A gas module assembly line

Abstract

This invention provides a gas module assembly line, comprising a feeding mechanism, a capping mechanism, a flip-over capping mechanism, a transducer mounting mechanism, a wire harness straightening and pressing mechanism, a PCB board mounting mechanism, and a screw-driving sorting and unloading mechanism connected end-to-end. The wire harness straightening and pressing mechanism includes a top shell feeding module, a top shell loading and positioning module, a wire harness oblique pulling module, a wire harness straightening module, and a robotic arm pressing module. The wire harness oblique pulling module includes two symmetrically arranged oblique pneumatic wire harness grippers for synchronously clamping the wire harness and applying controllable tension along a preset angle. The wire harness straightening module includes two symmetrically arranged rotary drive components, each including a wire harness rotary motor, a double-headed cylinder located at the output end of the rotary motor, and wire harness straightening half-cylinder clamps symmetrically arranged at the output ends of the double-headed cylinder. This invention relates to the field of gas module assembly lines.

Description

Technical Field

[0001] This invention relates to the field of gas module assembly lines, and more particularly to a gas module assembly line. Background Technology

[0002] In the field of automated assembly of gas meter modules, the core process involves the high-precision assembly of the gas meter base with components such as the upper shell, middle cover, steel mesh cover, transducer, and PCB board, followed by screw fastening and quality inspection. As market demands for gas meter module production capacity and assembly quality continue to rise, the industry has gradually developed modular assembly lines with multiple workstations. For example, a feeding mechanism supplies the base, a pressing mechanism presses the steel sheet or mesh cover onto the corresponding part of the base, a flipping mechanism flips the base to install the middle cover, a transducer installation mechanism installs the transducer into the predetermined slot, an upper shell pressing mechanism fastens the upper shell to the base, a PCB board installation mechanism completes the docking and fixing of the circuit board, and finally, a screw-driving mechanism completes the fastening and sorting. These processes are mostly connected by conveyor belts, combined with various robotic arms and positioning fixtures, to achieve continuous assembly of gas meter modules in an assembly line manner.

[0003] However, in actual production, after the transducer is installed, it has multiple wires on each side. During the upper shell pressing process, these wires need to be gathered, straightened, and aligned at an angle, then their posture is restricted so that they pass vertically through the wire holes on both sides of the upper shell before the upper shell can be pressed into place. Existing assembly lines often lack effective automated mechanisms for straightening and aligning multiple wires at this station. This causes the wires to easily split, become skewed, or get stuck when passing through the upper shell holes. Pressing down the upper shell after passing through the wires can easily damage or break them. Relying on manual assistance not only makes it difficult to ensure the consistency of the wire insertion angle and perpendicularity, but also prolongs the assembly cycle and increases the potential risk of damage to the transducer wires. At the same time, the lack of wire harness inspection also results in hidden assembly defects such as incorrectly inserted wires in the pressed module.

[0004] Therefore, the inventors urgently need a new type of gas module assembly line that can automatically pull, vertically rotate and straighten multiple wires on both sides of the transducer before the gas module upper shell is pressed together, and accurately detect the wire threading status to solve the above problems. Summary of the Invention

[0005] To address the shortcomings of the prior art, this invention provides a gas module assembly line that aims to solve the technical problems of existing gas module assembly lines lacking automated means for concentrating and straightening multiple wires on both sides of the transducer by oblique pulling and vertical rotation during the upper shell pressing process, and lacking a function for detecting the proper insertion of wires into the upper shell holes. This results in wires being skewed, easily crushed or broken, having poor assembly consistency, and low efficiency due to manual assistance.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a gas module assembly line, comprising a feeding mechanism, a capping mechanism, a flip-over capping mechanism, a transducer mounting mechanism, a wire harness straightening and pressing mechanism, a PCB board mounting mechanism, and a screw-driving sorting and unloading mechanism connected end to end. The wire harness straightening and pressing mechanism includes an upper shell feeding module, an upper shell loading and positioning module, a wire harness oblique pulling module, a wire harness straightening module, and a robotic arm pressing module. The wire harness oblique pulling module includes two symmetrically arranged oblique pneumatic pullers. The wire harness clamps are used to synchronously clamp the wire harness and apply controllable tension along a preset angle. The wire harness straightening module includes two symmetrically arranged rotary drive components. Each rotary drive component includes a wire harness rotary motor, a double-headed cylinder disposed at the output end of the wire harness rotary motor, and wire harness straightening half-cylinder clamps symmetrically disposed at the output ends of the double-headed cylinder. The clamping ends of the two wire harness straightening half-cylinder clamps together form an openable cylindrical straightening cavity, which is used to accurately constrain and rotate the wire harness after it is pulled at an angle to straighten it.

[0007] Based on the above, the beneficial effect of a gas module assembly line is to solve the technical problems in the existing gas module assembly line that lack the means to automatically pull and concentrate multiple wires on both sides of the transducer and straighten them by vertical rotation during the upper shell pressing process, and lack the function to detect the wires entering the upper shell hole in place. This results in the wires being skewed, easily squeezed and broken, having poor assembly consistency, and low efficiency due to manual assistance. The main advantages are:

[0008] 1. This invention uses two symmetrically arranged oblique pull pneumatic wire harness clamps in the wire harness oblique pull module to simultaneously clamp multiple wires on both sides of the transducer and apply controllable tension along a preset angle, thereby realizing concentrated pre-stretching and attitude guidance of multiple wires, effectively avoiding jamming or failure of wires to penetrate vertically into the upper shell hole due to bifurcation and skew.

[0009] 2. This invention uses a wire harness straightening module with a double-headed cylinder driven by a wire harness rotary motor and a cylindrical straightening cavity formed by the closure of the wire harness straightening half-cylinders at both ends to precisely constrain multiple wires after they have been pulled at an angle and perform a rotational straightening action. This enables the wires to transition from an angled state to a vertically aligned state at a 90-degree angle to the horizontal plane under controlled rotation, thereby ensuring that the wires can be neatly and consistently inserted vertically into the wire holes on both sides of the upper shell, significantly reducing the risk of the wires being squeezed or broken when the upper shell is pressed down.

[0010] 3. This invention uses wire harness detection sensors located on the outer sides of both ends of the upper shell clamping claw in the robotic arm pressing module to detect in real time the insertion status of the wires in the holes on both sides of the upper shell. This enables automatic confirmation and abnormal alarm of the wire insertion status before pressing the upper shell, thereby preventing assembly defects caused by forced pressing due to incorrect wire insertion and ensuring the consistency of the final assembly quality of the gas module.

[0011] Furthermore, the wire harness straightening module also includes a lateral direct drive component, a front and rear drive component disposed at the output end of the lateral direct drive component, and a lifting adjustment mechanism disposed at the output end of the front and rear drive component. The rotary drive component is disposed on the output end of the lifting adjustment mechanism. The lateral direct drive component is used to drive the rotary drive component to be laterally aligned. The front and rear drive component is used to drive the rotary drive component to move back and forth to the wire straightening position. The lifting adjustment mechanism is used to drive the rotary drive component to be vertically lifted upward to complete the wire harness straightening action.

[0012] Based on the above, the beneficial effects of the lateral direct drive assembly are that it drives the rotary drive assembly to move laterally to achieve precise lateral alignment with the wires to be straightened on the gas module, ensuring that the wire straightening half-cylinder clamp can accurately reach the spatial position of the wire, thereby avoiding clamping failure or wire damage due to lateral position deviation; the beneficial effects of the front and rear drive assembly are that it drives the rotary drive assembly to move in the front and rear direction to reach the preset straightening position, so that the wire straightening half-cylinder clamp can clamp from the root of the wire or the designated straightening section, thereby ensuring that the wire is evenly stressed and has a regular posture during the subsequent rotary straightening process; the beneficial effects of the lifting adjustment mechanism are that it drives the rotary drive assembly to lift vertically to complete the wire straightening action, so that the multiple wires constrained by the cylindrical straightening cavity are continuously lifted and straightened in the vertical direction while rotating, thereby forming a vertical lead-out state at a 90-degree angle to the horizontal plane, which facilitates the accurate insertion of the wires into the wire holes on both sides of the upper shell.

[0013] Furthermore, the wire harness inclined pull module also includes a wire harness inclined pull push-in cylinder and inclined pull guide cylinders respectively disposed on both sides of the inclined extension frame at the output end of the wire harness inclined pull push-in cylinder, and the two inclined pull pneumatic wire harness clamps are respectively disposed at the output end of their respective inclined pull guide cylinders.

[0014] Based on the above, the beneficial effect of the wire harness oblique pull-in cylinder is that it drives the oblique extension frame and the oblique pull pneumatic wire harness clamp as a whole to move towards the gas module and reach the predetermined working position, thereby providing an accurate starting positioning basis for the oblique pull pneumatic wire harness clamp to clamp the wire and perform subsequent oblique pull actions; the beneficial effect of the oblique extension frame is that two oblique pull guide cylinders are symmetrically installed; the beneficial effect of the oblique pull guide cylinder is that it drives the oblique pull pneumatic wire harness clamp to perform precise oblique pull displacement along a preset oblique path, thereby realizing controllable oblique pre-stretching of the clamped wire, so that the wire is led out from both sides of the transducer and forms a uniform and compact oblique arrangement posture, creating the necessary posture conditions for subsequent vertical rotation straightening and threading.

[0015] Furthermore, the upper shell straightening mechanism also includes an upper shell straightening conveyor belt, which is located between the wire harness inclined pull module and the wire harness straightening module. The robotic arm pressing module includes a robotic arm and a pressing fixture disposed at the output end of the robotic arm. The pressing fixture includes a pressing fixture quick-connect connector, a pressing slider that limits and slides on the lower end of the pressing fixture quick-connect connector, an upper shell clamping double-headed cylinder disposed at the bottom of the pressing slider, an upper shell clamping claw disposed at the double-headed output end of the upper shell clamping double-headed cylinder, and wire harness detection sensors disposed on the outer sides of both ends of the upper shell clamping claw. The pressing slider and the pressing fixture quick-connect connector are connected by a spring. The wire harness detection sensors are used to detect the wire harness insertion status of the through holes on both sides of the upper shell.

[0016] Based on the above, the beneficial effects of the upper shell straightening conveyor belt are that it transports the gas module to be assembled into the upper shell to the working position between the wire harness straightening module and the wire harness straightening module and maintains its positioning, thereby providing continuous and stable workstation flow support for the wire harness straightening, rotation straightening, and upper shell pressing processes; the beneficial effect of the robotic arm is that it drives the pressing fixture to move freely in space to complete the upper shell picking, positioning and transfer, and pressing assembly actions, thereby realizing the automated docking and fastening of the upper shell and the gas module; the beneficial effect of the pressing fixture is that it integrates the upper shell... The assembly integrates shell clamping and wire insertion detection functions, enabling real-time monitoring of wire insertion status while performing shell clamping and pressing tasks, ensuring the reliability and safety of assembly operations. The quick-connect coupling of the pressing fixture provides a rapid connection and disconnection interface between the pressing fixture and the robotic arm output, facilitating the replacement of fixtures for different gas module models and improving equipment changeover efficiency and versatility. The pressing slider allows for limited sliding along the lower end of the quick-connect coupling during the pressing process, thus ensuring proper sealing. The closing action provides flexible buffer displacement in the vertical direction, avoiding damage to the gas module and upper shell caused by rigid impact; the beneficial effect of the upper shell clamping double-headed cylinder is that it synchronously drives the upper shell clamping claws at both ends to open and close in opposite directions to complete the stable clamping and releasing action of the upper shell, thereby ensuring that the upper shell maintains accurate posture and balanced force during the transfer and pressing process; the beneficial effect of the upper shell clamping claw is that it directly contacts and holds the outer surface of the upper shell to provide reliable clamping force, thereby ensuring that the upper shell does not shift or fall off during the movement of the robotic arm, and ensuring the accuracy of the pressing position; The beneficial effect of the wire harness detection sensor is that it can perform non-contact detection of the wires in the holes on both sides of the upper shell and output a judgment signal, thereby preventing the pressing action from being performed when the wires are not correctly inserted into the holes, and eliminating assembly defects caused by missing or poorly inserted wires. The beneficial effect of the spring is that it provides an elastic buffer connection between the pressing slider and the quick-connect joint of the pressing fixture, thereby applying a flexible pressing force to the upper shell at the end of the pressing stage, which not only ensures the tight fastening of the upper shell and the gas module, but also avoids the deformation or damage of parts caused by rigid pressing.

[0017] Furthermore, the capping mechanism includes a steel mesh cap feeding module, a capping robot module, and a capping processing conveyor belt module. The capping robot module includes a steel mesh cap clamping robot arm and a steel mesh cap clamp located at the output end of the steel mesh cap clamping robot arm. The steel mesh cap clamp includes a steel mesh cap clamp quick-connect connector, a steel sheet lifting and mounting cylinder located on one side of the steel mesh cap clamp quick-connect connector, a steel sheet lifting slider located at the output end of the steel sheet lifting and mounting cylinder, a steel sheet clamping and mounting block slidably fitted on the steel sheet lifting and mounting block, a steel sheet two-sided clamping air clamp located on the inner side of the steel sheet clamping and mounting block, and a steel sheet clamping air clamp located on the inner side of the steel sheet clamping and mounting block. The steel sheet clamping clamp has two ends clamping clamps on the rear side of the steel sheet clamping clamp, a mesh cover lifting and mounting cylinder is set on the other side of the quick-connect joint of the steel sheet mesh cover clamp, a mesh cover lifting slider is set at the output end of the mesh cover lifting and mounting cylinder, a mesh cover three-jaw air clamp is set at the output end of the mesh cover lifting slider, and a CCD vision inspection unit is set at the front end of the quick-connect joint of the steel sheet mesh cover clamp. The capping processing conveyor belt module includes a capping processing conveyor belt and a capping structure mounted above the capping processing conveyor belt. The capping structure includes a capping frame, capping cylinders located on both sides of the capping frame, and capping heads set at the output end of the capping cylinders.

[0018] Based on the above, the beneficial effects of the steel sheet / mesh cover feeding module are: automatically providing the corresponding steel sheet or mesh cover material according to the currently produced gas module model, realizing on-demand supply and material positioning of steel sheets and mesh covers, and ensuring material compatibility and continuous supply in the capping process; the beneficial effects of the capping robot module are: integrating the functions of clamping, posture detection, and transfer of steel sheets and mesh covers into one unit, realizing automated material transfer from the feeding end to the capping station, and improving the integration and transfer accuracy of the capping operation; the beneficial effects of the capping processing conveyor belt module are: carrying and conveying the gas modules to be capped through the station below the capping structure, realizing precise positioning of the gas modules in the capping process and seamless flow between processes; steel sheet / mesh cover clamping... The robotic arm provides several advantages: it drives the steel sheet / mesh cover gripper to move freely in space, enabling it to precisely pick up steel sheets or mesh covers from the feeding module and transfer them above the gas module, ensuring flexible and reliable material transfer paths. The steel sheet / mesh cover gripper also features two independent gripping mechanisms for both steel sheet and mesh cover holding, allowing a single gripper to handle two different types of components, avoiding production cycle losses caused by frequent gripper changes. Furthermore, the quick-connect coupling provides a fast connection interface between the steel sheet / mesh cover gripper and the output end of the robotic arm, facilitating rapid replacement of gripper components according to production needs and improving the equipment's adaptability to different models. The gas module's adaptability efficiency; the beneficial effect of the steel sheet lifting and installation cylinder is that it allows the clamping mechanism to reach a height matching the steel sheet feeding position or the gas module mounting surface during steel sheet handling, ensuring precise alignment of material handling and placement; the beneficial effect of the steel sheet two-sided clamping air clamp is that it clamps the steel sheet from both sides of the plane, achieving stable constraint on the main plane of the steel sheet and preventing the steel sheet from flipping or sliding laterally during transfer; the beneficial effect of the steel sheet two-end clamping air clamp is that it provides auxiliary clamping from both ends of the steel sheet, achieving limitation in the length direction of the steel sheet, further improving the clamping stability and posture maintenance accuracy of the steel sheet during high-speed movement; the beneficial effect of the mesh cover lifting and installation cylinder is that it drives the mesh cover three The claw-shaped gas clamp moves vertically up and down, ensuring that the mesh cover clamping mechanism reaches a height that matches the feeding position of the mesh cover or the installation surface of the gas module when picking up and placing the mesh cover, thus ensuring the accuracy of mesh cover picking and placing. The beneficial effect of the three-claw gas clamp for the mesh cover is that it uses a three-claw centering clamping method to stably grasp the outer edge of the mesh cover, achieving precise centering and reliable clamping of the circular mesh cover, and preventing the mesh cover from tilting or falling off during the transfer process. The beneficial effect of the CCD vision inspection unit is that after the steel sheet mesh cover clamp grabs the material, it performs image acquisition and analysis of the spatial position and posture of the steel sheet or mesh cover, thereby correcting the deviation of subsequent placement actions through visual compensation, ensuring that the steel sheet or mesh cover can be accurately placed into the corresponding installation position of the gas module.The beneficial effects of the capping process conveyor belt are that it transports the gas modules to be capped station by station forward and precisely positions them below the capping structure, achieving cycle time matching and automated flow between the capping process and the preceding and following processes; the beneficial effects of the capping structure are that after the gas module arrives at the capping station, it applies a vertically downward pressing force to the steel sheet or mesh cover placed on it, thereby completing the reliable assembly of the steel sheet or mesh cover and the gas module, ensuring a tight fit at the connection points; the beneficial effects of the capping frame are that it spans across the capping process conveyor belt and provides stable installation support for the capping cylinder, from... This ensures that the capping actuator maintains an accurate relative position with the gas module on the conveyor belt. The capping cylinder's beneficial effect is that it drives the capping head downwards to output the driving force required for the pressing action, thereby achieving rapid and controllable pressing of the steel sheet or mesh cover pneumatically, meeting the assembly cycle requirements of automated production lines. The capping head's beneficial effect is that it directly contacts the surface of the steel sheet or mesh cover and evenly transmits the concentrated pressure of the capping cylinder to multiple pressing points on the part, thus completing the final fastening assembly of the steel sheet or mesh cover with the gas module, while avoiding localized damage to the part's surface.

[0019] Furthermore, the flipping and pressing mechanism includes a middle cover feeding module, a middle cover clamping robot module, and a middle cover pressing conveyor module. The middle cover clamping robot module includes a middle cover clamping robot and a middle cover clamp disposed at the output end of the middle cover clamping robot. The middle cover clamp includes a middle cover quick-connect connector, a middle cover buffer slider structure disposed on one side of the middle cover quick-connect connector, and a middle cover gas clamp disposed at the lower end of the middle cover buffer slider structure. The middle cover pressing conveyor module includes a middle cover pressing conveyor belt, a gas module flipping assembly disposed on one side of the input end of the middle cover pressing conveyor belt, and a middle cover pressing assembly mounted on the output end of the middle cover pressing conveyor belt. The gas module... The flipping assembly includes a gas module flipping and lifting structure, a rotary drive structure symmetrically arranged on both sides of the upper output end of the gas module flipping and lifting structure, and flipping grippers respectively arranged on the output end of the rotary drive structure. The middle cover pressing assembly includes a middle cover pressing bracket, a middle cover pressing cylinder arranged on the top of the middle cover pressing bracket, and a middle cover pressing head structure connected to the output end of the middle cover pressing cylinder. The middle cover pressing head structure includes a guide bracket slidably fitted to the lower end of the middle cover pressing bracket and middle cover pressing heads symmetrically arranged on both sides of the bottom end of the guide bracket. Several protruding pressing heads are evenly arrayed on both sides of the bottom end of the middle cover pressing head along the transverse direction of the gas module.

[0020] Based on the above, the beneficial effects of the middle cover feeding module are: outputting the middle cover material to the gripping station, realizing continuous feeding and precise positioning in the middle cover assembly process, and ensuring the stability of material supply during middle cover installation; the beneficial effects of the middle cover clamping robot module are: integrating the gripping, conveying, and attitude-maintaining functions of the middle cover into one unit, realizing fully automated transfer of the middle cover from the feeding end to the assembly position above the gas module, improving the work efficiency and positioning accuracy of the middle cover assembly; the beneficial effects of the middle cover pressing conveyor module are: carrying and conveying the gas module sequentially through the flipping station and the middle cover pressing station, realizing the station flow and precise positioning of the gas module in the flipping and pressing middle cover process, and ensuring smooth connection of the operation of each actuator; the beneficial effects of the middle cover clamping robot are: driving the middle cover clamping... The device allows for multi-degree-of-freedom movement within space, enabling the picking, transferring, and placement of the middle cover, ensuring its accurate arrival at the predetermined installation position above the gas module. The middle cover clamp directly grips the middle cover component, maintaining its stability during transport and preventing displacement or detachment due to inertia or vibration, thus guaranteeing placement accuracy. The quick-connect coupling provides a rapid connection and disconnection interface between the middle cover clamp and the manipulator, facilitating quick replacement of clamps according to changes in middle cover specifications. The buffer slider structure provides flexible vertical buffer displacement during the middle cover pressing process, absorbing the impact force upon contact between the middle cover and the gas module, preventing damage caused by rigidity. Sexual contact can cause surface damage to the middle cover or gas module. The beneficial effect of the middle cover pneumatic clamp is that it achieves stable gripping and release of the outer edge or reserved gripping area of ​​the middle cover through pneumatic drive, thereby completing reliable gripping of the middle cover with controllable clamping force, ensuring uniform force and unchanged posture of the middle cover during transfer. The beneficial effect of the middle cover pressing conveyor belt is that it transports the gas module that has completed the steel mesh cover pressing process to the flipping station, and after flipping, it continues to transport it to the middle cover pressing station, realizing continuous automated flow of the gas module in the flipping and middle cover pressing process. The beneficial effect of the gas module flipping assembly is that it lifts the gas module from the middle cover pressing conveyor belt and drives it to complete a 90-degree flip before repositioning it on the conveyor belt, providing the correct assembly posture for middle cover installation. The advantages of the lifting and rotating structure are that it drives the flipping gripper and the gas module it holds to move vertically, thereby lifting the gas module off the conveyor belt surface to make room for flipping, and then lowering it back onto the conveyor belt after flipping, avoiding interference with the conveyor belt during the flipping process; the advantages of the rotating drive structure are that it drives the flipping gripper to rotate around the horizontal axis, thereby driving the held gas module to complete a precise 90-degree flipping action, ensuring that the bottom surface of the gas module faces upward to meet the assembly of the middle cover; the advantages of the flipping gripper are that it stably clamps the gas module from both sides, thereby firmly fixing the gas module during lifting and rotating, preventing the module from slipping or shifting its posture during flipping, and ensuring the safety and reliability of the flipping action;The beneficial effects of the middle cover pressing assembly are as follows: After the gas module arrives at the pressing station along the middle cover pressing conveyor belt, a vertically downward pressing force is applied to the middle cover already placed on the gas module, thereby reliably fastening and assembling the middle cover and the gas module, ensuring that all snap-fit ​​parts of the middle cover are pressed into place; the beneficial effects of the middle cover pressing bracket are as follows: It is positioned above the output end of the middle cover pressing conveyor belt and provides stable installation support for the middle cover pressing cylinder and the middle cover pressing head structure, thereby ensuring an accurate and constant relative positional relationship between the pressing actuator and the gas module on the conveyor belt; the beneficial effects of the middle cover pressing cylinder are as follows: It drives the middle cover pressing head structure to move downward to output the driving force required for middle cover pressing, thereby achieving rapid and controllable pressing action pneumatically; the beneficial effects of the middle cover pressing head structure are as follows: It receives the driving force of the middle cover pressing cylinder and evenly transmits it to multiple pressing action points on the surface of the middle cover, thereby completing the middle cover pressing action in a multi-point synchronous pressing manner. The overall snap-fit ​​between the cover and the gas module ensures the tightness and consistency of the middle cover assembly. The guide bracket provides a vertical sliding fit at the lower end of the middle cover pressing bracket and a mounting base for the middle cover pressing head, ensuring vertical stability of the pressing head's movement during pressing and preventing uneven pressing or damage to parts due to tilting. The middle cover pressing head directly contacts the middle cover surface and performs the pressing action, distributing the concentrated pressure of the middle cover pressing cylinder to the pre-set pressure area of ​​the middle cover, completing the final assembly of the middle cover and the gas module. The protruding pressing heads are arrayed along both sides of the gas module's transverse direction and aligned with each pressing point on the middle cover, precisely concentrating pressure on key snap-fit ​​parts of the middle cover during pressing, ensuring that each snap-fit ​​of the middle cover can be effectively pressed into the corresponding slot of the gas module, improving the firmness and reliability of the middle cover assembly.

[0021] Furthermore, the transducer installation mechanism includes a transducer feeding module, a transducer clamping posture monitoring module, a transducer clamping robotic arm module, and a transducer loading conveyor module. The transducer clamping robotic arm module is used to clamp the transducer on the transducer feeding module and move it above the transducer clamping posture monitoring module for posture verification by a CCD camera. After confirming that there are no errors, it is moved to the transducer loading conveyor module to complete the assembly operation with the gas module.

[0022] Based on the above, the beneficial effects of the transducer feeding module are: it outputs transducer materials in an orderly manner according to a predetermined posture to the position to be grasped, realizing automated continuous feeding and material positioning in the transducer assembly process, and ensuring the consistency of materials and the stability of cycle time in subsequent grasping operations; the beneficial effects of the transducer clamping posture monitoring module are: it acquires and verifies the spatial posture image of the transducer grasped by the transducer clamping robotic arm module through a CCD camera, thereby automatically identifying the grasping posture deviation of the transducer before assembly and avoiding assembly failure due to posture errors; the beneficial effects of the transducer clamping robotic arm module are: it integrates the functions of transducer grasping, transfer and posture coordination, realizing fully automated operation of grasping the transducer from the feeding end and accurately placing it in the corresponding installation position of the gas module after posture confirmation, improving the accuracy and efficiency of transducer installation; the beneficial effects of the transducer loading conveyor module are: it carries and transports the gas module to be installed to the assembly station and transfers the module to the downstream process after assembly, realizing automated connection and positioning support between the transducer installation process and the preceding and following stations.

[0023] Furthermore, the PCB board mounting mechanism includes a PCB board feeding module, a PCB board posture positioning module, a PCB board clamping robotic arm module, and a PCB board loading conveyor belt module. The PCB board loading conveyor belt module includes a PCB board conveyor belt and a first PCB board barcode scanning module located on one side of the output end of the PCB board conveyor belt. The PCB board clamping robotic arm module is used to grab the PCB board from the PCB board feeding module, place the PCB board down through the PCB board posture positioning module to complete precise positioning, and then transfer it to the PCB board conveyor belt for precise docking and installation with the gas module.

[0024] Based on the above, the beneficial effects of the PCB board feeding module are: it supplies PCB board materials to the gripping station in an orderly manner according to a predetermined posture, realizing continuous automatic feeding and preliminary positioning of the PCB board assembly process, and ensuring the stability of material supply for subsequent gripping operations; the beneficial effect of the PCB board posture positioning module is: it performs precise positioning calibration of the PCB board, thereby eliminating the positional deviation accumulated during feeding and gripping, ensuring that the PCB board has a spatial posture that perfectly matches the installation position before being transferred to the gas module; the beneficial effect of the PCB board clamping robotic arm module is: it integrates the functions of gripping, positioning, transfer, and final transfer of the PCB board, realizing fully automatic and precise transfer of the PCB board from the feeding end through posture calibration to the gas module installation position, improving the positioning accuracy and assembly consistency of the PCB board installation; P The beneficial effects of the CB board loading conveyor module are that it carries and transports the gas modules to be installed on the PCB board to the assembly station, and after installation, it transfers the modules to downstream processes. It also integrates a barcode scanning and recording function, enabling seamless workflow and information traceability support for the PCB board installation process. The beneficial effects of the PCB board conveyor are that it transports the gas modules to the PCB board installation position station by station and maintains their positioning, thus providing a stable assembly benchmark for the PCB board clamping robotic arm module and ensuring accurate and reliable docking and installation of the PCB board and gas modules. The beneficial effects of the first PCB board barcode scanning module are that it scans, reads, and records the identification codes on the PCB board after installation, thereby completing the collection of identity information and production traceability of the assembled PCB board, providing data support for subsequent processes and quality management.

[0025] Furthermore, the screw-driving sorting and unloading mechanism includes a screw feeder, a screw-driving robotic arm module, a screw-driving conveyor belt module, and a sorting and unloading direct drive module. The sorting and unloading direct drive module includes a sorting direct drive assembly, a good product unloading conveyor belt, and a defective product unloading conveyor belt. The output end of the screw-driving robotic arm module is equipped with a smart electric screwdriver. The smart electric screwdriver is electrically connected to the sorting direct drive assembly. When the smart electric screwdriver detects that the screw is stripped, the sorting direct drive assembly clamps the gas module and places it into the defective product unloading conveyor belt. When the smart electric screwdriver detects that the screw-driving is normal, the sorting direct drive assembly clamps the gas module and places it into the good product unloading conveyor belt. A second PCB board scanning module is provided on one side of the smart electric screwdriver.

[0026] Based on the above, the beneficial effects of the screw feeder are that it automatically aligns and outputs screws according to a predetermined orientation and cycle time to the position to be picked up, achieving continuous and stable feeding in the screw-driving process and ensuring the reliability of material supply for screw fastening operations; the beneficial effects of the screw-driving robotic arm module are that it drives the intelligent electric screwdriver to move freely in space to complete the automatic picking up, conveying, and fastening of screws, realizing the fully automatic execution of the screw fastening process and improving fastening efficiency and positioning accuracy; the beneficial effects of the screw-driving conveyor belt module are that it carries and transports the gas to be driven into the screws. The module is moved to the fastening station, and after fastening, it is transferred to the downstream sorting station, realizing automated connection and positioning support between the screw-driving process and the preceding and following stations. The beneficial effect of the sorting and unloading direct-drive module is that it automatically sorts and diverts finished gas modules based on the detection signal of screw-driving quality, realizing automatic differentiation between good and defective products and improving the automation and accuracy of sorting at the end of the production line. The beneficial effect of the sorting direct-drive component is that it directly receives the detection signal of the intelligent electric screwdriver and drives the clamping actuator to transfer the gas module to the corresponding good product. The defective product discharge conveyor belt enables rapid response and precise execution of sorting actions, avoiding the subjectivity and lag of manual sorting. The good product discharge conveyor belt receives and transports gas modules with qualified screws from the assembly line to downstream processes, achieving automatic and continuous output of good products and ensuring smooth flow of finished products. The defective product discharge conveyor belt receives and transports gas modules with stripped screws to the rework or scrap station, achieving automatic isolation and diversion of defective products, preventing defective products from mixing with good products and causing subsequent quality risks. The intelligent electric screwdriver monitors parameters such as screw-on torque and rotation number in real time during screw fastening, accurately judging whether the screw-on action is normal or stripped, and outputs the detection results in the form of electrical signals, achieving online automatic judgment of screw fastening quality. The second PCB board scanning module performs a secondary scan and verification of the PCB board identification code on the gas module during the screw-on process, thereby achieving re-identification and process recording of the installed PCB board, providing dual information verification guarantee for the traceability of the whole machine quality.

[0027] Furthermore, the feeding mechanism includes a gas module feeding device, a gas module attitude positioning structure, a gas module clamping and transferring robotic arm, and a gas module loading conveyor module. The gas module clamping and transferring robotic arm is used to grab the gas module from the gas module feeding device, place it on the gas module attitude positioning structure for precise positioning, and then transfer it to the gas module loading conveyor module for positioning.

[0028] Based on the above, the beneficial effects of the gas module feeding device are: it automatically outputs the gas modules to be assembled to the gripping station in a predetermined order and posture, realizing a continuous and stable supply of materials at the beginning of the assembly line and ensuring the reliability of the material source for subsequent loading operations; the beneficial effect of the gas module posture positioning structure is: it performs secondary precise positioning calibration of the spatial posture of the gas modules after they are gripped by the gas module clamping and transfer robotic arm, thereby eliminating position and angle deviations generated during the feeding and gripping process, ensuring that the gas modules have a uniform initial reference posture before entering the loading conveyor belt; the beneficial effect of the gas module clamping and transfer robotic arm is: it integrates the functions of gripping, posture positioning transfer, and loading and transferring gas modules into one, realizing the fully automated operation of accurately placing the gas modules on the loading conveyor belt after positioning calibration at the feeding end, improving the positioning accuracy and work efficiency of the loading process; the beneficial effect of the gas module loading conveyor module is: it receives and transports the gas modules that have completed posture positioning to the downstream capping station in an orderly manner, realizing the automated transfer and connection and precise positioning and bearing of gas modules between various processes of the assembly line, ensuring the continuity of the entire production cycle.

[0029] To make the above features of the present invention and the objectives to be achieved clearer, the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0030] Figure 1 : This is a perspective view of the present invention;

[0031] Figure 2 : This is a perspective view of the feeding mechanism of the present invention;

[0032] Figure 3 : This is a perspective view of the capping mechanism of the present invention;

[0033] Figure 4 : This is a perspective view of the steel mesh cover clamp of the present invention;

[0034] Figure 5 : This is a perspective view of the capping structure of the present invention;

[0035] Figure 6 : This is a perspective view of the flip-down pressing cover mechanism of the present invention;

[0036] Figure 7 : This is a perspective view of the middle cover pressing assembly of the present invention;

[0037] Figure 8 : This is a perspective view of the transducer mounting mechanism of the present invention;

[0038] Figure 9 : This is a perspective view of the sleeve pressing mechanism of the present invention;

[0039] Figure 10: This is a perspective view of the pressing fixture of the present invention;

[0040] Figure 11 : This is a perspective view of the cooperation between the wire harness angled pull module and the wire harness straightening module of the present invention;

[0041] Figure 12 : This is a perspective view of the PCB board mounting mechanism of the present invention;

[0042] Figure 13 : This is a perspective view of the screw-driving sorting and discharging mechanism of the present invention;

[0043] Figure 14 :for Figure 6 An enlarged schematic diagram of part A.

[0044] Reference numerals: 1-Feeding mechanism, 11-Gas module feeding device, 12-Gas module attitude positioning structure, 13-Gas module clamping and transferring robotic arm, 14-Gas module loading conveyor belt module, 2-Capping mechanism, 21-Steel sheet mesh cover feeding module, 22-Capping robotic arm module, 221-Steel sheet mesh cover clamping robotic arm, 222-Steel sheet mesh cover clamp, 2221-Steel sheet mesh cover clamp quick-connect connector, 2222-Steel sheet lifting and installation cylinder, 2223-Steel sheet lifting slider, 2224-Steel sheet clamping and installation block, 2225-Steel sheet two-sided clamping air clamp, 2226-Steel sheet two-end clamping air clamp, 2227-Mesh cover lifting and installation cylinder, 2228-Mesh cover lifting slider, 2229-Mesh cover three-jaw air clamp, 22 210-CCD vision inspection unit, 23-Capping processing conveyor belt module, 231-Capping processing conveyor belt, 232-Capping structure, 2321-Capping frame, 2322-Capping cylinder, 2323-Capping head, 3-Tilting and pressing cap mechanism, 31-Capping feeding module, 32-Capping clamping robot module, 321-Capping clamping robot, 322-Capping fixture, 3221-Capping quick-connect connector, 3222-Capping buffer slider structure, 3223-Capping pneumatic clamp, 33-Capping pressing conveyor belt module, 331-Capping pressing conveyor belt, 332-Gas module flipping assembly, 3321-Gas module flipping and lifting structure, 3322-Rotary drive structure, 3323-Tilting gripper, 333-Capping Pressing assembly, 3331-Middle cover pressing bracket, 3332-Middle cover pressing cylinder, 3333-Middle cover pressing head structure, 33331-Guide bracket, 33332-Middle cover pressing head, 4-Transducer mounting mechanism, 41-Transducer feeding module, 42-Transducer clamping posture monitoring module, 43-Transducer clamping robotic arm module, 44-Transducer loading conveyor belt module, 5-Straightening wire harness shell pressing mechanism, 51-Upper shell feeding module, 52-Upper shell loading positioning module, 53-Wire harness oblique pull module, 531-Oblique pull pneumatic wire harness gripper, 532-Wire harness oblique pull push-in cylinder, 533-Oblique pull guide cylinder, 54-Wire harness straightening module, 541-Rotary drive assembly, 5411-Wire harness rotary motor, 5412 - Dual-head cylinder, 5413 - Wire harness straightening half-cylinder clamp, 542 - Lateral direct drive assembly, 543 - Front and rear drive assembly, 544 - Lifting adjustment mechanism, 55 - Robotic arm pressing module, 551 - Robotic arm, 552 - Pressing fixture, 5521 - Pressing fixture quick connector, 5522 - Pressing slider, 5523 - Upper shell clamping dual-head cylinder, 5524 - Upper shell clamping claw, 5525 - Wire harness detection sensor, 56 - Upper shell wire straightening operation conveyor belt, 6 - PCB board mounting mechanism, 61 - PCB board feeding module, 62 - PCB board posture positioning module, 63 - PCB board clamping robotic arm module, 64 - PCB board loading conveyor belt module, 641 - PCB board conveyor belt, 642 - First PCB board scanning module7-Screw driving sorting and unloading mechanism; 71-Screw feeder; 72-Screw driving robotic arm module; 721-Intelligent electric screwdriver; 722-Second PCB board scanning module; 73-Screw driving operation conveyor belt module; 74-Sorting and unloading direct drive module; 741-Sorting direct drive assembly; 742-Good product unloading conveyor belt; 743-Defective product unloading conveyor belt. Detailed Implementation

[0045] See Figures 1-3 As shown,

[0046] This invention provides a gas module assembly line, comprising a feeding mechanism 1, a capping mechanism 2, a flip-over capping mechanism 3, a transducer mounting mechanism 4, a wire harness straightening and shell pressing mechanism 5, a PCB board mounting mechanism 6, and a screw-driving sorting and unloading mechanism 7, all connected end-to-end. The wire harness straightening and shell pressing mechanism 5 includes a shell feeding module 51, a shell loading and positioning module 52, a wire harness oblique pulling module 53, a wire harness straightening module 54, and a robotic arm pressing module 55. The wire harness oblique pulling module 53 includes two symmetrically arranged oblique pneumatic wire harness grippers 531 for synchronously clamping the wires. The wire harness straightening module 54 includes two symmetrically arranged rotary drive components 541. Each rotary drive component 541 includes a wire harness rotary motor 5411, a double-headed cylinder 5412 disposed at the output end of the wire harness rotary motor 5411, and wire harness straightening half-cylinder clamps 5413 symmetrically disposed at the output ends of the double-headed cylinder 5412. The clamping ends of the two wire harness straightening half-cylinder clamps 5413 together form an openable cylindrical straightening cavity, which is used to accurately constrain and rotate the wire harness after it is pulled at an angle.

[0047] In this embodiment, the wire harness straightening module 54 further includes a lateral direct drive component 542, a front and rear drive component 543 disposed at the output end of the lateral direct drive component 542, and a lifting adjustment mechanism 544 disposed at the output end of the front and rear drive component 543. The rotary drive component 541 is disposed on the output end of the lifting adjustment mechanism 544. The lateral direct drive component 542 is used to drive the rotary drive component 541 to be laterally aligned. The front and rear drive component 543 is used to drive the rotary drive component 541 to move back and forth to the wire straightening position. The lifting adjustment mechanism 544 is used to drive the rotary drive component 541 to be vertically lifted upward to complete the wire harness straightening action.

[0048] In this embodiment, the wire harness inclined pull module 53 further includes a wire harness inclined pull push-in cylinder 532 and inclined pull guide cylinders 533 respectively disposed on both sides of the inclined extension frame at the output end of the wire harness inclined pull push-in cylinder 532. The two inclined pull pneumatic wire harness clamps 531 are respectively disposed at the output end of their respective inclined pull guide cylinders 533.

[0049] In this embodiment, the wire straightening and outer shell pressing mechanism 5 further includes an upper shell wire straightening operation conveyor belt 56, which is located between the wire harness inclined pull module 53 and the wire harness straightening module 54. The robotic arm pressing module 55 includes a robotic arm 551 and a pressing fixture 552 disposed at the output end of the robotic arm 551. The pressing fixture 552 includes a pressing fixture quick-connect connector 5521 and a pressing slider 5 that limits and slides against the lower end of the pressing fixture quick-connect connector 5521. 522. An upper shell clamping double-headed cylinder 5523 is disposed at the bottom of the pressing slider 5522, an upper shell clamping claw 5524 is disposed at the double-headed output end of the upper shell clamping double-headed cylinder 5523, and a wire harness detection sensor 5525 is disposed on the outer side of both ends of the upper shell clamping claw 5524. The pressing slider 5522 and the pressing fixture quick-connect joint 5521 are connected by a spring. The wire harness detection sensor 5525 is used to detect the wire harness insertion status of the through holes on both sides of the upper shell.

[0050] In this embodiment, the capping mechanism 2 includes a steel mesh cap feeding module 21, a capping robot module 22, and a capping processing conveyor belt module 23. The capping robot module 22 includes a steel mesh cap clamping robot arm 221 and a steel mesh cap clamp 222 disposed at the output end of the steel mesh cap clamping robot arm 221. The steel mesh cap clamp 222 includes a steel mesh cap clamp quick-connect connector 2221, a steel sheet lifting and mounting cylinder 2222 disposed on one side of the steel mesh cap clamp quick-connect connector 2221, a steel sheet lifting slider 2223 disposed at the output end of the steel sheet lifting and mounting cylinder 2222, a steel sheet clamping and mounting block 2224 slidably fitted on the steel sheet lifting slider 2223, a steel sheet two-sided clamping air clamp 2225 disposed on the inner side of the steel sheet clamping and mounting block 2224, and a steel sheet two-sided clamping air clamp 2225 disposed on the inner side of the steel sheet clamping and mounting block 2224. The steel sheet on the rear side of 225 is clamped by two air clamps 2226, a mesh cover lifting and mounting cylinder 2227 is set on the other side of the quick-connect joint 2221 of the steel sheet mesh cover clamp, a mesh cover lifting slider 2228 is set at the output end of the mesh cover lifting and mounting cylinder 2227, a mesh cover three-jaw air clamp 2229 is set at the output end of the mesh cover lifting slider 2228, and a CCD vision inspection unit 22210 is set at the front end of the quick-connect joint 2221 of the steel sheet mesh cover clamp. The capping processing conveyor belt module 23 includes a capping processing conveyor belt 231 and a capping structure 232 mounted on the capping processing conveyor belt 231. The capping structure 232 includes a capping frame 2321, capping cylinders 2322 located on both sides of the capping frame 2321, and a capping head 2323 set at the output end of the capping cylinder 2322.

[0051] In this embodiment, the flipping and pressing mechanism 3 includes a middle cover feeding module 31, a middle cover clamping robot module 32, and a middle cover pressing conveyor belt module 33. The middle cover clamping robot module 32 includes a middle cover clamping robot 321 and a middle cover clamp 322 disposed at the output end of the middle cover clamping robot 321. The middle cover clamp 322 includes a middle cover quick-connect connector 3221, a middle cover buffer slider structure 3222 disposed on one side of the middle cover quick-connect connector 3221, and a middle cover gas clamp 3223 disposed at the lower end of the middle cover buffer slider structure 3222. The middle cover pressing conveyor belt module 33 includes a middle cover pressing conveyor belt 331, a gas module flipping component 332 disposed on one side of the input end of the middle cover pressing conveyor belt 331, and a middle cover pressing component 333 mounted on the output end of the middle cover pressing conveyor belt 331. The gas module flipping component 332 includes... The gas module flip-lifting structure 3321, a rotary drive structure 3322 symmetrically arranged on both sides of the upper output end of the gas module flip-lifting structure 3321, and flip grippers 3323 respectively arranged on the output end of the rotary drive structure 3322. The middle cover pressing assembly 333 includes a middle cover pressing bracket 3331, a middle cover pressing cylinder 3332 arranged on the top of the middle cover pressing bracket 3331, and a middle cover pressing head structure 3333 connected to the output end of the middle cover pressing cylinder 3332. The middle cover pressing head structure 3333 includes a guide bracket 33331 slidably fitted to the lower end of the middle cover pressing bracket 3331 and middle cover pressing heads 33332 symmetrically arranged on both sides of the bottom end of the guide bracket 33331. Several protruding pressing heads are evenly arrayed on both sides of the bottom end of the middle cover pressing head 33332 along the transverse direction of the gas module.

[0052] In this embodiment, the transducer installation mechanism 4 includes a transducer feeding module 41, a transducer clamping posture monitoring module 42, a transducer clamping robotic arm module 43, and a transducer loading conveyor belt module 44. The transducer clamping robotic arm module 43 is used to clamp the transducer on the transducer feeding module 41 and move it above the transducer clamping posture monitoring module 42 for posture verification by a CCD camera. After confirming that there are no errors, it is moved to the transducer loading conveyor belt module 44 to complete the assembly operation with the gas module.

[0053] In this embodiment, the PCB board mounting mechanism 6 includes a PCB board feeding module 61, a PCB board posture positioning module 62, a PCB board clamping robotic arm module 63, and a PCB board loading conveyor belt module 64. The PCB board loading conveyor belt module 64 includes a PCB board conveyor belt 641 and a first PCB board barcode scanning module 642 disposed on one side of the output end of the PCB board conveyor belt 641. The PCB board clamping robotic arm module 63 is used to grab the PCB board from the PCB board feeding module 61, place the PCB board down through the PCB board posture positioning module 62 to complete precise positioning, and then transfer it to the PCB board conveyor belt 641 for precise docking and installation with the gas module.

[0054] In this embodiment, the screw-driving sorting and unloading mechanism 7 includes a screw feeder 71, a screw-driving robotic arm module 72, a screw-driving operation conveyor belt module 73, and a sorting and unloading direct drive module 74. The sorting and unloading direct drive module 74 includes a sorting direct drive assembly 741, a good product unloading conveyor belt 742, and a defective product unloading conveyor belt 743. The output end of the screw-driving robotic arm module 72 is equipped with a smart electric screwdriver 721. The smart electric screwdriver 721 is electrically connected to the sorting direct drive assembly 741. When the smart electric screwdriver 721 detects that the screw is stripped, the sorting direct drive assembly 741 clamps the gas module and places it into the defective product unloading conveyor belt 743. When the smart electric screwdriver 721 detects that the screw-driving is normal, the sorting direct drive assembly 741 clamps the gas module and places it into the good product unloading conveyor belt 742. A second PCB board barcode scanning module 722 is provided on one side of the smart electric screwdriver 721.

[0055] In this embodiment, the feeding mechanism 1 includes a gas module feeding device 11, a gas module attitude positioning structure 12, a gas module clamping and transferring robotic arm 13, and a gas module loading conveyor belt module 14. The gas module clamping and transferring robotic arm 13 is used to grab gas modules from the gas module feeding device 11, place them on the gas module attitude positioning structure 12 for precise positioning, and then transfer them to the gas module loading conveyor belt module 14 for positioning.

[0056] In summary, the specific embodiments of the present invention are as follows:

[0057] First, the gas module feeding device 11 in the feeding mechanism 1 provides gas modules. The gas module clamping and transfer robotic arm 13 places the gas module into the gas module attitude positioning structure 12 to complete attitude positioning. Then, the gas module clamping and transfer robotic arm 13 transfers the gas module to the gas module loading conveyor belt module 14, and the gas module loading conveyor belt module 14 conveys the gas module backward.

[0058] The gas module enters the capping processing conveyor belt 231 of the capping mechanism 2. The steel sheet mesh cover feeding module 21 in the capping mechanism 2 outputs steel sheets or mesh covers according to the current gas module model. The steel sheet mesh cover clamping robot arm 221 in the capping robot module 22 drives the steel sheet mesh cover clamp 222 at its output end to move to the steel sheet mesh cover feeding module 21. If the current model requires steel sheets, the steel sheet lifting and mounting cylinder 2222 on the steel sheet mesh cover clamp 222 drives the steel sheet lifting slider 2223 to descend. The steel sheet clamping air clamps 2225 on both sides of the inner side of the steel sheet clamping mounting block 2224 and the steel sheet clamping air clamps 222 at both ends of the rear side of the steel sheet clamping mounting block 2224 further lower the module. 6. Collaborative clamping of steel sheets; If the current model requires the placement of a mesh cover, the mesh cover lifting and mounting cylinder 2227 drives the mesh cover lifting slider 2228 to descend, and the mesh cover three-jaw pneumatic clamp 2229 at the output end of the mesh cover lifting slider 2228 clamps the mesh cover. The CCD vision inspection unit 22210 at the front end of the steel sheet mesh cover clamp 222 performs visual inspection on the position of the steel sheet or mesh cover. The steel sheet mesh cover clamping robotic arm 221 moves the clamped steel sheet or mesh cover to the gas module above the capping processing conveyor belt 231. The capping cylinders 2322 on both sides of the capping frame 2321 in the capping structure 232 drive the capping head 2323 to move downward, pressing the steel sheet or mesh cover onto the gas module.

[0059] After the gas module is capped, it enters the input end of the middle cap pressing conveyor belt 331 of the flipping middle cap mechanism 3 via the capping processing conveyor belt 231. The middle cap feeding module 31 outputs the middle cap. The middle cap clamping robot 321 in the middle cap clamping robot module 32 drives the middle cap clamp 322 at its output end to move to the middle cap feeding module 31. The middle cap gas clamp 3223 on the middle cap clamp 3223 clamps the middle cap. At the same time, the flipping claw 3323 in the gas module flipping component 332 clamps the gas module on the middle cap pressing conveyor belt 331 and then lifts it upward by the gas module flipping lifting structure 3321. The rotation drive structure 3322 on both sides of the upper output end of the gas module flipping lifting structure 3321 drives the flipping claw 3323 to clamp the gas module and put the gas module into place. The gas module is rotated 90 degrees, and the gas module rotation lifting structure 3321 drives the rotated gas module to be placed downwards onto the middle cover pressing conveyor belt 331. The middle cover clamping robot 321 places the middle cover clamped by the middle cover clamp 322 onto the rotated gas module. The middle cover pressing conveyor belt 331 conveys the gas module to the middle cover pressing assembly 333 at its output end. The middle cover pressing cylinder 3332 at the top of the middle cover pressing bracket 3331 in the middle cover pressing assembly 333 drives the guide bracket 33331 to slide downwards along the middle cover pressing bracket 3331. The middle cover pressing heads 33332 on both sides of the bottom end of the guide bracket 33331 descend. The protruding pressing heads evenly arrayed on both sides of the middle cover pressing head 33332 along the lateral direction of the gas module press the middle cover tightly onto the gas module.

[0060] After the gas module with the middle cover is pressed, it continues to enter the transducer loading conveyor module 44 of the transducer installation mechanism 4 along the middle cover pressing conveyor belt 331. The transducer feeding module 41 in the transducer installation mechanism 4 outputs the transducer. The transducer clamping robotic arm module 43 clamps the transducer from the transducer feeding module 41 and moves it above the transducer clamping posture monitoring module 42. The transducer clamping posture monitoring module 42 takes pictures of the transducer's posture through its CCD camera to verify it. After confirming that the posture is correct, the transducer clamping robotic arm module 43 moves the transducer to the gas module above the transducer loading conveyor belt module 44 and loads the transducer into the gas module.

[0061] Subsequently, the gas module enters the upper shell winding operation conveyor belt 56 of the upper shell winding and pressing mechanism 5 via the transducer loading conveyor belt module 44. The upper shell feeding module 51 outputs the upper shell, and the robotic arm 551 in the robotic pressing module 55 drives the pressing clamp 552 at its output end to clamp the upper shell from the output end of the upper shell feeding module 51 and transport it to the upper shell loading and positioning module 52. After positioning is completed, the robotic arm 551 then moves the upper shell to the gas module above the upper shell winding operation conveyor belt 56 to wait for its turn. At this time, the wire harness on the gas module needs to be tidied up. The two symmetrical devices in the wire harness diagonal pull module 53 are used to tidy up the wire harness. Driven by the inclined guide cylinder 533, the inclined pneumatic wire harness gripper 531 approaches the gas module and clamps the wire harness. The inclined pneumatic wire harness gripper 531 pulls the wire harness upward at a preset inclined angle, applying a controllable pulling force to complete the inclined pulling action. Subsequently, the lateral direct drive component 542 in the wire harness straightening module 54 drives the front and rear drive components 543 to move laterally for alignment. The front and rear drive components 543 drive the lifting adjustment mechanism 544 to move back and forth to the straightening position. The double-headed cylinder 5412 in the rotation drive component 541 at the output end of the lifting adjustment mechanism 544 drives the wire harness at both ends to move. The straightening half-cylinder clamp 5413 closes, and the clamping ends of the two straightening half-cylinder clamps 5413 together form a cylindrical straightening cavity to wrap the wire harness. The wire harness rotation motor 5411 drives the double-headed cylinder 5412 and the wire harness straightening half-cylinder clamps 5413 to rotate, rotating the wire harness so that it forms a 90° angle with the horizontal plane. At the same time, the wire harness inclined pull module 53 retracts from the gas module position and resets. Then, the lifting adjustment mechanism 544 drives the rotation drive assembly 541 to lift vertically upward to complete the straightening of the wire harness. After the wire harness is straightened, the robotic arm 551 drives the pressing clamp 552 to lift the upper shell from the gas module. The upper shell is placed vertically on the gas module from top to bottom. The wire harness detection sensor 5525 on the pressing clamp 552 detects the wire harness being threaded into the through holes on both sides of the upper shell. If not, an alarm is triggered and the operation stops. If the wire harness is threaded into the through holes on both sides of the upper shell, the double-headed cylinder 5412 drives the wire harness straightening half-cylinder clamp 5413 at both ends of its output end to open, and the wire harness straightening module 54 is reset as a whole and removed from the position of the gas module. Finally, the spring between the pressing slider 5522 and the pressing clamp quick-connect joint 5521 in the pressing clamp 552 provides buffer pressing force to press the upper shell into place.

[0062] After the gas module completes the upper shell pressing, it enters the PCB board conveyor belt 641 of the PCB board mounting mechanism 6 through the upper shell straightening operation conveyor belt 56. The PCB board feeding module 61 outputs the PCB board, and the PCB board clamping robot arm module 63 picks up the PCB board from the PCB board feeding module 61 and places the PCB board on the PCB board attitude positioning module 62. The PCB board attitude positioning module 62 accurately positions the PCB board. The PCB board clamping robot arm module 63 picks up the positioned PCB board from the PCB board attitude positioning module 62 again and moves it to the gas module above the PCB board conveyor belt 641. The PCB board is precisely installed on the gas module. The first PCB board barcode scanning module 642 on one side of the output end of the PCB board conveyor belt 641 scans and records the barcode of the installed PCB board.

[0063] Finally, the gas module enters the screw-driving operation conveyor module 73 of the screw-driving sorting and unloading mechanism 7 via the PCB board conveyor belt 641. The screw feeder 71 outputs screws, and the screw-driving robotic arm module 72 drives the intelligent electric screwdriver 721 at its output end to move to the screw feeder 71 to pick up the screws. The intelligent electric screwdriver 721 moves to the gas module and drives the screws into the designated positions. At the same time, the second PCB board scanning module 722 on one side of the intelligent electric screwdriver 721 performs a second scanning confirmation on the PCB board. The screw-driving robotic arm module 72 repeats the above actions to complete the installation of all screws. The intelligent electric screwdriver 721 detects the torque and stroke in real time during the screw-driving process and judges... To determine if a stripped screw has occurred, the intelligent electric screwdriver 721 transmits the detection result electrical signal to the sorting direct drive component 741 in the sorting and discharge direct drive module 74. The screw-driving operation conveyor belt module 73 then conveys the completed screw-driving gas modules to the sorting and discharge direct drive module 74. The sorting direct drive component 741 sorts the modules according to the received signal: if the intelligent electric screwdriver 721 detects a stripped screw, the sorting direct drive component 741 picks up the gas module and places it into the defective product discharge conveyor belt 743; if the intelligent electric screwdriver 721 detects that the screw-driving is normal, the sorting direct drive component 741 picks up the gas module and places it into the good product discharge conveyor belt 742, thus completing the assembly and sorting of the gas modules.

[0064] The above description is merely the optimal embodiment of the present invention and is not intended to limit the present invention. Any modifications or substitutions made by those skilled in the art without departing from the essence and scope of protection of the present invention should also be within the scope of protection of the present invention.

Claims

1. A gas module assembly line, characterized by: The system includes a feeding mechanism (1) connected end to end, a capping mechanism (2), a flip-over capping mechanism (3), a transducer mounting mechanism (4), a wire harness straightening and pressing mechanism (5), a PCB board mounting mechanism (6), and a screw-driving sorting and unloading mechanism (7). The wire harness straightening and pressing mechanism (5) includes an upper shell feeding module (51), an upper shell loading and positioning module (52), a wire harness oblique pulling module (53), a wire harness straightening module (54), and a robotic arm pressing module (55). The wire harness oblique pulling module (53) includes two symmetrically arranged oblique pulling pneumatic wire harness grippers (531) for synchronously clamping the wire harness and The wire harness straightening module (54) includes two symmetrically arranged rotary drive components (541) that apply controllable tension along a preset angle. The rotary drive components (541) include a wire harness rotary motor (5411), a double-headed cylinder (5412) disposed at the output end of the wire harness rotary motor (5411), and wire harness straightening half-cylinder clamps (5413) symmetrically disposed at the output ends of the double-headed cylinder (5412). The clamping ends of the two wire harness straightening half-cylinder clamps (5413) together form an openable cylindrical straightening cavity, which is used to accurately constrain and rotate the wire harness after it is pulled at an angle. The wire harness straightening module (54) further includes a lateral direct drive assembly (542), a front and rear drive assembly (543) disposed at the output end of the lateral direct drive assembly (542), and a lifting adjustment mechanism (544) disposed at the output end of the front and rear drive assembly (543). The rotary drive assembly (541) is disposed on the output end of the lifting adjustment mechanism (544). The lateral direct drive assembly (542) is used to drive the rotary drive assembly (541) to be laterally aligned. The front and rear drive assembly (543) is used to drive the rotary drive assembly (541) to move forward and backward to the straightening position. The lifting adjustment mechanism (544) is used to drive the rotary drive assembly (541) to be vertically lifted upward to complete the wire harness straightening action. The flipping and pressing mechanism (3) includes a middle cover feeding module (31), a middle cover clamping robot module (32), and a middle cover pressing conveyor module (33). The middle cover clamping robot module (32) includes a middle cover clamping robot (321) and a middle cover clamp (322) disposed at the output end of the middle cover clamping robot (321). The middle cover clamp (322) includes a middle cover quick-connect connector (3221) and a middle cover clamp disposed on one side of the middle cover quick-connect connector (3221). The cover includes a buffer slider structure (3222) and a middle cover gas clamp (3223) disposed at the lower end of the middle cover buffer slider structure (3222). The middle cover pressing conveyor module (33) includes a middle cover pressing conveyor (331), a gas module flipping assembly (332) disposed on one side of the input end of the middle cover pressing conveyor (331), and a middle cover pressing assembly (333) mounted on the output end of the middle cover pressing conveyor (331). The gas module flipping assembly (332) The system includes a gas module tilting and lifting structure (3321), a rotary drive structure (3322) symmetrically arranged on both sides of the upper output end of the gas module tilting and lifting structure (3321), and tilting grippers (3323) respectively arranged at the output end of the rotary drive structure (3322). The middle cover pressing assembly (333) includes a middle cover pressing bracket (3331), a middle cover pressing cylinder (3332) arranged at the top of the middle cover pressing bracket (3331), and a cylinder connected to the middle cover pressing support (3331). The middle cover pressing head structure (3333) at the output end of the middle cover pressing cylinder (3332) includes a guide bracket (33331) that is slidably fitted to the lower end of the middle cover pressing bracket (3331) and middle cover pressing heads (33332) symmetrically arranged on both sides of the bottom end of the guide bracket (33331). Several protruding pressing heads are evenly arranged on both sides of the bottom end of the middle cover pressing head (33332) along the transverse direction of the gas module.

2. A gas module assembly line according to claim 1, characterized in that: The wire harness inclined pull module (53) also includes a wire harness inclined pull push-in cylinder (532) and inclined pull guide cylinders (533) respectively disposed on both sides of the inclined extension frame at the output end of the wire harness inclined pull push-in cylinder (532). The two inclined pull pneumatic wire harness clamps (531) are respectively disposed at the output end of their respective inclined pull guide cylinders (533).

3. A gas module assembly line according to claim 1, characterized in that: The upper shell straightening mechanism (5) further includes an upper shell straightening operation conveyor belt (56), which is located between the wire harness inclined pull module (53) and the wire harness straightening module (54). The robotic arm pressing module (55) includes a robotic arm (551) and a pressing fixture (552) disposed at the output end of the robotic arm (551). The pressing fixture (552) includes a pressing fixture quick-connect connector (5521) and a pressing slider (5521) that limits and slides at the lower end of the pressing fixture quick-connect connector (5521). 522) An upper shell clamping double-headed cylinder (5523) is set at the bottom of the pressing slider (5522), an upper shell clamping claw (5524) is set at the double-headed output end of the upper shell clamping double-headed cylinder (5523), and a wire harness detection sensor (5525) is set on the outer side of both ends of the upper shell clamping claw (5524). The pressing slider (5522) and the pressing fixture quick-connect joint (5521) are connected by a spring. The wire harness detection sensor (5525) is used to detect the wire harness insertion status of the through holes on both sides of the upper shell.

4. A gas module assembly line according to claim 1, characterized in that: The capping mechanism (2) includes a steel mesh cap feeding module (21), a capping robot module (22), and a capping processing conveyor belt module (23). The capping robot module (22) includes a steel mesh cap clamping robot arm (221) and a steel mesh cap clamp (222) disposed at the output end of the steel mesh cap clamping robot arm (221). The steel mesh cap clamp (222) includes a steel mesh cap clamp quick-connect connector (2221) and a steel mesh cap clamp disposed at the output end of the steel mesh cap. The cover clamp quick-connect connector (2221) includes a steel sheet lifting and mounting cylinder (2222), a steel sheet lifting slider (2223) located at the output end of the steel sheet lifting and mounting cylinder (2222), a steel sheet clamping and mounting block (2224) slidably fitted on the steel sheet lifting slider (2223), a steel sheet double-sided clamping air clamp (2225) located on the inner side of the steel sheet clamping and mounting block (2224), and a steel sheet double-sided clamping air clamp (2225). The rear side features a steel sheet with two clamping pneumatic clamps (2226), a mesh cover lifting and mounting cylinder (2227) located on the other side of the quick-connect joint (2221) of the steel sheet mesh cover clamp, a mesh cover lifting slider (2228) located at the output end of the mesh cover lifting and mounting cylinder (2227), a mesh cover three-jaw pneumatic clamp (2229) located at the output end of the mesh cover lifting slider (2228), and a CCD sensor located at the front end of the quick-connect joint (2221) of the steel sheet mesh cover clamp. The sensory detection unit (22210) includes a capping processing conveyor belt module (23), which includes a capping processing conveyor belt (231) and a capping structure (232) mounted on the capping processing conveyor belt (231). The capping structure (232) includes a capping frame (2321), capping cylinders (2322) located on both sides of the capping frame (2321), and a capping head (2323) located at the output end of the capping cylinder (2322).

5. A gas module assembly line according to claim 1, characterized in that: The transducer installation mechanism (4) includes a transducer feeding module (41), a transducer clamping posture monitoring module (42), a transducer clamping robotic arm module (43), and a transducer loading conveyor belt module (44). The transducer clamping robotic arm module (43) is used to clamp the transducer on the transducer feeding module (41) and move it above the transducer clamping posture monitoring module (42) for posture verification by a CCD camera. After confirming that there are no errors, it is moved to the transducer loading conveyor belt module (44) to complete the assembly operation with the gas module.

6. A gas module assembly line according to claim 1, characterized in that: The PCB board mounting mechanism (6) includes a PCB board feeding module (61), a PCB board posture positioning module (62), a PCB board clamping robotic arm module (63), and a PCB board loading conveyor belt module (64). The PCB board loading conveyor belt module (64) includes a PCB board conveyor belt (641) and a first PCB board barcode scanning module (642) located on one side of the output end of the PCB board conveyor belt (641). The PCB board clamping robotic arm module (63) is used to grab the PCB board from the PCB board feeding module (61), and after the PCB board posture positioning module (62) puts the PCB board down to complete the precise positioning, it is then transferred to the PCB board conveyor belt (641) for precise docking and installation with the gas module.

7. A gas module assembly line according to claim 1, characterized in that: The screw-driving sorting and discharging mechanism (7) includes a screw feeder (71), a screw-driving robotic arm module (72), a screw-driving conveyor belt module (73), and a sorting and discharging direct drive module (74). The sorting and discharging direct drive module (74) includes a sorting direct drive assembly (741), a good product discharging conveyor belt (742), and a defective product discharging conveyor belt (743). The output end of the screw-driving robotic arm module (72) is equipped with an intelligent electric screwdriver (721). The intelligent electric screwdriver (721) is connected to the screw feeder (71). The sorting direct drive assembly (741) is electrically connected. When the intelligent electric screwdriver (721) detects that the screw is stripped, the sorting direct drive assembly (741) clamps the gas module and places it into the defective product discharge conveyor belt (743). When the intelligent electric screwdriver (721) detects that the screw is being driven normally, the sorting direct drive assembly (741) clamps the gas module and places it into the good product discharge conveyor belt (742). A second PCB board scanning module (722) is provided on one side of the intelligent electric screwdriver (721).

8. A gas module assembly line according to claim 1, characterized in that: The feeding mechanism (1) includes a gas module feeding device (11), a gas module attitude positioning structure (12), a gas module clamping and transferring robotic arm (13), and a gas module loading conveyor belt module (14). The gas module clamping and transferring robotic arm (13) is used to grab the gas module from the gas module feeding device (11), place it on the gas module attitude positioning structure (12) for precise positioning, and then transfer it to the gas module loading conveyor belt module (14) for positioning.

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