary structure of a linear driving swing arm according to actual working conditions, so as to drive the clamping jaw to rotate.

[0058] The working principle of the present application is as follows:

[0059] 1. Terminal assembly stage

[0060] The terminal board feeding tray vertically stands the terminal board and transports it to the take-off position through the feeding rail. After the detection sensor detects the material, the staggered peak component blocks the subsequent terminal board. The first clamping jaw of the first clamping mechanism extends into the take-off port to clamp the terminal board. The first auxiliary positioning jaw abuts the connecting part. The first rotary driving module rotates 90° to convert it into a side-lying state. The second clamping mechanism clamps the connecting part and rotates around the Z-axis to adjust the angle. Then, the terminal board is positioned to the terminal board station and fixed by the Z-shaped contour positioning surface and the positioning column.

[0061] The terminal frame is fed by the terminal frame feeding tray through the first material rail to the third material rail. The first pushing mechanism pushes it to the second material rail, and the second pushing mechanism pushes it to the take-off position. The third clamping jaw of the clamping mechanism clamps the terminal frame and rotates around the horizontal shaft to become an inclined vertical position. It is moved to the V-shaped positioning groove and moves along the groove to the limit position of the terminal frame stop seat. At this time, the terminal board insertion part is inserted into the diagonal area of the terminal frame. The push rod of the alignment mechanism extends and pushes the terminal frame to the horizontal bearing surface to flip and lie flat. The movable clamping block is clamped with the terminal frame under the action of the elastic return element.

[0062] Screw assembly: The screw assembly unit transports and threadedly connects the screw to the lying terminal frame to form a terminal. The fourth clamping jaw of the terminal transfer unit clamps the terminal and moves to the magnetic system carrier of the coil assembly assembly equipment through the take-off port and the feeding window.

[0063] 2. Coil assembly assembly stage

[0064] Feeding: The magnetic system carrier flows to the terminal feeding station along the annular conveying line, and the terminal positioning groove receives the terminal. It flows to the static contact piece feeding station, and the static contact piece feeding unit places the elbow of the static contact piece in the static contact piece positioning groove, and the joint extends to the coil positioning groove. Then, according to the specification requirement, the first coil feeding unit or the second coil feeding unit places the coil of the corresponding specification in the coil positioning groove, and the winding part is adaptively positioned. The first pin and the second pin respectively extend to the terminal and the static contact piece.

[0065] Welding operation: the carrier is transferred to the first welding station, the electrode is sent to the middle of the first pin and the connection part of the terminal strip by the electrode feeding assembly of the first welding unit, the first welding block is inserted into the empty space upward, and the second welding block is close to the first pin backward to clamp and solder the first pin and the connection part; the carrier is transferred to the second welding station, the electrode is sent to the middle of the second pin and the contact piece by the electrode feeding assembly of the second welding unit, the first welding block is inserted into the avoidance port upward, and the second welding block is close to the second pin backward to clamp and solder the second pin and the contact piece, forming a magnetic system assembly.

[0066] 3. Double trolley loading and unloading stage

[0067] Tray transfer: a pair of loading clamping jaws of the loading drive mechanism clamps the single empty tray on the uppermost layer of the first trolley, and moves upward along the Z axis to the top of the loading area; a pair of transfer clamping jaws enter the avoidance space of the loading clamping jaws and replace the clamping of the tray, and after the loading clamping jaws move downward to avoid, the transfer clamping jaws move the tray to the top of the unloading area along the X axis; a pair of transfer clamping jaws enter the avoidance space of the unloading clamping jaws, and are replaced by the unloading clamping jaws to clamp the tray, and after the unloading clamping jaws move downward to avoid, the transfer clamping jaws return along the X axis.

[0068] Magnetic system assembly unloading and tray stacking: the magnetic system assembly grabbing mechanism takes away the magnetic system assembly from the positioning box of the downstream material taking box seat, and places it in the tray at the top of the unloading area; after the tray is full, a pair of unloading clamping jaws drive the tray to move downward along the Z axis and stack on the second trolley; the first trolley can be replenished with empty trays at any time, and the second trolley can transport full trays out at any time, without affecting the continuous operation of the equipment.

[0069] It should be noted that all directional indications (such as up, down, front, back, etc.) in the description of the present application are only used to explain the relative positional relationship, motion condition, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications will also change accordingly. In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. In the description of the present application, the meaning of "several" is at least two, such as two, three, etc., unless otherwise specifically limited. In the description of the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "coupling", "connecting", "fixing" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral; it can be directly connected, or indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to 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 inclinedly 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). 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).

2. The multi-specification adapted magnetic system assembly line of claim 1, 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).

3. The multi-specification adapted magnetic system assembly line of claim 1 or 2, 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.

4. The multi-specification adapted magnetic system assembly line of claim 1 or 2, 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).

5. The multi-specification adapted magnetic system assembly line of claim 1 or 2, 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).

6. The multi-specification adapted magnetic system assembly line of claim 1 or 2, 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).

7. The multi-specification adapted magnetic system assembly line of claim 6, 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).

8. The multi-specification adapted magnetic system assembly line of claim 6, 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).

9. The multi-specification adapted magnetic system assembly line of claim 1 or 2, 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) drives 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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