A high speed assembly system for T-iron

Abstract

The application relates to the field of electroacoustic device manufacturing and automatic assembly, and discloses a high-speed assembly system suitable for T iron. The system comprises a conveying mechanism, an electromagnetic posture adjusting mechanism and a flexible pressing mechanism. The conveying mechanism sequentially conveys the T iron and a magnet. A multi-axis electromagnetic coil array of the electromagnetic posture adjusting mechanism generates a gradient alternating magnetic field, applies a spatial six-degree-of-freedom magnetic suspension fine adjustment force to the T iron, and realizes coaxial centering. A hydraulic damping cylinder of the flexible pressing mechanism drives a pressing execution end to feed, a piezoelectric displacement sensor collects a displacement amount and outputs a displacement feedback signal, when the pressing resistance exceeds a preset force threshold, the hydraulic damping cylinder is switched from a displacement control mode to a force control mode according to the displacement feedback signal and the feeding speed is reduced to realize flexible adhesion. The application eliminates dynamic alignment deviation caused by high-speed inertia and avoids component damage caused by rigid impact.

Description

Technical Field

[0001] This invention relates to the field of electroacoustic device manufacturing and automated assembly, and discloses a high-speed assembly system suitable for T-type irons. Background Technology

[0002] In the current field of electroacoustic device manufacturing, the assembly of T-shaped irons and magnets is a core process. Conventional high-speed assembly systems typically use mechanical guides or V-grooves to physically limit and pre-align the T-shaped irons, followed by pressing them against the magnets using rigid drive devices such as cylinders. In high-speed assembly line operations, the T-shaped irons are rapidly conveyed to the assembly station by a conveyor belt. Mechanical stops or the contact friction of the guides forcefully correct any positional deviations, and then a cylinder provides instantaneous impact force to complete the pressing action.

[0003] Based on the existing technology, due to the huge inertia brought about by high-speed conveying, the T-iron will rebound or deflect when it contacts the mechanical guide rail or stop. The mechanical limiting structure cannot eliminate this dynamic inertial deviation, resulting in a coaxiality error between the T-iron and the magnet at the moment of pressing. Furthermore, the rigid instantaneous impact force of the cylinder cannot be adaptively adjusted according to the resistance at the moment of contact, which can easily cause damage to the T-iron coating or breakage of the magnet. The existing high-speed assembly system of T-iron has the technical problem of dynamic alignment deviation and rigid pressing damage coexisting under high-speed operation conditions. Summary of the Invention

[0004] The purpose of this invention is to provide a high-speed assembly system suitable for T-iron, which can solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A high-speed assembly system for T-shaped irons includes a conveying mechanism, an electromagnetic attitude adjustment mechanism, and a flexible pressing mechanism. The conveying mechanism sequentially transports the T-shaped iron and a magnet to the electromagnetic attitude adjustment mechanism and the flexible pressing mechanism. The electromagnetic attitude adjustment mechanism includes a multi-axial electromagnetic coil array arranged around the assembly station. The multi-axial electromagnetic coil array generates a gradient alternating magnetic field based on an input attitude adjustment electrical signal. The gradient alternating magnetic field utilizes the magnetic permeability of the T-shaped iron to apply a six-degree-of-freedom magnetic levitation fine-tuning force to the T-shaped iron, making the T-shaped iron and the magnet coaxially aligned. The flexible pressing mechanism includes a pressing actuator, a hydraulic damping cylinder, and a piezoelectric displacement sensor. The hydraulic damping cylinder drives the pressing actuator to feed axially. The piezoelectric displacement sensor collects the displacement of the pressing actuator in real time and outputs a displacement feedback signal. When the pressing resistance experienced by the pressing actuator exceeds a preset force threshold, the hydraulic damping cylinder switches from a displacement control mode to a force control mode based on the displacement feedback signal and reduces the feed speed, making the T-shaped iron and the magnet flexibly fit together.

[0006] Preferably, the multi-axial electromagnetic coil array includes a horizontal X-axis coil group, a horizontal Y-axis coil group, and a vertical Z-axis coil group; the horizontal X-axis coil group and the horizontal Y-axis coil group are symmetrically distributed on both sides of the horizontal axis of the assembly station, and the vertical Z-axis coil group is embedded at the bottom of the assembly station; the horizontal X-axis coil group, the horizontal Y-axis coil group, and the vertical Z-axis coil group each receive independent pulse width modulation signals to generate alternating magnetic flux with independent amplitude and phase; the horizontal alternating magnetic flux generated by the horizontal X-axis coil group and the horizontal Y-axis coil group applies translational and rotational fine-tuning forces in the horizontal plane to the T-iron, and the vertical alternating magnetic flux generated by the vertical Z-axis coil group applies vertical levitation force and deflection torque to the T-iron.

[0007] Preferably, the electromagnetic attitude adjustment mechanism further includes a three-dimensional magnetic flux density sensor group, which is disposed on the circumferential surface of the T-iron. The three-dimensional magnetic flux density sensor group detects the three-dimensional magnetic flux density components on the surface of the T-iron in real time and outputs a magnetic flux distribution signal. The attitude adjustment controller receives the magnetic flux distribution signal and calculates the spatial attitude deviation of the T-iron. The attitude adjustment controller updates the duty cycle of the pulse width modulation signal in real time according to the spatial attitude deviation to adjust the alternating magnetic flux generated by the horizontal X-axis coil group, the horizontal Y-axis coil group and the vertical Z-axis coil group in a closed loop until the spatial attitude deviation converges to the coaxial alignment threshold range.

[0008] Preferably, the hydraulic damping cylinder includes a rodless chamber, a rod chamber, and an electro-hydraulic proportional valve. A damping throttling channel is provided between the rodless chamber and the rod chamber. The electro-hydraulic proportional valve is connected to the return oil line of the rod chamber. In the displacement control mode, the electro-hydraulic proportional valve maintains its maximum opening to reduce the back pressure of the rod chamber. When the piezoelectric displacement sensor detects that the displacement change rate of the displacement feedback signal is lower than a preset displacement rate threshold, the electro-hydraulic proportional valve reduces the maximum opening according to the displacement change rate to increase the back pressure of the rod chamber and generate a damping force opposite to the feed direction. The hydraulic damping cylinder switches to the force control mode, and the damping force is adaptively adjusted as the feed speed decreases.

[0009] Preferably, the piezoelectric displacement sensor includes a piezoelectric crystal assembly and a pre-tightening sleeve. The piezoelectric crystal assembly is disposed between the pressing actuation end and the piston rod of the hydraulic damping cylinder. The pre-tightening sleeve is sleeved on the outer peripheral wall of the piezoelectric crystal assembly, and an insulating layer is provided between the inner wall of the pre-tightening sleeve and the piezoelectric crystal assembly. The piezoelectric crystal assembly deforms under the axial pressure transmitted by the pressing actuation end and outputs a piezoelectric charge signal. The charge amplifier receives the piezoelectric charge signal and converts it into the displacement feedback signal. The pre-tightening sleeve applies a radial constraint force to the piezoelectric crystal assembly to suppress the lateral parasitic vibration of the piezoelectric crystal assembly.

[0010] Preferably, the flexible pressing mechanism further includes a force sensor connected in series between the pressing execution end and the hydraulic damping cylinder. The force sensor collects the pressing force value in real time and outputs a force feedback signal. The hybrid controller receives the displacement feedback signal and the force feedback signal. When the force feedback signal exceeds the preset force threshold and the displacement change rate of the displacement feedback signal is lower than the preset rate, the hybrid controller generates a force control switching command and outputs it to the hydraulic damping cylinder. The hydraulic damping cylinder stops responding to the displacement feedback signal according to the force control switching command and switches to closed-loop adjustment according to the force feedback signal to keep the pressing force value constant at the target pressing value.

[0011] Preferably, a magnetically conductive yoke ring is fixed to the outer wall of the multi-axial electromagnetic coil array, and an annular magnetically conductive groove is formed on the inner wall of the magnetically conductive yoke ring. The horizontal X-axis coil group and the horizontal Y-axis coil group are embedded in the annular magnetically conductive groove, and a magnetically shielding aluminum ring is attached to the outer wall of the magnetically conductive yoke ring. The magnetically conductive yoke ring collects the leakage magnetic flux generated by the horizontal X-axis coil group and the horizontal Y-axis coil group and guides the leakage magnetic flux to the central axis of the assembly station. The magnetically shielding aluminum ring blocks the diffusion path of the leakage magnetic flux to the external space, so as to form a superimposed magnetic field region with enhanced magnetic flux density at the center of the assembly station.

[0012] Preferably, the damping throttling channel is filled with magnetorheological fluid, and an excitation coil is wound around the outside of the damping throttling channel. When in the force control mode, the excitation coil receives an excitation current and generates a magnetic field perpendicular to the flow direction of the magnetorheological fluid inside the damping throttling channel. The magnetic field causes the viscosity of the magnetorheological fluid to increase abruptly with the increase of the excitation current. The magnetorheological fluid forms a solidified damping layer inside the damping throttling channel. The damping layer blocks the flow cross-section of the magnetorheological fluid to provide a dynamic damping force that matches the feed rate.

[0013] Preferably, the attitude controller also receives edge contour signals from a multispectral vision component, which is positioned above the assembly station. The multispectral vision component projects structured light stripes onto the mating surface of the T-iron and the magnet and acquires reflected light images. The multispectral vision component extracts the edge contour signals of the T-iron and the magnet from the reflected light images. The attitude controller fuses the edge contour signals with the magnetic flux distribution signals to generate a spatial pose fusion deviation. The spatial pose fusion deviation compensates for the magnetic flux density measurement error caused by the uneven permeability of the T-iron surface, thereby improving the adjustment accuracy of the alternating magnetic flux.

[0014] Preferably, the piezoelectric displacement sensor further includes a thermistor layer attached to the sidewall of the piezoelectric crystal assembly. The thermistor layer detects the temperature change of the piezoelectric crystal assembly in real time and outputs a temperature sampling signal. A temperature compensator receives the temperature sampling signal and generates a piezoelectric sensitivity correction coefficient. The charge amplifier multiplies the piezoelectric charge signal by the piezoelectric sensitivity correction coefficient and then converts it into the displacement feedback signal to eliminate the piezoelectric constant drift error caused by ambient temperature fluctuations in the piezoelectric crystal assembly, ensuring the linearity of the displacement feedback signal across the entire temperature range.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. By generating a gradient alternating magnetic field through a multi-axial electromagnetic coil array, and utilizing the magnetic permeability of the T-iron, a six-degree-of-freedom magnetic levitation fine-tuning force is applied, replacing mechanical contact-type limiting, eliminating rebound and deflection caused by high-speed inertia, and achieving coaxial alignment between the T-iron and the magnet; by constructing a force-position hybrid control through a hydraulic damping cylinder and a piezoelectric displacement sensor, when the pressing resistance exceeds the preset force threshold, the hydraulic damping cylinder switches to force control mode and reduces the feed speed, avoiding damage to the T-iron coating and magnet breakage caused by rigid impact, and solving the technical problem of dynamic alignment deviation and rigid pressing damage coexisting under high-speed operating conditions.

[0016] 2. The three-dimensional magnetic flux density sensor group detects the magnetic flux distribution on the T-iron surface in real time and adjusts the duty cycle of the pulse width modulation signal of the coil array in a closed loop, improving the position adjustment accuracy of dynamic alignment; the hydraulic damping cylinder is equipped with a damping throttling channel and an electro-hydraulic proportional valve, which adjusts the back pressure of the rod cavity to generate a reverse damping force according to the displacement change rate of the displacement feedback signal, realizing the adaptive smooth transition of the feed speed; the piezoelectric displacement sensor is equipped with a pre-tightening sleeve to apply radial constraint force, suppressing the lateral parasitic vibration of the piezoelectric crystal assembly and ensuring the stability of the displacement feedback signal. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the overall assembly process of the high-speed assembly system for T-iron of the present invention. Figure 2 This is a flowchart of the six-degree-of-freedom magnetic levitation closed-loop attitude adjustment mechanism of the present invention. Figure 3 This is a flowchart illustrating the force-position hybrid control mode switching process of the flexible pressing mechanism of the present invention. Figure 4 This is a flowchart of the multi-axial electromagnetic coil array flux enhancement and multi-source signal fusion attitude adjustment process of the present invention; Figure 5 This is a flowchart of the adaptive adjustment process for dynamic damping of the magnetorheological fluid in the hydraulic damping cylinder of the present invention. Figure 6 This is a flowchart of the temperature compensation displacement signal acquisition process for the piezoelectric displacement sensor of the present invention. Detailed Implementation

[0018] refer to Figure 1 In one embodiment, the high-speed assembly system for the T-iron includes a conveying mechanism, an electromagnetic attitude adjustment mechanism, and a flexible pressing mechanism. The conveying mechanism employs a belt conveyor structure with equally spaced positioning grooves on its surface. The T-iron and the magnet are placed in their respective positioning grooves. The conveying mechanism sequentially transports the T-iron and the magnet to the assembly station where the electromagnetic attitude adjustment mechanism and the flexible pressing mechanism are located at a constant linear velocity. When the T-iron is transported to the center position of the assembly station, the drive motor of the conveying mechanism stops operating. The T-iron continues to move a certain distance under inertia, after which its position is adjusted by the electromagnetic attitude adjustment mechanism.

[0019] The electromagnetic attitude adjustment mechanism comprises a multi-axial electromagnetic coil array arranged around the assembly station. This array consists of multiple independently controlled electromagnetic coils arranged orthogonally in space, forming a magnetic field distribution that covers the entire assembly station space. The multi-axial electromagnetic coil array generates a gradient alternating magnetic field based on the input attitude adjustment electrical signal. The intensity of this gradient alternating magnetic field exhibits a linear gradient distribution with changes in spatial position. Since the T-iron is made of electrical pure iron with high magnetic permeability, it experiences a magnetic force proportional to the magnetic field gradient in the gradient alternating magnetic field. By adjusting the current magnitude and phase of the coils in different directions, the multi-axial electromagnetic coil array generates gradient alternating magnetic fields with different directions and magnitudes, thereby applying a six-degree-of-freedom magnetic levitation fine-tuning force to the T-iron, including translational forces along the X, Y, and Z axes and rotational torques about the X, Y, and Z axes. Through the combined action of these magnetic levitation fine-tuning forces, the spatial orientation of the T-iron is gradually adjusted until its central axis completely coincides with the central axis of the magnet pre-placed below the assembly station, thus achieving coaxial alignment between the T-iron and the magnet.

[0020] The flexible pressing mechanism includes a pressing actuator, a hydraulic damping cylinder, and a piezoelectric displacement sensor. The pressing actuator has a cylindrical structure with a contact pad on its lower end face that matches the shape of the upper end face of the T-iron. The contact pad is made of rubber to increase friction with the T-iron and disperse the pressing force. The piston rod of the hydraulic damping cylinder is fixedly connected to the upper end face of the pressing actuator, and the cylinder body is fixedly mounted on a support above the assembly station. The hydraulic damping cylinder drives the pressing actuator to feed axially downwards, causing its lower end face to contact the upper end face of the T-iron, and continues to push the T-iron downwards towards the magnet. The piezoelectric displacement sensor is located between the pressing actuator and the piston rod of the hydraulic damping cylinder, enabling real-time acquisition of the axial displacement of the pressing actuator and outputting a displacement feedback signal.

[0021] During the downward feeding of the pressing actuator, when the lower end face of the T-iron contacts the upper end face of the magnet, the pressing resistance experienced by the pressing actuator suddenly increases. When the pressing resistance exceeds a preset force threshold, the hydraulic damping cylinder switches from displacement control mode to force control mode based on the displacement feedback signal output by the piezoelectric displacement sensor. In displacement control mode, the hydraulic damping cylinder drives the pressing actuator downward at a constant feed speed; in force control mode, the hydraulic damping cylinder reduces the feed speed and adjusts the output force in real time according to the magnitude of the pressing resistance, keeping the contact pressure between the T-iron and the magnet within a preset range, thereby achieving flexible bonding between the T-iron and the magnet. When the T-iron and the magnet are fully bonded and the pressing force stabilizes at the target value, the hydraulic damping cylinder stops feeding and maintains this state for a preset time, then drives the pressing actuator upward back to the initial position, completing one assembly process of the T-iron and the magnet.

[0022] In this embodiment, the system operating status parameters at different assembly stages are shown in Table 1.

[0023] Table 1 System operating status parameters at different assembly stages

[0024] Table 1 shows the operating parameters of the high-speed assembly system for T-shaped irons at different assembly stages. During the conveying stage, the conveyor transports the T-shaped iron and magnet to the assembly station at a constant speed, while the electromagnetic attitude adjustment mechanism and the flexible pressing mechanism are in standby mode. During the attitude adjustment stage, the conveyor stops operating, and the electromagnetic attitude adjustment mechanism generates a gradient alternating magnetic field to adjust the T-shaped iron's six-degree-of-freedom posture until the T-shaped iron and magnet are coaxially aligned. During the displacement-controlled pressing stage, the hydraulic damping cylinder drives the pressing actuator downwards at a constant speed, and the piezoelectric displacement sensor outputs a linearly increasing displacement signal. During the force-controlled pressing stage, when the pressing resistance exceeds a preset force threshold, the hydraulic damping cylinder switches to force control mode, the feed speed decreases, and the piezoelectric displacement sensor outputs a slowly increasing displacement signal. During the pressure holding stage, the hydraulic damping cylinder maintains a constant output force, and the piezoelectric displacement sensor outputs a constant displacement signal. During the return stage, the hydraulic damping cylinder drives the pressing actuator upwards back to the initial position, and the conveyor restarts operation, ready for the next assembly.

[0025] In this embodiment, a gradient alternating magnetic field is generated by a multi-axial electromagnetic coil array. The magnetic permeability of the T-iron is utilized to apply a six-degree-of-freedom magnetic levitation fine-tuning force, replacing the traditional mechanical contact limiting method. This eliminates the rebound and deflection of the T-iron due to inertia during high-speed transport, achieving high-precision coaxial alignment between the T-iron and the magnet. A force-position hybrid control mechanism is constructed using a hydraulic damping cylinder and a piezoelectric displacement sensor. When the pressing resistance exceeds a preset force threshold, it automatically switches to force control mode and reduces the feed speed, avoiding damage to the T-iron coating and magnet breakage caused by rigid impact. This solves the technical problem of dynamic alignment deviation and rigid pressing damage coexisting under high-speed operating conditions.

[0026] refer to Figure 2 In a preferred embodiment, the multi-axial electromagnetic coil array includes a horizontal X-axis coil group, a horizontal Y-axis coil group, and a vertical Z-axis coil group. The horizontal X-axis coil group consists of two symmetrically distributed rectangular coils, respectively positioned on either side of the positive and negative X-axis directions of the assembly station. Similarly, the horizontal Y-axis coil group also consists of two symmetrically distributed rectangular coils, respectively positioned on either side of the positive and negative Y-axis directions of the assembly station. The vertical Z-axis coil group consists of a single circular coil, embedded at the bottom center of the assembly station. Each of the horizontal X-axis, horizontal Y-axis, and vertical Z-axis coil groups is connected to an independent pulse width modulation (PWM) drive circuit, enabling it to receive independent PWM signals.

[0027] Each pulse width modulation (PWM) signal has an independent duty cycle and phase. Adjusting the duty cycle of the PWM signal controls the average current of the corresponding coil group, thereby adjusting the amplitude of the alternating magnetic flux generated by that coil group. Adjusting the phase of the PWM signal controls the phase of the alternating magnetic flux generated by the corresponding coil group. The alternating magnetic flux generated by the horizontal X-axis coil group is distributed along the X-axis, the alternating magnetic flux generated by the horizontal Y-axis coil group is distributed along the Y-axis, and the alternating magnetic flux generated by the vertical Z-axis coil group is distributed along the Z-axis.

[0028] The horizontal alternating magnetic flux generated by the horizontal X-axis and Y-axis coil groups forms a gradient magnetic field distribution within the horizontal plane of the assembly station. When the T-iron deviates from the central axis in the horizontal plane, the magnitude of the magnetic flux on its two sides differs, thus generating a translational fine-tuning force along the X-axis or Y-axis. Simultaneously, when the T-iron rotates in the horizontal plane, the magnitude of the magnetic flux on different parts of it also differs, thus generating a rotational fine-tuning torque around the Z-axis. The vertical alternating magnetic flux generated by the vertical Z-axis coil group forms a gradient magnetic field distribution in the vertical direction of the assembly station, which can apply a vertical levitation force to the T-iron along the Z-axis. When the T-iron deflects around the X-axis or Y-axis, the magnitude of the vertical magnetic flux on different parts of it differs, thus generating a deflection torque around the X-axis or Y-axis.

[0029] The magnetic force exerted on a T-iron in space can be calculated using the following formula: (1) in, Let T be the vector of the magnetic force acting on the iron. The permeability of free space, Let T be the magnetic susceptibility of iron. Let T be the volume of the iron. The gradient vector is the square of the magnetic flux density.

[0030] The magnetic torque experienced by a T-iron in space can be calculated using the following formula: (2) in, Let T be the magnetic torque vector acting on the iron. Let T be the magnetic dipole moment vector of the iron. Let be the magnetic flux density vector at the location of the T-iron.

[0031] The magnetic dipole moment vector of the T-iron can be expressed as: (3) in, Let T be the magnetic field strength vector at the location of the iron T.

[0032] Substituting formula (3) into formula (2), we get: (4) The above results show that the magnetic torque on the T-iron is zero in a uniform magnetic field. Only in a non-uniform magnetic field will the T-iron experience a magnetic torque. Therefore, the multi-axial electromagnetic coil array needs to generate a gradient alternating magnetic field to apply a rotational fine-tuning torque to the T-iron.

[0033] The electromagnetic attitude adjustment mechanism also includes a three-dimensional magnetic flux density sensor array, which consists of multiple three-dimensional magnetic flux density sensors positioned at different locations on the circumferential surface of the T-shaped iron. Each three-dimensional magnetic flux density sensor can simultaneously detect the magnetic flux density components in the X, Y, and Z directions at its location and output the corresponding magnetic flux distribution signal. The three-dimensional magnetic flux density sensors are based on the Hall effect principle, and their output voltage is proportional to the detected magnetic flux density component.

[0034] The attitude control receives the magnetic flux distribution signal output by the three-dimensional magnetic flux density sensor array and calculates the spatial pose deviation of the T-iron based on these signals. The spatial pose of the T-iron can be represented by a six-dimensional vector: (5) in, , , These are the coordinates of the center of mass of iron T in the X, Y, and Z axes, respectively. , , These represent the rotation angles of the T-iron around the X, Y, and Z axes, respectively.

[0035] The attitude control controller internally stores the standard magnetic flux density component values ​​at the locations of each three-dimensional magnetic flux density sensor when the T-rail is in an ideal coaxial alignment position. When the T-rail's pose deviates, a difference will occur between the actual magnetic flux density component values ​​detected by each three-dimensional magnetic flux density sensor and the standard values. Based on these differences, the attitude control controller calculates the actual spatial pose of the T-rail using a pre-established mapping relationship between the magnetic flux density distribution and the T-rail's pose, and compares it with the ideal pose to obtain the spatial pose deviation. (6) in, This is the spatial pose deviation vector. Let T be the actual spatial pose vector of the iron. Let T be the ideal spatial pose vector of the iron.

[0036] The attitude control controller updates the duty cycle of the pulse width modulation signals of the horizontal X-axis coil group, the horizontal Y-axis coil group, and the vertical Z-axis coil group in real time using a proportional-integral-derivative (PID) control algorithm based on the calculated spatial pose deviation. The output of the PID control algorithm can be expressed as: (7) in, This refers to the output signal of the controller, specifically the duty cycle adjustment of the pulse width modulation signal. This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients. This represents the spatial pose deviation.

[0037] By adjusting the duty cycle of the pulse width modulation signal in each coil group through a closed loop, the alternating magnetic flux generated by the horizontal X-axis coil group, the horizontal Y-axis coil group, and the vertical Z-axis coil group will change accordingly. This alters the magnetic force and torque acting on the T-iron, gradually bringing its spatial pose closer to the ideal pose. When the spatial pose deviation converges within a pre-set coaxial alignment threshold range, the attitude controller stops adjusting the duty cycle of the pulse width modulation signal, maintaining the current magnetic field distribution and stabilizing the T-iron in the coaxial alignment position.

[0038] refer to Figure 3 The hydraulic damping cylinder comprises a rodless chamber, a rod chamber, and an electro-hydraulic proportional valve. The rodless chamber is located at the bottom of the cylinder, and the rod chamber is located at the top. The piston rod passes through the rod chamber and extends to the outside of the cylinder. A damping throttling channel is provided between the rodless and rod chambers, allowing hydraulic oil to flow between them. The electro-hydraulic proportional valve is connected to the return oil line of the rod chamber and can adjust its opening degree according to the input electrical signal, thereby controlling the return oil flow and back pressure of the rod chamber.

[0039] In displacement control mode, the electro-hydraulic proportional valve maintains its maximum opening, minimizing the return oil resistance and back pressure in the rod chamber. At this time, hydraulic oil enters the rodless chamber at a constant flow rate, pushing the piston rod downwards at a constant speed. The pressing actuator moves downwards along with the piston rod at a constant speed. A piezoelectric displacement sensor collects the displacement of the pressing actuator in real time and outputs a displacement feedback signal, which is input to the displacement controller. The displacement controller compares the actual displacement with a preset displacement curve and adjusts the hydraulic oil flow rate into the rodless chamber based on the comparison result, ensuring that the actual displacement of the pressing actuator tracks the preset displacement curve.

[0040] When the pressing actuator pushes the T-iron into contact with the magnet, the pressing resistance suddenly increases, causing a decrease in the feed speed of the pressing actuator. When the piezoelectric displacement sensor detects that the displacement change rate of the displacement feedback signal is lower than the preset displacement rate threshold, the electro-hydraulic proportional valve reduces its opening according to the displacement change rate. The reduction in the opening of the electro-hydraulic proportional valve leads to a decrease in the return oil flow in the rod chamber and an increase in back pressure, thereby generating a damping force on the piston rod opposite to the feed direction. At this time, the hydraulic damping cylinder switches from displacement control mode to force control mode.

[0041] In force control mode, the output force of the hydraulic damping cylinder equals the hydraulic pressure in the rodless chamber minus the back pressure and damping force in the rod chamber. As the opening of the electro-hydraulic proportional valve further decreases, the back pressure in the rod chamber further increases, and the damping force also increases accordingly. The output force of the hydraulic damping cylinder will decrease accordingly, thereby further reducing the feed speed of the pressing actuator. The damping force adaptively adjusts as the feed speed decreases. When the feed speed approaches zero, the damping force approaches its maximum value, thus keeping the contact pressure between the T-iron and the magnet within a preset range, achieving flexible bonding.

[0042] The piezoelectric displacement sensor comprises a piezoelectric crystal assembly and a preload sleeve. The piezoelectric crystal assembly is composed of multiple stacked piezoelectric ceramic sheets, each with silver electrodes plated on both its upper and lower surfaces. The electrodes of adjacent piezoelectric ceramic sheets are connected by conductive adhesive. The piezoelectric crystal assembly is positioned between the pressing actuation end and the piston rod of the hydraulic damping cylinder, with its upper end face contacting the lower end face of the piston rod and its lower end face contacting the upper end face of the pressing actuation end. The preload sleeve is fitted onto the outer peripheral wall of the piezoelectric crystal assembly, with its upper end fixedly connected to the piston rod and its lower end fixedly connected to the pressing actuation end. An insulating layer made of polyimide is provided between the inner wall of the preload sleeve and the piezoelectric crystal assembly to prevent short circuits between the piezoelectric crystal assembly and the preload sleeve.

[0043] When the pressing actuator is subjected to axial pressure, this pressure is transmitted to the piezoelectric crystal assembly, causing axial deformation. Due to the piezoelectric effect, equal amounts of opposite charges are generated on the upper and lower surfaces of the piezoelectric crystal assembly, i.e., piezoelectric charge signals. The magnitude of the piezoelectric charge signal is proportional to both the axial pressure and the axial deformation of the piezoelectric crystal assembly. The charge amplifier receives the piezoelectric charge signal output from the piezoelectric crystal assembly and converts it into a voltage signal, i.e., a displacement feedback signal. The output voltage of the charge amplifier can be expressed as: (8) in, The output voltage of the charge amplifier. The piezoelectric charge output by the piezoelectric crystal assembly. This is the feedback capacitor of the charge amplifier.

[0044] The axial deformation of the piezoelectric crystal assembly is equal to the displacement of the pressing actuator. Therefore, the output voltage of the charge amplifier is proportional to the displacement of the pressing actuator. By measuring the output voltage of the charge amplifier, the real-time displacement of the pressing actuator can be obtained.

[0045] The preload sleeve applies a radial constraint force to the piezoelectric crystal assembly, which can suppress the lateral parasitic vibration generated by the piezoelectric crystal assembly under axial pressure. Lateral parasitic vibration causes the piezoelectric crystal assembly to generate additional piezoelectric charge, thus affecting the accuracy of displacement measurement. By applying a radial constraint force through the preload sleeve, the piezoelectric crystal assembly can be made to undergo only axial deformation, thereby improving the stability and accuracy of the displacement feedback signal.

[0046] In this embodiment, the parameter configuration of the multi-axial electromagnetic coil array is shown in Table 2.

[0047] Table 2 Parameter Configuration of Multi-Axial Electromagnetic Coil Array

[0048] Table 2 shows the parameter configuration of the multi-axial electromagnetic coil array. The horizontal X-axis coil group and the horizontal Y-axis coil group each contain two rectangular coils, each with 200 turns, a maximum current of 5A, and a maximum magnetic flux density of 150mT. The horizontal X-axis coil group is mainly used to adjust the translation of the T-iron in the X-axis direction and its rotation around the Y-axis, while the horizontal Y-axis coil group is mainly used to adjust the translation of the T-iron in the Y-axis direction and its rotation around the X-axis. The vertical Z-axis coil group contains one circular coil with 300 turns, a maximum current of 8A, and a maximum magnetic flux density of 200mT. It is mainly used to adjust the translation of the T-iron in the Z-axis direction and its rotation around the Z-axis. Through the coordinated action of the three coil groups, precise adjustment of the T-iron's six degrees of freedom in space can be achieved.

[0049] In this embodiment, the multi-axial electromagnetic coil array adopts an orthogonal arrangement of horizontal X-axis coil groups, horizontal Y-axis coil groups, and vertical Z-axis coil groups, which can generate a gradient alternating magnetic field covering six degrees of freedom in space, enabling precise adjustment of the T-iron's pose. A three-dimensional magnetic flux density sensor group detects the magnetic flux distribution on the T-iron surface in real time and adjusts the duty cycle of the pulse width modulation signal of each coil group through a closed-loop control algorithm, improving the pose adjustment accuracy of dynamic alignment. The hydraulic damping cylinder is equipped with a damping throttling channel and an electro-hydraulic proportional valve. Based on the displacement change rate of the displacement feedback signal, the back pressure of the rod cavity is adjusted to generate a reverse damping force, achieving adaptive and smooth transition of the feed speed. A pre-tightening sleeve is installed inside the piezoelectric displacement sensor to apply radial constraint force, suppressing the lateral parasitic vibration of the piezoelectric crystal assembly and ensuring the stability of the displacement feedback signal.

[0050] In a preferred embodiment, the flexible pressing mechanism further includes a force sensor, which is a strain gauge force sensor connected in series between the pressing actuator and the hydraulic damping cylinder. The upper end face of the force sensor is fixedly connected to the lower end face of the piston rod of the hydraulic damping cylinder, and the lower end face is fixedly connected to the upper end face of a piezoelectric displacement sensor. The force sensor can acquire the pressing force value in real time during the pressing process and output a force feedback signal. The magnitude of the force feedback signal is proportional to the pressing force value.

[0051] The hybrid controller receives displacement feedback signals from a piezoelectric displacement sensor and force feedback signals from a force sensor. The hybrid controller has preset force and rate thresholds. When the force feedback signal exceeds the preset force threshold and the displacement change rate of the displacement feedback signal is lower than the preset rate, the hybrid controller generates a force control switching command and outputs it to the hydraulic damping cylinder. The hydraulic damping cylinder, based on the force control switching command, stops responding to the displacement feedback signal and switches to closed-loop regulation based on the force feedback signal.

[0052] In force control mode, the hybrid controller compares the actual pressing force with the target pressing force and adjusts the opening of the electro-hydraulic proportional valve based on the comparison result. When the actual pressing force is less than the target pressing force, the hybrid controller increases the opening of the electro-hydraulic proportional valve, reduces the back pressure in the rod chamber, thereby increasing the output force of the hydraulic damping cylinder and increasing the pressing force. When the actual pressing force is greater than the target pressing force, the hybrid controller decreases the opening of the electro-hydraulic proportional valve, increases the back pressure in the rod chamber, thereby decreasing the output force of the hydraulic damping cylinder and decreasing the pressing force. Through this closed-loop adjustment method, the pressing force is constantly controlled at the target pressing force, thus ensuring uniform and consistent contact pressure between the T-iron and the magnet.

[0053] refer to Figure 4 The outer wall of the multi-axial electromagnetic coil array is fixed with a magnetically conductive yoke ring, which is made of stacked silicon steel sheets with high magnetic permeability and has a circular ring structure. The inner wall of the magnetically conductive yoke ring has annular magnetic grooves, in which the horizontal X-axis coil group and the horizontal Y-axis coil group are embedded. A magnetically shielding aluminum ring is attached to the outer wall of the magnetically conductive yoke ring. The magnetically shielding aluminum ring is made of aluminum alloy and has good magnetic shielding properties.

[0054] A portion of the alternating magnetic flux generated by the horizontal X-axis coil group and the horizontal Y-axis coil group leaks into the external space, forming leakage flux. The magnetically conductive yoke ring collects this leakage flux and guides it to the central axis of the assembly station. Because the magnetic permeability of the yoke ring is much higher than that of air, the leakage flux preferentially flows inside the yoke ring and superimposes with the main magnetic flux at the central axis of the assembly station, thus forming a superimposed magnetic field region with enhanced magnetic flux density at the center of the assembly station. The magnetically shielding aluminum ring blocks the diffusion path of the leakage flux into the external space, preventing interference with surrounding electronic equipment, and also reduces leakage flux loss, improving the utilization efficiency of the magnetic field.

[0055] The magnetic flux density of the superimposed magnetic field region can be expressed as: (9) in, The total magnetic flux density of the superimposed magnetic field region. The main magnetic flux density, The leakage magnetic flux density is collected and guided to the central axis by the guided magnetic yoke iron ring.

[0056] refer to Figure 5 The damping throttling channel is filled with magnetorheological fluid, which is a suspension formed by dispersing tiny soft magnetic particles with high permeability and low hysteresis in a non-magnetic liquid. An excitation coil is wound around the outside of the damping throttling channel. The excitation coil is connected to an independent excitation power supply and can receive excitation current and generate a magnetic field inside the damping throttling channel.

[0057] When the hydraulic damping cylinder is in displacement control mode, the excitation coil is not energized, and there is no magnetic field inside the damping throttling channel. At this time, the magnetorheological fluid exhibits Newtonian fluid characteristics, has low viscosity, and can flow freely within the damping throttling channel, resulting in minimal flow resistance to the hydraulic oil.

[0058] When the hydraulic damping cylinder switches to force control mode, the excitation coil receives the excitation current and generates a magnetic field perpendicular to the flow direction of the magnetorheological fluid inside the damping throttling channel. Under the influence of the magnetic field, the soft magnetic particles in the magnetorheological fluid align into a chain-like structure along the magnetic field direction, causing the viscosity of the magnetorheological fluid to increase abruptly with the increase of the excitation current. When the excitation current reaches a certain value, the magnetorheological fluid changes from a liquid state to a semi-solid or even a solid state, forming a solidified damping layer inside the damping throttling channel. The damping layer blocks the flow cross-section of the magnetorheological fluid, increasing the flow resistance of the hydraulic oil within the damping throttling channel, thereby providing a dynamic damping force that matches the feed rate.

[0059] The relationship between the shear yield strength of a magnetorheological fluid and the magnetic field strength can be expressed as: (10) in, The shear yield strength of the magnetorheological fluid. The magnetic field strength, and It is a constant related to the composition of the magnetorheological fluid.

[0060] The damping force within the damped throttling channel can be expressed as: (11) in, For damping force, The zero-field viscosity of the magnetorheological fluid. The length of the damping throttling channel, Let be the cross-sectional area of ​​the piston rod. The diameter of the damping throttling channel. The speed of the piston rod. This represents the shear yield strength of the magnetorheological fluid.

[0061] As can be seen from formula (11), the damping force consists of two parts: the first part is the viscous damping force proportional to the velocity, and the second part is the Coulomb damping force proportional to the shear yield strength of the magnetorheological fluid. By adjusting the magnitude of the excitation current, the shear yield strength of the magnetorheological fluid can be changed, thereby adjusting the magnitude of the Coulomb damping force and achieving precise control of the damping force.

[0062] The attitude controller also receives edge contour signals from the multispectral vision component. The multispectral vision component, positioned above the assembly station, includes a multispectral light source, a structured light projector, and an industrial camera. The multispectral light source emits light of different wavelengths, and the structured light projector projects parallel structured light stripes onto the mating surfaces of the T-iron and the magnet. The industrial camera captures images of the structured light stripes reflected from the surfaces of the T-iron and the magnet and transmits them to the image processing unit of the multispectral vision component.

[0063] The image processing unit preprocesses the acquired reflected light image, including image denoising, grayscale conversion, and binarization. Then, the image processing unit uses an edge detection algorithm to extract the edge contour signals of the T-iron and the magnet from the preprocessed image. The edge detection algorithm uses the Canny edge detection algorithm, whose basic steps include: smoothing the image with a Gaussian filter, calculating the gradient magnitude and direction of the image, performing non-maximum suppression on the gradient magnitude, and detecting and connecting edges using a double thresholding algorithm.

[0064] The attitude controller fuses edge contour signals and magnetic flux distribution signals to generate spatial pose fusion deviation. Due to potential inhomogeneity in the permeability of the T-iron surface, the magnetic flux distribution signal detected by the 3D magnetic flux density sensor array contains errors, thus affecting the accuracy of pose calculation. The edge contour signal acquired by the multispectral vision component directly reflects the actual position and shape of the T-iron and the magnet, unaffected by the inhomogeneity of the T-iron.

[0065] The attitude control employs a Kalman filter algorithm to fuse the edge contour signal and the magnetic flux distribution signal. The Kalman filter algorithm is an optimal estimation method capable of estimating the system state from noisy measurement data. In this embodiment, the system state is the spatial pose vector of the T-iron, and the measured values ​​include the magnetic flux distribution signal output by the three-dimensional magnetic flux density sensor group and the edge contour signal output by the multispectral vision component.

[0066] The prediction steps of the Kalman filter algorithm can be expressed as: (12) (13) in, Let k be the prior state estimate at time k. Here is the state transition matrix. For the posterior state estimate at time k-1, To control the input matrix, This is the control input at time k-1. Let be the prior estimate of the covariance matrix at time k. Let be the posterior estimated covariance matrix at time k-1. Let be the process noise covariance matrix.

[0067] The update steps of the Kalman filter algorithm can be represented as follows: (14) (15) (16) in, For Kalman gain, For the observation matrix, To measure the noise covariance matrix, The measurement value at time k, Let k be the posterior state estimate at time k. It is an identity matrix.

[0068] Through the fusion processing of the Kalman filter algorithm, the spatial pose fusion deviation can compensate for the magnetic flux density measurement error caused by the non-uniform magnetic permeability of the T-iron surface, thereby improving the adjustment accuracy of the alternating magnetic flux and further enhancing the coaxial alignment accuracy between the T-iron and the magnet.

[0069] refer to Figure 6 The piezoelectric displacement sensor also includes a thermistor layer made of a negative temperature coefficient thermistor material, which is attached to the sidewall of the piezoelectric crystal assembly. The thermistor layer can detect the temperature change of the piezoelectric crystal assembly in real time and output a temperature sampling signal. The magnitude of the temperature sampling signal is inversely proportional to the temperature of the piezoelectric crystal assembly.

[0070] The temperature compensator receives the temperature sampling signal output from the thermistor layer and generates a piezoelectric sensitivity correction coefficient. The piezoelectric constant of the piezoelectric crystal component drifts with changes in ambient temperature, causing variations in the sensitivity of the piezoelectric displacement sensor and thus affecting the accuracy of displacement measurement. The temperature compensator internally stores the relationship curve between the piezoelectric constant and temperature, enabling it to calculate the corresponding piezoelectric sensitivity correction coefficient based on the current temperature sampling signal.

[0071] The charge amplifier multiplies the piezoelectric charge signal output by the piezoelectric crystal component by a piezoelectric sensitivity correction coefficient, and then converts it into a displacement feedback signal. The temperature-compensated displacement feedback signal can eliminate the piezoelectric constant drift error caused by ambient temperature fluctuations in the piezoelectric crystal component, ensuring the linearity and accuracy of the displacement feedback signal across the entire temperature range.

[0072] The piezoelectric sensitivity correction coefficient can be expressed as: (17) in, This is the piezoelectric sensitivity correction factor. Reference temperature The piezoelectric constant of the following, Current temperature The piezoelectric constant of the given value.

[0073] The output voltage of the charge amplifier after temperature compensation can be expressed as: (18) in, This is the output voltage of the charge amplifier after temperature compensation. This refers to the axial pressure exerted on the piezoelectric crystal assembly.

[0074] As can be seen from formula (18), after temperature compensation, the output voltage of the charge amplifier is only related to the piezoelectric constant at the reference temperature and the axial pressure, and is independent of the current temperature, thus eliminating the influence of temperature drift on displacement measurement.

[0075] In this embodiment, the piezoelectric sensitivity correction coefficients at different temperatures are shown in Table 3.

[0076] Table 3. Piezoelectric sensitivity correction coefficients at different temperatures

[0077] Table 3 shows the piezoelectric sensitivity correction coefficients at different temperatures. The reference temperature is 25℃, at which the piezoelectric constant is 400 pC / N, and the piezoelectric sensitivity correction coefficient is 1.000. When the temperature is below 25℃, the piezoelectric constant decreases, and the piezoelectric sensitivity correction coefficient is greater than 1; when the temperature is above 25℃, the piezoelectric constant increases, and the piezoelectric sensitivity correction coefficient is less than 1. By multiplying by the corresponding piezoelectric sensitivity correction coefficient, the piezoelectric displacement sensor can maintain the same sensitivity at different temperatures, thereby ensuring the accuracy of displacement measurement.

[0078] In this embodiment, a force sensor is added to the flexible pressing mechanism. A hybrid controller achieves fusion control of displacement and force feedback signals, ensuring the pressing force remains constant at the target pressing value, further improving pressing quality. A magnetically conductive yoke and a magnetically shielding aluminum ring are installed on the outer side of the multi-axial electromagnetic coil array. This collects leakage magnetic flux and guides it to the center of the assembly station, enhancing the magnetic flux density in the central region while reducing interference from leakage magnetic flux to surrounding equipment. The damping throttling channel is filled with magnetorheological fluid. Adjusting the viscosity of the magnetorheological fluid through the excitation coil enables rapid and precise adjustment of the damping force. The attitude control integrates the edge contour signal of the multispectral vision component with the magnetic flux distribution signal of the three-dimensional magnetic flux density sensor group, compensating for measurement errors caused by uneven permeability on the T-iron surface and improving attitude adjustment accuracy. The piezoelectric displacement sensor incorporates a thermistor layer and a temperature compensator, eliminating piezoelectric constant drift errors caused by ambient temperature fluctuations and ensuring the linearity of the displacement feedback signal across the entire temperature range.

Claims

1. A high-speed assembly system suitable for T-shaped iron, characterized in that, Includes a conveying mechanism, an electromagnetic attitude adjustment mechanism, and a flexible pressing mechanism; The conveying mechanism sequentially conveys the T-iron and the magnet to the electromagnetic attitude adjustment mechanism and the flexible pressing mechanism; The electromagnetic attitude adjustment mechanism includes a multi-axial electromagnetic coil array arranged around the assembly station. The multi-axial electromagnetic coil array generates a gradient alternating magnetic field according to the input attitude adjustment electrical signal. The gradient alternating magnetic field uses the magnetic permeability of the T-iron to apply a six-degree-of-freedom magnetic levitation fine adjustment force to the T-iron, so that the T-iron is coaxially aligned with the magnet. The flexible pressing mechanism includes a pressing execution end, a hydraulic damping cylinder, and a piezoelectric displacement sensor. The hydraulic damping cylinder drives the pressing execution end to feed axially. The piezoelectric displacement sensor collects the displacement of the pressing execution end in real time and outputs a displacement feedback signal. When the pressing resistance of the pressing execution end exceeds a preset force threshold, the hydraulic damping cylinder switches from displacement control mode to force control mode and reduces the feed speed according to the displacement feedback signal, so that the T-iron and the magnet are flexibly bonded.

2. The high-speed assembly system for T-iron as described in claim 1, characterized in that, The multi-axial electromagnetic coil array includes a horizontal X-axis coil group, a horizontal Y-axis coil group, and a vertical Z-axis coil group; The horizontal X-axis coil group and the horizontal Y-axis coil group are symmetrically distributed on both sides of the horizontal direction of the assembly station, and the vertical Z-axis coil group is embedded at the bottom of the assembly station. The horizontal X-axis coil group, the horizontal Y-axis coil group, and the vertical Z-axis coil group each receive independent pulse width modulation signals to generate alternating magnetic flux with independent amplitude and phase. The horizontal alternating magnetic flux generated by the horizontal X-axis coil group and the horizontal Y-axis coil group applies translational and rotational fine-tuning forces in the horizontal plane to the T-iron, and the vertical alternating magnetic flux generated by the vertical Z-axis coil group applies vertical levitation force and deflection torque to the T-iron.

3. The high-speed assembly system for T-iron as described in claim 2, characterized in that, The electromagnetic attitude adjustment mechanism also includes a three-dimensional magnetic flux density sensor group, which is disposed on the circumferential surface of the T-iron. The three-dimensional magnetic flux density sensor group detects the three-dimensional magnetic flux density components on the surface of the T-iron in real time and outputs a magnetic flux distribution signal. The attitude control receives the magnetic flux distribution signal and calculates the spatial pose deviation of the T-iron. The attitude control updates the duty cycle of the pulse width modulation signal in real time according to the spatial pose deviation, so as to adjust the alternating magnetic flux generated by the horizontal X-axis coil group, the horizontal Y-axis coil group and the vertical Z-axis coil group in a closed loop until the spatial pose deviation converges to the coaxial alignment threshold range.

4. The high-speed assembly system for T-iron as described in claim 1, characterized in that, The hydraulic damping cylinder includes a rodless chamber, a rod chamber, and an electro-hydraulic proportional valve. A damping throttling channel is provided between the rodless chamber and the rod chamber. The electro-hydraulic proportional valve is connected to the return oil line of the rod chamber. In the displacement control mode, the electro-hydraulic proportional valve maintains its maximum opening to reduce the back pressure in the rod chamber; When the piezoelectric displacement sensor detects that the displacement change rate of the displacement feedback signal is lower than the preset displacement rate threshold, the electro-hydraulic proportional valve reduces the maximum opening according to the displacement change rate to increase the back pressure of the rod chamber and generate a damping force opposite to the feed direction. The hydraulic damping cylinder switches to the force control mode, and the damping force is adaptively adjusted as the feed speed decreases.

5. A high-speed assembly system suitable for T-iron as described in claim 1, characterized in that, The piezoelectric displacement sensor includes a piezoelectric crystal assembly and a pre-tightening sleeve. The piezoelectric crystal assembly is disposed between the pressing actuation end and the piston rod of the hydraulic damping cylinder. The pre-tightening sleeve is sleeved on the outer peripheral wall of the piezoelectric crystal assembly. An insulating layer is provided between the inner wall of the pre-tightening sleeve and the piezoelectric crystal assembly. The piezoelectric crystal assembly deforms under the axial pressure transmitted by the pressing actuator and outputs a piezoelectric charge signal. The charge amplifier receives the piezoelectric charge signal and converts it into the displacement feedback signal. The pre-tightening sleeve applies a radial constraint force to the piezoelectric crystal assembly to suppress the lateral parasitic vibration of the piezoelectric crystal assembly.

6. A high-speed assembly system suitable for T-iron as described in claim 1, characterized in that, The flexible pressing mechanism also includes a force sensor, which is connected in series between the pressing execution end and the hydraulic damping cylinder. The force sensor collects the pressing force value in real time and outputs a force feedback signal. The hybrid controller receives the displacement feedback signal and the force feedback signal. When the force feedback signal exceeds the preset force threshold and the displacement change rate of the displacement feedback signal is lower than the preset rate, the hybrid controller generates a force control switching command and outputs it to the hydraulic damping cylinder. The hydraulic damping cylinder stops responding to the displacement feedback signal according to the force control switching command and switches to closed-loop adjustment according to the force feedback signal to keep the pressing force value constant at the target pressing value.

7. A high-speed assembly system suitable for T-iron as described in claim 2, characterized in that, The outer wall of the multi-axial electromagnetic coil array is fixed with a magnetic yoke iron ring, and the inner wall of the magnetic yoke iron ring is provided with an annular magnetic groove. The horizontal X-axis coil group and the horizontal Y-axis coil group are embedded in the annular magnetic groove. The outer wall of the magnetic yoke iron ring is attached with a magnetic shielding aluminum ring. The magnetically conductive yoke iron ring collects the leakage magnetic flux generated by the horizontal X-axis coil group and the horizontal Y-axis coil group and guides the leakage magnetic flux to the central axis of the assembly station. The magnetically shielding aluminum ring blocks the diffusion path of the leakage magnetic flux to the external space, so as to form a superimposed magnetic field region with enhanced magnetic flux density at the center of the assembly station.

8. A high-speed assembly system suitable for T-iron as described in claim 4, characterized in that, The damping throttling channel is filled with magnetorheological fluid, and an excitation coil is wound around the outside of the damping throttling channel; When in the force control mode, the excitation coil receives the excitation current and generates a magnetic field perpendicular to the flow direction of the magnetorheological fluid inside the damping throttling channel. The magnetic field causes the viscosity of the magnetorheological fluid to increase stepwise with the increase of the excitation current. The magnetorheological fluid forms a solidified damping layer inside the damping throttling channel. The damping layer blocks the flow cross-section of the magnetorheological fluid to provide a dynamic damping force that matches the feed rate.

9. A high-speed assembly system suitable for T-iron as described in claim 3, characterized in that, The attitude control also receives edge contour signals from the multispectral vision component, which is positioned above the assembly station. The multispectral vision component projects structured light stripes onto the mating surface of the T-iron and the magnet and acquires reflected light images. The multispectral vision component extracts the edge contour signals of the T-iron and the magnet from the reflected light images. The attitude control integrates the edge contour signal and the magnetic flux distribution signal to generate a spatial attitude fusion deviation. The spatial attitude fusion deviation compensates for the magnetic flux density measurement error caused by the uneven permeability of the T-iron surface, thereby improving the adjustment accuracy of the alternating magnetic flux.

10. A high-speed assembly system suitable for T-iron according to claim 5, characterized in that, The piezoelectric displacement sensor also includes a thermistor layer, which is attached to the sidewall of the piezoelectric crystal assembly. The thermistor layer detects the temperature change of the piezoelectric crystal assembly in real time and outputs a temperature sampling signal. The temperature compensator receives the temperature sampling signal and generates a piezoelectric sensitivity correction coefficient. The charge amplifier multiplies the piezoelectric charge signal by the piezoelectric sensitivity correction coefficient and then converts it into the displacement feedback signal to eliminate the piezoelectric constant drift error caused by ambient temperature fluctuations in the piezoelectric crystal component and ensure the linearity of the displacement feedback signal across the entire temperature range.

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