Automatic flexible assembly line for controller

Abstract

The utility model discloses an automatic flexible assembly line for a controller, which comprises a rack, and a fixed ring assembly mounting device, a thread bushing mounting device, a turntable device, a support frame mounting device, a rear cover mounting device, a PCB (printed circuit board) assembly mounting device, a rear cover assembly rotating device and a thread bushing locking device are arranged on the rack. The rotating disc device is located in the middle of the rack, the fixing ring assembly device and the thread bushing installing device are located on one side of the rotating disc device in parallel, and the rear cover installing device and the PCB assembly installing device are located on the other side of the rotating disc device in parallel. By means of the mode, production efficiency can be improved, labor cost can be reduced, product assembling quality can be improved, meanwhile, assembling of various products can be achieved through flexible assembling, and good universality is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic assembly, in particular to an automatic flexible assembly line for a controller. Background Art

[0002] At present, new energy vehicles have become more and more popular, and the demand for motor controllers, which are one of the important components of new energy vehicles, is also increasing. At present, most of them are assembled manually and detected manually. Not only is the assembly efficiency slow, but also there are problems such as misassembly and missing assembly caused by human factors in manual assembly, resulting in unqualified product assembly quality. Content of the Utility Model

[0003] The technical problem solved by the utility model is to provide an automatic flexible assembly line for a controller that improves production efficiency, reduces labor costs, and improves product assembly quality and assembly automation.

[0004] To solve the above technical problem, a technical solution adopted by the utility model is:

[0005] An automatic flexible assembly line for a controller, comprising: a frame, on which a fixed ring assembly device, a threaded sleeve device, a turntable device, a support frame device, a rear cover device, a PCB board assembly device, a rear cover assembly rotation device, and a threaded sleeve locking device are arranged;

[0006] The turntable device is located in the middle of the frame, the fixed ring assembly device and the threaded sleeve device are arranged side by side on one side of the turntable device, and the rear cover device and the PCB board assembly device are arranged side by side on the other side of the turntable device.

[0007] Preferably, the turntable device includes a stepping motor, a transmission mechanism, and a turntable carrier, and the transmission mechanism is respectively connected to the stepping motor and the turntable carrier;

[0008] The turntable carrier includes a carrier groove one, a carrier groove two, and a carrier groove three.

[0009] Preferably, the fixed ring assembly device includes a fixed ring assembly bin, a fixed ring assembly flexible vibrating disk, a vision mechanism one, and a four-axis robot one;

[0010] The fixed ring assembly bin is placed on the frame platform, and the fixed ring assemblies enter the fixed ring assembly flexible vibrating disk in sequence through the fixed ring assembly bin; the fixed ring assemblies on the fixed ring assembly flexible vibrating disk are identified in direction by the vision mechanism one, the vision mechanism one transmits signals to the four-axis robot one, and the four-axis robot one clamps and installs the fixed ring assemblies into the carrier groove one.

[0011] Preferably, the threaded sleeve loading device includes a threaded sleeve bin, a threaded sleeve flexible vibrating bowl, and a second vision mechanism;

[0012] The threaded sleeve bin is placed on the frame platform. The threaded sleeves enter the threaded sleeve flexible vibrating bowl in sequence through the threaded sleeve bin. The threaded sleeves on the threaded sleeve flexible vibrating bowl are oriented by the second vision mechanism, and the second vision mechanism transmits signals to the first four-axis robot. The first four-axis robot picks up the threaded sleeves and loads them into the second carrier slot.

[0013] Preferably, the support frame loading device includes a support frame vibrating bowl, a support frame track, a support frame feeding mechanism, a support frame picking and loading mechanism, and a support frame moving mechanism;

[0014] The support frames enter the support frame track in sequence through the support frame vibrating bowl. The support frame feeding mechanism sends the support frames to the designated position. The support frame picking and loading mechanism picks up the support frames, and the support frame moving mechanism moves the support frames to the turntable device. The support frame picking and loading mechanism loads the support frames into the fixing ring assembly on the first carrier slot.

[0015] Preferably, the rear cover loading device includes a rear cover bin, a rear cover flexible vibrating bowl, a third vision mechanism, and a second four-axis robot;

[0016] The rear cover bin is placed on the frame platform. The rear covers enter the rear cover flexible vibrating bowl in sequence through the rear cover bin. The rear covers on the rear cover flexible vibrating bowl are oriented by the third vision mechanism, and the third vision mechanism transmits signals to the second four-axis robot. The second four-axis robot picks up the rear covers and loads them into the third carrier slot.

[0017] Preferably, the PCB board assembly loading device includes a PCB board assembly bin, a PCB board assembly flexible vibrating bowl, and a fourth vision mechanism;

[0018] The PCB board assembly bin is placed on the frame platform. The PCB board assemblies enter the PCB board assembly flexible vibrating bowl in sequence through the PCB board assembly bin. The PCB board assemblies on the PCB board assembly flexible vibrating bowl are oriented by the fourth vision mechanism, and the fourth vision mechanism transmits signals to the second four-axis robot. The second four-axis robot picks up the PCB board assemblies and loads them into the rear covers in the third carrier slot to form a rear cover assembly.

[0019] Preferably, the rear cover assembly flipping device includes a rear cover assembly picking mechanism, a rear cover assembly flipping mechanism, a rear cover assembly clamping mechanism, a rear cover assembly picking and loading mechanism, and a rear cover assembly moving mechanism;

[0020] The rear cover assembly taking mechanism picks up the rear cover assembly in the carrier slot three, the rear cover assembly flipping mechanism flips the rear cover assembly by 180°, the rear cover assembly clamping mechanism clamps the rear cover assembly, the rear cover assembly picking and installing mechanism picks up the rear cover assembly, the rear cover assembly shifting mechanism shifts to above the fixing ring assembly in the carrier slot one, and the rear cover assembly picking and installing mechanism installs the rear cover assembly into the fixing ring assembly.

[0021] Preferably, the threaded sleeve locking device includes a threaded sleeve picking mechanism, a threaded sleeve shifting mechanism, a threaded sleeve installing mechanism, and a threaded sleeve locking mechanism;

[0022] The threaded sleeve picking mechanism takes out the threaded sleeve from the carrier slot two, the threaded sleeve shifting mechanism shifts to above the fixing ring assembly in the carrier slot one, the threaded sleeve installing mechanism installs the threaded sleeve above the fixing ring assembly, and the threaded sleeve locking mechanism locks the threaded sleeve in place through the stepping motor to assemble it into a finished product.

[0023] Preferably, it further includes a finished product discharging device arranged on the frame;

[0024] The finished product discharging device includes a finished product clamping mechanism, a finished product picking mechanism, a finished product shifting mechanism, and a finished product slideway;

[0025] The finished product clamping mechanism clamps the finished product on the turntable device, the finished product picking mechanism takes out the finished product, and through the finished product shifting mechanism, the finished product is placed into the finished product slideway, and the finished product flows into the finished product box through the finished product slideway.

[0026] The beneficial effects of the present invention are:

[0027] Compared with the prior art, an automatic flexible assembly line for a controller of the present invention reasonably designs a fixing ring assembly installing device, a threaded sleeve installing device, a turntable device, a support frame installing device, a rear cover installing device, a PCB board assembly installing device, a rear cover assembly rotating device, a threaded sleeve locking device, a finished product discharging device, etc. on the same frame platform, realizing the automatic assembly of the controller, reducing manual participation, not only improving production efficiency and product assembly quality, but also reducing labor costs. At the same time, flexible assembly can achieve the assembly of multiple products and has good versatility. Description of the Drawings

[0028] Figure 1 is a schematic diagram of the overall structure of an automatic flexible assembly line for a controller of the present invention;

[0029] Figure 2 is a layout schematic diagram of each device on the automatic flexible assembly line for the controller shown;

[0030] Figure 3It is a schematic diagram of the turntable device in a controller automated flexible assembly line as shown;

[0031] Figure 4 It is a schematic diagram of the device for installing the fixed ring assembly and the device for installing the threaded sleeve in a controller automated flexible assembly line as shown;

[0032] Figure 5 It is a schematic diagram of the device for installing the support frame in a controller automated flexible assembly line as shown;

[0033] Figure 6 It is a schematic diagram of the device for installing the rear cover and the device for installing the PCB board assembly in a controller automated flexible assembly line as shown;

[0034] Figure 7 It is a schematic diagram of the device for rotating the rear cover assembly in a controller automated flexible assembly line as shown;

[0035] Figure 8 It is a schematic diagram of the device for locking the threaded sleeve in a controller automated flexible assembly line as shown;

[0036] Figure 9 It is a schematic diagram of the device for discharging the finished product in a controller automated flexible assembly line as shown;

[0037] The markings of the various components in the drawings are as follows:

[0038] 1. Frame; 2. Protective cover; 3. Device for installing fixed ring assembly; 31. Fixed ring assembly silo; 32. Fixed ring assembly flexible vibrating bowl; 33. Vision mechanism 1; 34. Four-axis robot 1; 4. Device for installing threaded sleeve; 41. Threaded sleeve silo; 42. Threaded sleeve flexible vibrating bowl; 43. Vision mechanism 2; 5. Turntable device; 51. Stepper motor included; 52. Transmission mechanism; 53. Turntable carrier; 53-1. Carrier slot 1; 53-2. Carrier slot 2; 53-3. Carrier slot 3; 6. Device for installing support frame; 61. Support frame vibrating bowl; 62. Support frame track; 64. Mechanism for feeding support frame; 65. Mechanism for picking and installing support frame; 66. Mechanism for moving support frame; 7. Device for installing rear cover; 71. Rear cover silo; 72. Rear cover flexible vibrating bowl; 73. Vision mechanism 3; 74. Four-axis robot 2; 8. Device for installing PCB board assembly; 81. PCB board assembly silo; 82. PCB board assembly flexible vibrating bowl; 83. Vision mechanism 4; 9. Rear cover assembly rotating device; 91. Mechanism for picking rear cover assembly; 92. Mechanism for flipping rear cover assembly; 93. Mechanism for clamping rear cover assembly; 94. Mechanism for picking and installing rear cover assembly; 95. Mechanism for moving rear cover assembly; 10. Device for locking threaded sleeve; 101. Mechanism for picking threaded sleeve; 102. Mechanism for moving threaded sleeve; 103. Mechanism for installing threaded sleeve; 104. Mechanism for locking threaded sleeve; 11. Device for discharging finished product; 111. Mechanism for clamping finished product; 112. Mechanism for picking finished product; 113. Mechanism for moving finished product; 114. Finished product chute; 12. Vision display device; 13. Control device. Detailed implementation mode

[0039] The following will elaborate on the preferred embodiments of the present invention in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making the protection scope of the present invention more clearly defined.

[0040] Embodiment:

[0041] As Figure 1 、 2 shown, Figure 1 is a schematic diagram of the overall structure of an automated flexible assembly line for a controller of the present invention, Figure 2 is a schematic diagram of the layout of each device on an automated flexible assembly line for a controller as shown.

[0042] An automated flexible assembly line for a controller includes: a frame 1, and a device for installing a fixed ring assembly 3, a device for installing a threaded sleeve 4, a turntable device 5, a device for installing a support frame 6, a device for installing a rear cover 7, a device for installing a PCB board assembly 8, a rear cover assembly rotating device 9, and a device for locking a threaded sleeve 10 are arranged on the frame 1;

[0043] The turntable device 5 is located in the middle of the frame 1. The fixed ring assembly device 3 and the threaded sleeve installation device 4 are arranged side by side on one side of the turntable device 5. The back cover installation device 7 and the PCB board assembly installation device 8 are arranged side by side on the other side of the turntable device 5.

[0044] Furthermore, a control device 13 and a visual display screen device 12 for displaying the operation status of the assembly line are also provided on the frame 1.

[0045] As Figure 3 shown, Figure 3 is a schematic diagram of the turntable device in a controller automated flexible assembly line. The turntable device 5 includes a stepping motor 51, a transmission mechanism 52, and a turntable carrier 53. The transmission mechanism 52 is respectively connected to the stepping motor 51 and the turntable carrier 53. The stepping motor 51 operates with the turntable carrier 53 to move the materials in the turntable carrier 53 to the next assembly station.

[0046] The turntable carrier 53 includes a carrier slot one 53-1, a carrier slot two 53-2, and a carrier slot three 53-3.

[0047] As Figure 4 shown, Figure 4 is a schematic diagram of the fixed ring assembly device and the threaded sleeve installation device in a controller automated flexible assembly line. The fixed ring assembly device 3 includes a fixed ring assembly bin 31, a fixed ring assembly flexible vibrating disk 32, a vision mechanism one 33, and a four-axis robot one 34.

[0048] The fixed ring assembly bin 31 is placed on the frame platform. The fixed ring assemblies enter the fixed ring assembly flexible vibrating disk 32 in sequence through the fixed ring assembly bin 31. When the fixed ring assembly flexible vibrating disk 32 is full of materials, under the action of the vision mechanism one 33, the fixed ring assembly bin 31 stops discharging materials. The fixed ring assemblies on the fixed ring assembly flexible vibrating disk 32 are oriented by the vision mechanism one 33. The vision mechanism one 33 transmits signals to the four-axis robot one 34, and the four-axis robot one 34 picks up and installs the fixed ring assemblies into the carrier slot one 53-1.

[0049] Furthermore, the threaded sleeve installation device 4 includes a threaded sleeve bin 41, a threaded sleeve flexible vibrating disk 42, and a vision mechanism two 43.

[0050] The threaded sleeve magazine 41 is placed on the frame platform. The threaded sleeves are arranged in sequence through the threaded sleeve magazine 41 and enter the threaded sleeve flexible vibrating bowl 42. When the threaded sleeve flexible vibrating bowl 42 is full, under the action of the second vision mechanism 43, the threaded sleeve magazine 41 stops discharging. The threaded sleeves on the threaded sleeve flexible vibrating bowl 42 identify the direction through the second vision mechanism 43. The second vision mechanism 43 transmits the signal to the four-axis robot 1 34, and the four-axis robot 1 34 picks up the threaded sleeve and loads it into the second carrier slot 53-2.

[0051] As Figure 5 shown, Figure 5 Figure 6 shows a schematic diagram of a support frame installation device in a controller automated flexible assembly line. The support frame installation device 6 includes a support frame vibrating bowl 61, a support frame track 62, a support frame feeding mechanism 64, a support frame picking and installing mechanism 65, and a support frame moving mechanism 66.

[0052] The support frames are arranged in sequence through the support frame vibrating bowl 61 and enter the support frame track 62. The support frame feeding mechanism 64 sends the support frames to the designated position. The support frame picking and installing mechanism 65 picks out the support frames, and the support frame moving mechanism 66 moves the support frames to the turntable device 5. The support frame picking and installing mechanism 65 installs the support frames into the fixing ring assembly on the first carrier slot 53-1.

[0053] The support device 6 further includes an inspection device 63. The support frames pass through the support frame track to the inspection device, and the inspection device can screen the incoming support frames to reduce the occurrence during the assembly process

[0054] As Figure 6 shown, Figure 6 Figure 8 shows a schematic diagram of a rear cover installation device and a PCB board assembly installation device in a controller automated flexible assembly line.

[0055] The rear cover installation device 7 includes a rear cover magazine 71, a rear cover flexible vibrating bowl 72, a third vision mechanism 73, and a four-axis robot 2 74.

[0056] The rear cover magazine 71 is placed on the frame platform. The rear covers are arranged in sequence through the rear cover magazine 71 and enter the rear cover flexible vibrating bowl 72. When the rear cover flexible vibrating bowl 72 is full, under the action of the third vision mechanism 73, the rear cover magazine 71 stops discharging. The rear covers on the rear cover flexible vibrating bowl 72 identify the direction through the third vision mechanism 37. The vision mechanism 73 transmits the signal to the four-axis robot 2 74, and the four-axis robot 2 74 picks up the rear covers and loads them into the third carrier slot 53-3.

[0057] As Figure 7 shown, Figure 7It is a schematic diagram of the device for rotating the rear cover assembly in a controller automated flexible assembly line shown. The device for installing the PCB board assembly 8 includes a PCB board assembly bin 81, a flexible vibrating bowl 82 for PCB board assemblies, and a vision mechanism IV 83;

[0058] The PCB board assembly bin 81 is placed on the rack platform. The PCB board assemblies enter the flexible vibrating bowl 82 for PCB board assemblies in sequence through the PCB board assembly bin 81. When the flexible vibrating bowl 82 for PCB board assemblies is full of materials, under the action of the vision mechanism IV 83, the PCB board assembly bin 81 stops discharging materials. The PCB board assemblies on the flexible vibrating bowl 82 for PCB board assemblies identify the direction through the vision mechanism IV 83, and the vision mechanism IV 83 transmits signals to the four-axis robot II 74. The four-axis robot 74 picks up the PCB board assemblies and installs them into the rear cover in the carrier slot III 53-3 to form a rear cover assembly.

[0059] Furthermore, the device for flipping the rear cover assembly 9 includes a mechanism 91 for picking up the rear cover assembly, a mechanism 92 for flipping the rear cover assembly, a mechanism 93 for clamping the rear cover assembly, a mechanism 94 for picking up and installing the rear cover assembly, and a mechanism 95 for moving the rear cover assembly;

[0060] The mechanism 91 for picking up the rear cover assembly picks up the rear cover assembly in the carrier slot III 53-3 and separates it from the carrier. The mechanism 92 for flipping the rear cover assembly flips the rear cover assembly by 180°. The mechanism 93 for clamping the rear cover assembly clamps the rear cover assembly. The mechanism 94 for picking up and installing the rear cover assembly picks up the rear cover assembly, and the mechanism 95 for moving the rear cover assembly moves to above the fixed ring assembly in the carrier slot I 53-1. The mechanism 94 for picking up and installing the rear cover assembly installs the rear cover assembly into the fixed ring assembly.

[0061] As Figure 8 shown, Figure 8 It is a schematic diagram of the device for locking the threaded sleeve in a controller automated flexible assembly line shown. The device for locking the threaded sleeve 10 includes a mechanism 101 for picking up the threaded sleeve, a mechanism 102 for moving the threaded sleeve, a mechanism 103 for installing the threaded sleeve, and a mechanism 104 for locking the threaded sleeve;

[0062] The mechanism 101 for picking up the threaded sleeve takes out the threaded sleeve from the carrier slot II 53-2. The mechanism 102 for moving the threaded sleeve moves to above the fixed ring assembly in the carrier slot I 53-1. The mechanism 103 for installing the threaded sleeve installs the threaded sleeve above the fixed ring assembly. The mechanism 104 for locking the threaded sleeve locks the threaded sleeve in place through the stepper motor 5 to assemble it into a finished product.

[0063] As Figure 9 shown, Figure 9It is a schematic diagram of a finished product device in the shown controller automated flexible assembly line. In this controller automated flexible assembly line, there is also a finished product device 11 arranged on the frame 1. The finished product device 11 includes a finished product clamping mechanism 111, a finished product taking mechanism 112, a finished product transferring mechanism 113, and a finished product chute 114;

[0064] The finished product clamping mechanism 111 clamps the finished product on the turntable device 5, the finished product taking mechanism 112 takes out the finished product, and the finished product transferring mechanism 113 puts the finished product into the finished product chute 114, and the finished product flows into the finished product box through the finished product chute 114.

[0065] Furthermore, a protective cover is arranged on the frame 1, which plays roles in protecting various internal settings, operation safety, dust prevention, etc.

[0066] The operation of all the above devices is controlled by the control device 13.

[0067] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A controller automated flexible assembly line, characterized in that, Comprising: A frame (1), on which a fixed ring assembly device (3), a threaded sleeve device (4), a turntable device (5), a support frame device (6), a rear cover device (7), a PCB board assembly device (8), a rear cover assembly rotation device (9), and a threaded sleeve locking device (10) are provided; The turntable device (5) is located in the middle of the frame (1). The fixed ring assembly device (3) and the threaded sleeve device (4) are arranged side by side on one side of the turntable device (5), and the rear cover device (7) and the PCB board assembly device (8) are arranged side by side on the other side of the turntable device (5).

2. The automated flexible assembly line of a controller according to claim 1, characterized in that The turntable device (5) includes a stepper motor (51), a transmission mechanism (52), and a turntable carrier (53). The transmission mechanism (52) is respectively connected to the stepper motor (51) and the turntable carrier (53); On the turntable carrier (53), there are a carrier groove one (53-1), a carrier groove two (53-2), and a carrier groove three (53-3).

3. The automated flexible assembly line of a controller according to claim 2, characterized in that, The fixed ring assembly device (3) includes a fixed ring assembly magazine (31), a fixed ring assembly flexible vibrating disk (32), a vision mechanism one (33), and a four-axis robot one (34); The fixed ring assembly magazine (31) is placed on the frame platform. The fixed ring assemblies enter the fixed ring assembly flexible vibrating disk (32) in sequence through the fixed ring assembly magazine (31). The fixed ring assemblies on the fixed ring assembly flexible vibrating disk (32) are oriented by the vision mechanism one (33). The vision mechanism one (33) transmits signals to the four-axis robot one (34), and the four-axis robot one (34) picks up and loads the fixed ring assemblies into the carrier groove one (53-1).

4. The automated flexible assembly line of a controller according to claim 3, wherein The threaded sleeve device (4) includes a threaded sleeve magazine (41), a threaded sleeve flexible vibrating disk (42), and a vision mechanism two (43); The threaded sleeve magazine 4 is placed on the frame platform. The threaded sleeves enter the threaded sleeve flexible vibrating disk (42) in sequence through the threaded sleeve magazine (41). The threaded sleeves on the threaded sleeve flexible vibrating disk (42) are oriented by the vision mechanism two (43). The vision mechanism two (43) transmits signals to the four-axis robot one (34), and the four-axis robot one (34) picks up and loads the threaded sleeves into the carrier groove two (53-2).

5. The automated flexible assembly line of a controller according to claim 3, characterized in that The support frame device (6) includes a support frame vibrating disk (61), a support frame track (62), a support frame feeding mechanism (64), a support frame picking and loading mechanism (65), and a support frame moving mechanism (66); The support frames enter the support frame track (62) in sequence through the support frame vibrating disk (61). The support frame feeding mechanism (64) sends the support frames to the designated position. The support frame picking and loading mechanism (65) takes out the support frames, and the support frame moving mechanism (66) moves the support frames to the turntable device (5). The support frame picking and loading mechanism (65) loads the support frames into the fixed ring assemblies on the carrier groove one (53-1).

6. The automated flexible assembly line of a controller according to claim 2, wherein, The rear cover loading device (7) includes a rear cover magazine (71), a rear cover flexible vibrating bowl (72), a vision mechanism III (73), and a four-axis robot II (74); The rear cover magazine (71) is placed on the frame platform. The rear covers are arranged in sequence through the rear cover magazine (71) and enter the rear cover flexible vibrating bowl (72). The rear covers on the rear cover flexible vibrating bowl (72) are oriented by the vision mechanism III (73). The vision mechanism III (73) transmits signals to the four-axis robot II (74), and the four-axis robot II (74) picks up and loads the rear covers into the carrier slot III (53-3).

7. A controller automated flexible assembly line according to claim 6, characterized in that, The PCB board assembly loading device (8) includes a PCB board assembly magazine (81), a PCB board assembly flexible vibrating bowl (82), and a vision mechanism IV (83); The PCB board assembly magazine (81) is placed on the frame platform. The PCB board assemblies are arranged in sequence through the PCB board assembly magazine (81) and enter the PCB board assembly flexible vibrating bowl (82). The PCB board assemblies on the PCB board assembly flexible vibrating bowl (82) are oriented by the vision mechanism IV (83). The vision mechanism IV (83) transmits signals to the four-axis robot II (74), and the four-axis robot II (74) picks up and loads the PCB board assemblies into the carrier slot III (53-3) to be assembled with the rear covers in the carrier slot III (53-3) to form a rear cover assembly.

8. An automated flexible assembly line for a controller according to claim 7, characterized in that, The rear cover assembly flipping device (9) includes a rear cover assembly picking mechanism (91), a rear cover assembly flipping mechanism (92), a rear cover assembly clamping mechanism (93), a rear cover assembly picking and loading mechanism (94), and a rear cover assembly moving mechanism (95); The rear cover assembly picking mechanism (91) picks up the rear cover assembly in the carrier slot III (53-3). The rear cover assembly flipping mechanism (92) flips the rear cover assembly by 180°. The rear cover assembly clamping mechanism (93) clamps the rear cover assembly. The rear cover assembly picking and loading mechanism (94) picks up the rear cover assembly, and the rear cover assembly moving mechanism (95) moves to above the fixing ring assembly in the carrier slot I (53-1). The rear cover assembly picking and loading mechanism (94) loads the rear cover assembly into the fixing ring assembly.

9. The controller automated flexible assembly line according to claim 8, characterized in that, The threaded sleeve locking device (10) includes a threaded sleeve picking mechanism (101), a threaded sleeve moving mechanism (102), a threaded sleeve loading mechanism (103), and a threaded sleeve locking mechanism (104); The threaded sleeve picking mechanism (101) takes out the threaded sleeve from the carrier slot II (53-2). The threaded sleeve moving mechanism (102) moves to above the fixing ring assembly in the carrier slot I (53-1). The threaded sleeve loading mechanism (103) loads the threaded sleeve above the fixing ring assembly. The threaded sleeve locking mechanism (104) locks the threaded sleeve in place through the stepping motor (51) to assemble the finished product.

10. The automated flexible assembly line of a controller according to claim 9, characterized in that It further includes a finished product discharging device (11) arranged on the frame (1); The finished product discharging device (11) includes a finished product clamping mechanism (111), a finished product picking mechanism (112), a finished product moving mechanism (113), and a finished product slideway (114); The clamping finished product mechanism (111) clamps the finished product on the turntable device (5), the taking finished product mechanism (112) takes out the finished product, and the finished product is placed into the finished product chute (114) through the transferring finished product mechanism (113), and the finished product flows into the finished product box through the finished product chute (114).

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