An automatic assembly device for actuators and its control method

Abstract

This invention relates to the field of actuator technology, and in particular to an automatic actuator assembly device and its control method. It includes a controller, an assembly mechanism, and a detection mechanism. The assembly mechanism and the detection mechanism are communicatively connected to the controller. The detection mechanism includes a first moving component, a coding component, a first inspection component, a second inspection component, a third inspection component, a fourth inspection component, a fifth inspection component, and a sorting component. All of these components are electrically connected to the controller. Using this device and method, assembly and detection can be performed automatically, thus reducing labor costs and increasing detection accuracy.

Description

Technical Field

[0001] This invention relates to the field of actuator technology, and in particular to an automatic actuator assembly device and its control method. Background Technology

[0002] Actuators are an essential component of automatic control systems. In actuator production, fully automated production lines can greatly save labor costs. However, existing production lines only handle production, and quality inspection after production still requires manual labor. This not only results in high labor costs but also increases the risk of errors and omissions and prevents traceability. Summary of the Invention

[0003] The technical solution to be solved by the present invention is to provide an automatic assembly device for actuators and its control method. Using this device and method, assembly and testing can be performed automatically, which can reduce labor costs and improve testing accuracy.

[0004] The technical solution adopted in this invention is: an automatic assembly device for actuators, comprising a controller, an assembly mechanism, and a detection mechanism. The assembly mechanism and the detection mechanism are both communicatively connected to the controller. The detection mechanism includes a first moving component for moving the product, a coding component for coding the product with a QR code, a first inspection component for collecting QR code information and inspecting the top surface of the product, a second inspection component for inspecting the front, back, left, right, and bottom surfaces of the product, a third inspection component for inspecting the product's size information, a fourth inspection component for inspecting the position of the product's pins, a fifth inspection component for inspecting the product's airtightness, and a classification component for classifying the inspected products according to the inspection results. The coding component, the first inspection component, the second inspection component, the third inspection component, the fourth inspection component, the fifth inspection component, and the classification component are all electrically connected to the controller. The first moving component is used to move the product. Coding component, used to code products; The first inspection component is used to take a photo of the top surface of the product and transmit the photo to the controller. The controller then checks whether the QR code is qualified. If it is qualified, the QR code information is collected and a folder for the product is created based on the collected QR code information. The photos of the product are then stored in the folder, and the appearance of the top surface of the product is identified as qualified based on image recognition technology. The second inspection component is used to take photos of the front, back, left, right sides and bottom of the product and transmit the photos to the controller. The controller then saves the photos into the product's folder and uses image recognition technology to identify whether the appearance of the front, back, left, right sides and bottom of the product is qualified. The third inspection component is used to take a photo of the product size identification location and transmit the photo to the controller. The controller then saves the photo into the product's folder and uses image recognition technology to identify whether the product's size is qualified. The fourth inspection component is used to take a picture of the product's PIN pin position and transmit the picture to the controller. The controller then saves the picture to the product's folder and uses image recognition technology to identify whether the product's PIN pin position is qualified. The fifth inspection component is used to check the airtightness of the product and transmits the inspection results to the controller, which then stores the airtightness inspection information of the product in the product's folder. The sorting component is used to remove products that fail inspection due to non-compliance with QR codes, appearance, size, or airtightness. The controller is used to control all components, and generates a folder containing the product based on the QR code information. Then, it stores all the photos of the product in the folder and performs image recognition based on the photo information to determine whether it is qualified.

[0005] Preferably, the first inspection component includes a first camera for capturing the upper surface of the product, the second inspection component includes a rotating platform for driving the product to rotate horizontally, a second camera for capturing the front, back, left, and right sides of the product, a moving platform for moving the second cameras, and a third camera for capturing the lower surface of the product, the third inspection component includes a fourth camera for capturing the product size identification position, the fourth inspection component includes a viewfinder for identifying the PIN pin position and a fifth camera for capturing the PIN pin position, and the first, second, third, fourth, and fifth cameras, the rotating platform, and the moving platform are all electrically connected to the controller.

[0006] Preferably, the fifth inspection component includes a lower mold and an upper mold. The lower mold is provided with a groove and a plug that slides in the groove to block the PIN pin interface of the product. One end of the plug is a first inclined surface, and the other end of the plug is a plug for blocking the PIN pin interface of the product. The upper mold is provided with a pressure block, and the pressure block is provided with a second inclined surface that matches the first inclined surface. When the upper mold and lower mold separate, the blocking block does not block the PIN pin interface of the product; When the upper mold presses down on the lower mold to complete the seal, the plug block slides along the groove under the action of the pressure block to block the PIN pin interface of the product.

[0007] Preferably, the actuator automatic assembly device further includes a pick-up and packaging mechanism, which includes a conveying component for conveying packaging boxes, a second moving component for grabbing packaging boxes located at a first position and delivering the packaging boxes to a pick-up position, and a third moving component for placing inspected and qualified products into the packaging boxes at the pick-up position. The conveying component, the second moving component, and the third moving component are all electrically connected to the controller.

[0008] Preferably, the package picking and packaging mechanism further includes a blocking component for blocking the package conveyed on the conveying assembly at a second position. When the packaging box at the pickup position is full, the second moving component will send the packaging box at the first position to the pickup position, while the blocking component releases the packaging box at the second position. At this time, the packaging box at the second position will be moved to the first position by the conveying component, and there is a gap between the first position and the second position.

[0009] Preferably, the assembly mechanism includes a worktable, a turntable assembly rotatably connected to the worktable, a transport assembly for conveying products onto the turntable assembly, an oiling assembly for applying oil to the products, a sealing ring mounting assembly, and a tilting assembly. The turntable assembly, transport assembly, oiling assembly, sealing ring mounting assembly, and tilting assembly are all electrically connected to a controller. The turntable assembly is used to move the product to the next workstation; Transport components are used to move products to the workstations of the turntable components; Oiling assembly for applying oil to the sealing ring mounting location of the product; A seal mounting assembly is used to install a seal onto a product. The flipping assembly is used to flip the product after the seal ring has been installed.

[0010] A control method for an automatic actuator assembly device includes the following steps: S1. The transport component delivers the product to the turntable component's workstation; S2. The turntable assembly moves the product to the oiling position, and the oiling assembly applies oil to the sealing ring installation position of the product. S3. The turntable assembly moves the product to the sealing ring installation position, and the sealing ring installation assembly installs the sealing ring onto the product. S4. The turntable assembly moves the product to the flipping position, and the flipping assembly flips the product. S5. The first moving component moves the flipped product to the coding position, and the coding component codes the product. S6. The first moving component moves the product to the first inspection position. The first inspection component takes a picture of the top surface of the product and transmits the picture to the controller. Then the controller checks whether the QR code is qualified. If it is not qualified, it is marked as unqualified and subsequent inspections are performed until it is taken out by the sorting component. If it is qualified, the QR code information is collected and a folder for the product is created based on the collected QR code information. Then the picture of the top surface of the product is stored in the folder. The appearance of the top surface of the product is identified by image recognition technology. If it is qualified, the process jumps to the next step. If it is unqualified, it is marked as unqualified and the process jumps to the next step. S7. The first moving component moves the product to the second inspection position. The second inspection component takes photos of the front, back, left, right and bottom sides of the product and transmits the photos to the controller. Then the controller saves the photos into the product's folder and uses image recognition technology to identify whether the appearance of the front, back, left, right and bottom sides of the product is qualified. If it is qualified, it jumps to the next step. If it is unqualified, it is marked as unqualified and then jumps to the next step. S8. The first moving component moves the product to the third inspection position. The third inspection component takes a picture of the product size recognition position and transmits the picture to the controller. Then the controller saves the picture into the product's folder and uses image recognition technology to identify whether the product size is qualified. If it is qualified, it jumps to the next step. If it is not qualified, it is marked as unqualified and then jumps to the next step. S9. The first moving component moves the product to the fourth inspection position. The fourth inspection component takes a picture of the product's PIN pin position and transmits the picture to the controller. The controller then saves the picture to the product's folder and uses image recognition technology to identify whether the product's PIN pin position is qualified. If it is qualified, it jumps to the next step. If it is unqualified, it is marked as unqualified in appearance and then jumps to the next step. S10. The first moving component moves the product to the fifth inspection position. The fifth inspection component checks the airtightness of the product and determines whether the airtightness of the product is qualified. Regardless of whether it is qualified or not, the inspection result is transmitted to the controller. Then the controller stores the airtightness inspection information of the product in the folder of the product. If the airtightness is qualified, it jumps to the next step. If it is not qualified, it is marked as unqualified and then jumps to the next step. S11. If the product is not marked as non-conforming, proceed to the next step. If the product is marked as non-conforming, the sorting components are removed according to the type of non-conformity. S12, the second moving component delivers the packaging box to the pickup location, and the third moving component places the qualified product into the packaging box.

[0011] Preferably, in step S7, the lower surface of the product is first photographed using the third camera. Then, the rotating platform is controlled to rotate the product so that the front surface of the product faces the second camera. The first moving platform moves the second camera to the front surface shooting position, and the second camera photographs the front surface of the product. Next, the rotating platform is controlled to rotate the product so that the left surface of the product faces the second camera. The first moving platform moves the second camera to the left surface shooting position, and the second camera photographs the left surface of the product. Then, the rotating platform is controlled to rotate the product so that the rear surface of the product faces the second camera. The first moving platform moves the second camera to the rear surface shooting position, and the second camera photographs the rear surface of the product. Finally, the rotating platform is controlled to rotate the product so that the right surface of the product faces the second camera. The first moving platform moves the second camera to the right surface shooting position, and the second camera photographs the right surface of the product.

[0012] Preferably, in step S12, when the number of products placed into the packaging box by the third moving component reaches the set number, the second moving component will send the packaging box in the first position of the conveying component to the pick-up position, while the blocking component releases the packaging box in the second position. At this time, the packaging box in the second position will move to the first position under the drive of the conveying component.

[0013] Compared with the prior art, the present invention has the following advantages using the above structural method: This structural method can automatically perform assembly and inspection, which can reduce labor costs and improve inspection accuracy. Furthermore, because a QR code is set and all inspection photos and data are stored in a folder associated with the QR code, traceability is also convenient. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of an automatic actuator assembly device.

[0015] Figure 2 This is a schematic diagram of the assembly mechanism.

[0016] Figure 3 This is a schematic diagram of the structure of the testing agency after removing the fifth inspection component.

[0017] Figure 4 yes Figure 3 A schematic diagram of the structure after removing the bottom worktable.

[0018] Figure 5 This is a structural diagram of the fifth inspection component.

[0019] Figure 6 This is a structural schematic diagram of the conveying component.

[0020] Figure 7 This is a schematic diagram of the package pickup and packaging mechanism, including the sorting components.

[0021] Figure 8 This is a structural diagram of the product.

[0022] As shown in the figure: 1. Assembly mechanism; 2. Inspection mechanism; 3. Picking and packaging mechanism; 4. First moving component; 5. Coding component; 6. First inspection component; 7. Second inspection component; 8. Third inspection component; 9. Fourth inspection component; 10. Fifth inspection component; 11. Sorting component; 12. First camera; 13. Rotating table; 14. Second camera; 15. Moving table; 16. Third camera; 17. Fourth camera; 18. Viewfinder; 19. Fifth camera; 20. Conveying component; 21. Second moving component; 22. Third moving component; 23. Blocking component; 24. Workbench; 25. Turntable component; 26. Transport component; 27. Oiling component; 28. Sealing ring installation component; 29. ​​Tilting component. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] Example 1: An automatic assembly device for actuators, such as Figure 1 As shown, it includes a controller, an assembly mechanism 1, a detection mechanism 2, and a picking and packaging mechanism 3. The assembly mechanism 1, the detection mechanism 2, and the picking and packaging mechanism 3 are all electrically connected to the controller. Assembly mechanism 1, such as Figure 2 As shown, the assembly includes a worktable 24, a turntable assembly 25, a transport assembly 26, an oiling assembly 27, a sealing ring mounting assembly 28, and a tilting assembly 29. All components—turntable assembly 25, transport assembly 26, oiling assembly 27, sealing ring mounting assembly 28, and tilting assembly 29—are electrically connected to the controller. Turntable assembly 25 includes a turntable rotatably connected to worktable 24 and a motor that drives the turntable to work. The turntable is provided with multiple clamps for placing products. The transport component 26 is used to transport products onto the turntable component 25, and mainly consists of guide rails and robotic arms. The oiling component 27 is used to apply oil to the product sealing ring placement and installation position. This structure has been disclosed in the applicant's previous patent application, so it will not be elaborated on here. The sealing ring mounting assembly 28 is used to mount the sealing ring onto the product. This structure has been disclosed in the applicant's previous patent applications, so it will not be elaborated on here. The flipping component 29 is used to flip the installed product. Since the sealing ring is installed on the lower end of the product, while the coding needs to be done on the upper end of the product, the flipping component 29 is needed to flip the product. This structure has been disclosed in the applicant's previous patent application, so it will not be elaborated on here. Testing agency 2, such as Figure 3 , 4 As shown in Figures 5 and 6, the system includes a first moving component 4, a coding component 5, a first inspection component 6, a second inspection component 7, a third inspection component 8, a fourth inspection component 9, a fifth inspection component 10, and a classification component 11, wherein: First moving component 4, used to move the product; The coding component 5 includes a laser coding machine, which is used to code the upper surface of the product. The QR code mainly includes information such as production date, model, and batch number. The first inspection component 6 mainly includes a first placement base, a first lighting fixture, and a first camera 12. The first moving component 4 places the coded product onto the first placement base. Then, the first lighting fixture illuminates the top surface of the product, and the first camera 12 takes a picture of the top surface of the product and uploads it to the controller. The controller first checks whether the QR code is valid. If it is invalid, it marks the QR code as invalid, and then the subsequent checks continue until it reaches the classification component 11, where the product is directly classified into the invalid QR code category. If it is valid, the QR code information is collected and processed according to the collected information. The product's QR code information is used to create a folder for the product. Then, the photos of the product's top surface are saved into the folder. The product's top surface appearance is identified using image recognition technology to determine if it is up to standard. This image recognition technology is relatively simple and is a standard technology in the existing field, so it is not described in detail here. If the appearance is found to be up to standard, the product will proceed to the next step of inspection. If the appearance is found to be unsatisfactory, it will be marked as unsatisfactory. The subsequent inspections will continue until the product reaches the classification component 11, where it will be directly classified into the category of unsatisfactory appearance. The second inspection component 7 mainly includes a rotating table 13, a moving table 15, a second camera 14, a second lighting fixture, a third camera 16, and a third lighting fixture. The first moving component 4 transports the product onto the rotating table 13. The bottom of the rotating table 13 is hollow, allowing the third lighting fixture to illuminate the bottom of the product. Then, the third camera 16 takes a picture of the bottom surface of the product. Simultaneously, the second lighting fixture illuminates one side of the product. The moving table 15 then adjusts the position of the second camera 14 according to which side is being illuminated, taking a picture of that side. This process is repeated four times (i.e., rotating the rotating table 13, adjusting the moving table 15, and then the second camera 14 taking a picture). This process takes photos of the front, back, left, and right sides of the product. The photos are then transmitted to the controller, which saves them to the product's folder and uses image recognition technology to check whether the appearance of the product's front, back, left, right, and bottom sides is up to standard. This image recognition technology is relatively simple and is a standard technology in the existing field, so it is not described in detail here. If the appearance is found to be up to standard, the product will proceed to the next step of inspection. If the appearance is found to be unsatisfactory, it will be marked as unsatisfactory, and the subsequent inspections will continue until the product reaches the classification component 11, where it will be directly classified into the category of unsatisfactory appearance. The third inspection component 8 includes a second placement base, a fourth lighting fixture, and a fourth camera 17, because as Figure 8 The product shown has two heights, so two sizes of photos need to be taken. The second placement seat is movable. The first moving component 4 transports the product to the second placement seat. The second placement seat moves to the first size shooting position, the fourth lighting fixture illuminates, and then the fourth camera 17 takes the first size photo. The second placement seat moves to the second size shooting position, the fourth lighting fixture illuminates, and then the fourth camera 17 takes the second size photo. After that, the photos are transmitted to the controller, and the controller saves the photos to the product's folder and uses image recognition technology to identify whether the product size is qualified. This image recognition technology is relatively simple and is a conventional technology in the existing technology, so it is not described in detail here. If the size is found to be qualified, it will proceed to the next step of inspection. If the size is found to be unqualified, it will be marked as unqualified. Then the subsequent inspection will continue until it reaches the sorting component 11, where it will be directly sorted into the unqualified size category. The fourth inspection component 9 includes a viewfinder 18, a fifth lighting fixture, and a fifth camera 19. The viewfinder 18 is used to capture the position of the PIN pins on the product. The fifth lighting fixture illuminates the position of the PIN pins on the product. The fifth camera 19 takes a picture of the position of the PIN pins on the product through the viewfinder 18 and then transmits the picture to the controller. The controller then saves the picture to the product's folder and uses image recognition technology to identify whether the appearance of the PIN pins is qualified. This image recognition technology is relatively simple and is a conventional technology in the existing technology, so it is not described in detail here. If the appearance of the PIN pin is found to be qualified, the next inspection will proceed. If the appearance of the PIN pin is found to be unqualified, it will be marked as unqualified. The subsequent inspections will continue until it reaches the classification component 11, where it will be directly classified into the unqualified category. The fifth inspection component 10 is an airtightness inspection mechanism, which is a commercially available ordinary airtightness inspection component used to check the airtightness of the product. Therefore, it is not described in detail here. The main improvement of this embodiment is to adapt to the product of this application. Because the product of this application has a PIN pin interface, it is necessary to block the PIN pin interface on the product by using a plug when testing the airtightness. Therefore, a sliding plug is provided on the lower mold of the fifth inspection component 10. The upper end surface of the plug is a first inclined surface, and the lower end surface of the upper mold is provided with a second inclined surface. When the lower mold is pressed down to a certain position, the second inclined surface will squeeze the first inclined surface and drive the plug to move and block the PIN pin interface, thereby achieving better airtightness inspection. After the inspection is completed, the fifth inspection component 10 will send the airtightness inspection information to the controller. The controller will mark it according to the information sent. If the inspection is qualified, there is no additional mark. If the airtightness is unqualified, it will be marked as unqualified. The classification component 11 mainly includes a guide rail, a robotic arm, and four slides. The four slides represent QR code failure, appearance failure, size failure, and airtightness failure, respectively. The classification component 11 mainly classifies products according to the marking information, that is, the product is placed into the corresponding slide if there is a failure mark. The package picking and packaging mechanism 3 mainly includes a conveying component 20, a second moving component 21, and a third moving component 22, wherein: The conveyor assembly 20, mainly a conveyor belt, is used to convey packaging boxes. The packaging boxes have designated placement positions for products to be placed inside. The second moving component 21, mainly consisting of a robotic arm and a guide rail, is used to remove the packaging box from the conveying component 20 and place it at the picking position. The third moving component 22, mainly consisting of a robotic arm and guide rails, is used to place the inspected products into the packaging box; The control method for the above-mentioned device includes the following steps: S1, the transport component 26 transports the product to the station of the turntable component 25; S2, the turntable assembly 25 moves the product to the oiling position, and the oiling assembly 27 applies oil to the sealing ring installation position of the product; S3, the turntable assembly 25 moves the product to the sealing ring installation position, and the sealing ring installation assembly 28 installs the sealing ring onto the product; S4. Turntable assembly 25 moves the product to the flipping position, and flipping assembly 29 flips the product. S5. The first moving component 4 moves the flipped product to the coding position, and the coding component 5 codes the product. S6. The first moving component 4 moves the product to the first inspection position. The first camera 12 takes a picture of the top surface of the product and transmits the picture to the controller. Then the controller checks whether the QR code is qualified. If it is not qualified, it is marked as unqualified and subsequent inspections are performed until it is taken out by the classification component 11. If it is qualified, the QR code information is collected and a folder for the product is created based on the collected QR code information. Then the picture of the top surface of the product is stored in the folder. The appearance of the top surface of the product is identified according to the image recognition technology. If it is qualified, the process jumps to the next step. If it is unqualified, it is marked as unqualified and the process jumps to the next step. S7. The first moving component 4 moves the product to the second inspection position, takes a picture of the lower end of the product through the third camera 16, and then controls the rotating table 13 to rotate the product so that the front end of the product faces the second camera 14. The first moving table 15 moves the second camera 14 to the front end shooting position, and the second camera 14 takes a picture of the front end of the product. Then, the rotating table 13 is controlled to rotate the product so that the left end of the product faces the second camera 14. The first moving table 15 moves the second camera 14 to the left end shooting position, and the second camera 14 takes a picture of the left end of the product. Then, the rotating table 13 is controlled to rotate the product so that the rear end of the product faces the second camera 14. The first moving table 15 moves the second camera 14 to the rear end position. Simultaneously, the second camera 14 captures the rear end of the product from the front shooting position. Finally, the rotating platform 13 controls the product to rotate so that its right end faces the second camera 14. The first moving platform 15 moves the second camera 14 to the right-side shooting position, and the second camera 14 captures the right end of the product. This process captures images of the product's bottom surface and all four sides (front, back, left, and right). The images are then transmitted to the controller, which stores them in the product's folder and uses image recognition technology to determine if the appearance of the product's four sides and bottom surface is acceptable. If acceptable, proceed to the next step; otherwise, mark it as unacceptable and proceed to the next step. The moving platform 15 helps adjust the camera's focus, which significantly reduces camera costs. S8. The first moving component 4 moves the product to the third inspection position. The fourth camera 17 takes photos of the two size recognition positions of the product and transmits the photos to the controller. Then the controller saves the photos into the product's folder and uses image recognition technology to identify whether the product's size is qualified. If it is qualified, it jumps to the next step. If it is not qualified, it is marked as unqualified and then jumps to the next step. S9. The first moving component 4 moves the product to the fourth inspection position. The fifth camera 19 takes a picture of the product's PIN pin position and transmits the picture to the controller. Then the controller stores the picture in the product's folder and uses image recognition technology to identify whether the product's PIN pin position is qualified. If it is qualified, it jumps to the next step. If it is unqualified, it is marked as unqualified in appearance and then jumps to the next step. That is, at this step, the product folder stores a total of six pictures of the product, two pictures of the product size, and a picture of the product's PIN pin position. Because the PIN pin position can actually be seen in the magnified picture of one of the sides, but in order to increase the accuracy of recognition, this embodiment takes another picture separately, and it is a picture of the PIN pin position after being framed by the viewfinder 18. S10, the first moving component 4 moves the product to the fifth inspection position, the fifth inspection component 10 checks the airtightness of the product and determines whether the airtightness of the product is qualified. Regardless of whether it is qualified or not, the inspection result is transmitted to the controller. Then the controller stores the airtightness inspection information of the product in the product's folder. If the airtightness is qualified, it jumps to the next step. If it is unqualified, it is marked as unqualified and then jumps to the next step. At this time, there are a total of nine pictures in the product's folder, including six-view drawings, two dimension position drawings and one PIN pin position magnified drawing. It also contains the airtightness inspection information, and if there is any unqualified information, it also contains the specific unqualified information. S11. If the product is not marked as non-conforming, proceed to the next step. If the product is marked as non-conforming, the sorting component 11 will remove the products according to the type of non-conformity. S12, the second moving component 21 delivers the packaging box to the pickup location, and the third moving component 22 places the qualified product into the packaging box.

[0025] Example 2: The difference from Embodiment 1 is that, in Embodiment 2, the package picking mechanism 3 further includes a blocking component 23. Furthermore, once the packaging boxes at the pickup position are full, the second moving component 21 will send the packaging boxes at the first position to the pickup position and stack them on top of the packaging boxes filled with products. At the same time, the blocking component 23 will release the packaging boxes at the second position. At this time, the packaging boxes at the second position will be moved to the first position by the conveying component 20. The first position is close to the pickup position, and the second position is far away from the pickup position. There is a certain distance between the first position and the second position, so that the second moving component 21 will not easily overturn the adjacent packaging boxes when grabbing the packaging boxes.

[0026] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0027] For those skilled in the art, various changes and modifications will undoubtedly be apparent after reading the above description. Therefore, the appended claims should be construed as covering all changes and modifications that encompass the true intent and scope of the invention. Any and all equivalent scope and content within the scope of the claims should be considered to remain within the intent and scope of the invention.

Claims

1. An automatic actuator assembly device, characterized in that: It includes a controller, an assembly mechanism (1), and a detection mechanism (2). The assembly mechanism (1) and the detection mechanism (2) are both communicatively connected to the controller. The detection mechanism (2) includes a first moving component (4) for moving the product, a coding component (5) for coding the product with a QR code, a first inspection component (6) for collecting QR code information and inspecting the top surface of the product, a second inspection component (7) for inspecting the front, back, left, right, and bottom surfaces of the product, a third inspection component (8) for inspecting the product's size information, a fourth inspection component (9) for inspecting the position of the product's pins, a fifth inspection component (10) for inspecting the product's airtightness, and a classification component (11) for classifying the inspected products according to the inspection results. The coding component (5), the first inspection component (6), the second inspection component (7), the third inspection component (8), the fourth inspection component (9), the fifth inspection component (10), and the classification component (11) are all electrically connected to the controller. The first moving component (4) is used to move the product; Coding component (5), used for coding products; The first inspection component (6) is used to take a photo of the top surface of the product and transmit the photo to the controller. Then the controller checks whether the QR code is qualified. If it is qualified, it collects the QR code information and creates a folder for the product based on the collected QR code information. Then it saves the photo of the product into the folder and identifies whether the appearance of the top surface of the product is qualified based on image recognition technology. The second inspection component (7) is used to take photos of the front, back, left and right sides and the bottom of the product and transmit the photos to the controller. Then the controller stores the photos in the product's folder and uses image recognition technology to identify whether the appearance of the front, back, left and right sides and the bottom of the product is qualified. The third inspection component (8) is used to take a photo of the product size identification location and transmit the photo to the controller. The controller then saves the photo into the product's folder and identifies whether the product's size is qualified based on image recognition technology. The fourth inspection component (9) is used to take a picture of the product's PIN pin position and transmit the picture to the controller. The controller then saves the picture to the product's folder and identifies whether the product's PIN pin position is qualified based on image recognition technology. The fifth inspection component (10) is used to check the airtightness of the product and transmits the inspection results to the controller, which then stores the airtightness inspection information of the product in the product's folder. The sorting component (11) is used to remove products that are found to have unqualified QR codes, unqualified appearance, unqualified size, and unqualified airtightness. The controller is used to control all components, and generates a folder containing the product based on the QR code information. Then, it stores all the photos of the product into the folder and performs image recognition based on the photo information to determine whether it is qualified. The first inspection component (6) includes a first camera (12) for photographing the upper surface of the product, the second inspection component (7) includes a rotating platform (13) for driving the product to rotate horizontally, a second camera (14) for photographing the front, back, left, and right sides of the product, a moving platform (15) for moving the second camera (14), and a third camera (16) for photographing the lower surface of the product, the third inspection component (8) includes a fourth camera (17) for photographing the product size identification position, and the fourth inspection component (9) includes a viewfinder (18) for taking the PIN pin position and a fifth camera (19) for photographing the PIN pin position. The first camera (12), the second camera (14), the third camera (16), the fourth camera (17), the fifth camera (19), the rotating platform (13), and the moving platform (15) are all electrically connected to the controller. The fifth inspection component (10) includes a lower mold and an upper mold. The lower mold is provided with a groove and a plug that slides in the groove to block the PIN pin interface of the product. One end of the plug is a first inclined surface, and the other end of the plug is a plug for blocking the PIN pin interface of the product. The upper mold is provided with a pressure block, and the pressure block is provided with a second inclined surface that matches the first inclined surface. When the upper mold and lower mold separate, the blocking block does not block the PIN pin interface of the product; When the upper mold presses down on the lower mold to complete the seal, the plug block slides along the slide groove under the action of the pressure block to block the PIN pin interface of the product. The actuator automatic assembly device also includes a pick-up and packaging mechanism (3), which includes a conveying component (20) for conveying a packaging box, a second moving component (21) for grabbing a packaging box located at a first position and sending the packaging box to the pick-up position, and a third moving component (22) for placing the inspected and qualified product into the packaging box at the pick-up position. The conveying component (20), the second moving component (21) and the third moving component (22) are all electrically connected to the controller. The assembly mechanism (1) includes a worktable (24), a turntable assembly (25) rotatably connected to the worktable (24), a transport assembly (26) for conveying products to the turntable assembly (25), an oiling assembly (27) for applying oil to the products, a sealing ring mounting assembly (28), and a tilting assembly (29). The turntable assembly (25), transport assembly (26), oiling assembly (27), sealing ring mounting assembly (28), and tilting assembly (29) are all electrically connected to a controller. A turntable assembly (25) is used to drive the product to the next workstation; Transport component (26) is used to transport products to the station of turntable component (25); Oiling assembly (27) for applying oil to the sealing ring mounting position of the product; A sealing ring mounting assembly (28) is used to mount a sealing ring onto a product; The flipping assembly (29) is used to flip the product after the seal ring has been installed.

2. The actuator automatic assembly device according to claim 1, characterized in that: The package picking and packaging mechanism (3) further includes a blocking component (23) for blocking the package conveyed on the conveying assembly (20) at a second position. When the packaging box at the pickup position is full, the second moving component (21) will send the packaging box at the first position to the pickup position, while the blocking component (23) will release the packaging box at the second position. At this time, the packaging box at the second position will be moved to the first position by the conveying component (20), and there is a gap between the first position and the second position.

3. A control method for controlling the automatic assembly device of the actuator as described in claim 1, characterized in that, It includes the following steps: S1. The transport component delivers the product to the turntable component's workstation; S2. The turntable assembly moves the product to the oiling position, and the oiling assembly applies oil to the sealing ring installation position of the product. S3. The turntable assembly moves the product to the sealing ring installation position, and the sealing ring installation assembly installs the sealing ring onto the product. S4. The turntable assembly moves the product to the flipping position, and the flipping assembly flips the product. S5. The first moving component moves the flipped product to the coding position, and the coding component codes the product. S6. The first moving component moves the product to the first inspection position. The first inspection component takes a picture of the top surface of the product and transmits the picture to the controller. Then the controller checks whether the QR code is qualified. If it is not qualified, it is marked as unqualified and subsequent inspections are performed until it is taken out by the sorting component. If it is qualified, the QR code information is collected and a folder for the product is created based on the collected QR code information. Then the picture of the top surface of the product is stored in the folder. The appearance of the top surface of the product is identified by image recognition technology. If it is qualified, the process jumps to the next step. If it is unqualified, it is marked as unqualified and the process jumps to the next step. S7. The first moving component moves the product to the second inspection position. The second inspection component takes photos of the front, back, left, right and bottom sides of the product and transmits the photos to the controller. Then the controller saves the photos into the product's folder and uses image recognition technology to identify whether the appearance of the front, back, left, right and bottom sides of the product is qualified. If it is qualified, it jumps to the next step. If it is unqualified, it is marked as unqualified and then jumps to the next step. S8. The first moving component moves the product to the third inspection position. The third inspection component takes a picture of the product size recognition position and transmits the picture to the controller. Then the controller saves the picture into the product's folder and uses image recognition technology to identify whether the product size is qualified. If it is qualified, it jumps to the next step. If it is not qualified, it is marked as unqualified and then jumps to the next step. S9. The first moving component moves the product to the fourth inspection position. The fourth inspection component takes a picture of the product's PIN pin position and transmits the picture to the controller. The controller then saves the picture to the product's folder and uses image recognition technology to identify whether the product's PIN pin position is qualified. If it is qualified, it jumps to the next step. If it is unqualified, it is marked as unqualified in appearance and then jumps to the next step. S10. The first moving component moves the product to the fifth inspection position. The fifth inspection component checks the airtightness of the product and determines whether the airtightness of the product is qualified. Regardless of whether it is qualified or not, the inspection result is transmitted to the controller. Then the controller stores the airtightness inspection information of the product in the product's folder. If the airtightness is qualified, it jumps to the next step. If it is not qualified, it is marked as unqualified and then jumps to the next step. S11. If the product is not marked as non-conforming, proceed to the next step. If the product is marked as non-conforming, the sorting components are removed according to the type of non-conformity. S12, the second moving component delivers the packaging box to the pickup location, and the third moving component places the qualified product into the packaging box.

4. The control method for an automatic actuator assembly device according to claim 3, characterized in that: In step S7, firstly, the lower surface of the product needs to be photographed using the third camera. Then, the rotating platform is controlled to rotate the product so that the front surface of the product faces the second camera. The moving platform moves the second camera to the front surface shooting position, and the second camera photographs the front surface of the product. Next, the rotating platform is controlled to rotate the product so that the left surface of the product faces the second camera. The moving platform moves the second camera to the left surface shooting position, and the second camera photographs the left surface of the product. Then, the rotating platform is controlled to rotate the product so that the rear surface of the product faces the second camera. The moving platform moves the second camera to the rear surface shooting position, and the second camera photographs the rear surface of the product. Finally, the rotating platform is controlled to rotate the product so that the right surface of the product faces the second camera. The moving platform moves the second camera to the right surface shooting position, and the second camera photographs the right surface of the product.

5. The control method for an automatic actuator assembly device according to claim 3, characterized in that: In step S12, when the number of products placed into the packaging box by the third moving component reaches the set number, the second moving component will send the packaging box in the first position of the conveying component to the picking position, and at the same time, the blocking component will release the packaging box in the second position. At this time, the packaging box in the second position will move to the first position under the drive of the conveying component.

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