CN107470900A - The middle-end assembly machine and its operating method of a kind of fuel pump automatic assembly line - Google Patents

The middle-end assembly machine and its operating method of a kind of fuel pump automatic assembly line Download PDF

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Publication number
CN107470900A
CN107470900A CN201710700016.7A CN201710700016A CN107470900A CN 107470900 A CN107470900 A CN 107470900A CN 201710700016 A CN201710700016 A CN 201710700016A CN 107470900 A CN107470900 A CN 107470900A
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CN
China
Prior art keywords
magnetic shoe
gripping
brush holder
described middle
cylinder
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Granted
Application number
CN201710700016.7A
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Chinese (zh)
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CN107470900B (en
Inventor
徐正方
张秋阁
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Hangzhou Tesan Machinery Co Ltd
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Hangzhou Tesan Machinery Co Ltd
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Priority to CN201710700016.7A priority Critical patent/CN107470900B/en
Publication of CN107470900A publication Critical patent/CN107470900A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to the middle-end assembly machine and its operating method of a kind of automatic assembly line, more particularly to a kind of fuel pump automatic assembly line.Including charging tray, workpiece and frame, frame middle-end splicing hoisting mechanism, middle-end splicing gripping body, middle-end linear transport mechanism, middle-end brush holder gripping body, middle-end brush holder installing mechanism, middle-end casing conveying mechanism, middle-end casing installing mechanism, middle-end magnetic shoe installing mechanism, middle-end straight line sliding feed mechanism, closing mechanism, middle-end magnetize mechanism and middle-end XYZ cantilever receiving mechanisms in middle-end.Compact-sized, automaticity is high, reduces manual operation and use cost, Improving The Quality of Products.

Description

The middle-end assembly machine and its operating method of a kind of fuel pump automatic assembly line
Technical field
The present invention relates to a kind of automatic assembly line, more particularly to a kind of middle-end assembly machine of fuel pump automatic assembly line and its Operating method.
Background technology
Assembling of the prior art, all it is manual assembly, manual assembly efficiency is low, and precision can not be lifted, the day of one's doom The quality of product is made.
Although there is some equipment assembled in the prior art, its suitability is not high, can not meet existing demand.
The content of the invention
The present invention mainly solves the deficiencies in the prior art, there is provided a kind of automaticity is high, compact-sized degree By force, assembling speed is effectively lifted, improves middle-end assembly machine and its behaviour of a kind of fuel pump automatic assembly line of product assembly quality Make method.
The above-mentioned technical problem of the present invention is mainly what is be addressed by following technical proposals：
A kind of middle-end assembly machine of fuel pump automatic assembly line, including charging tray, workpiece and frame, frame middle-end splicing lifting Mechanism, middle-end splicing gripping body, middle-end linear transport mechanism, middle-end brush holder gripping body, middle-end brush holder installing mechanism, middle-end Casing conveying mechanism, middle-end casing installing mechanism, middle-end magnetic shoe installing mechanism, middle-end straight line sliding feed mechanism, receive in middle-end Mouth mechanism, middle-end magnetize mechanism and middle-end XYZ cantilever receiving mechanisms；
The inner of described middle-end linear transport mechanism is sequentially provided with middle-end splicing hoisting mechanism, middle-end splicing from left to right Gripping body, middle-end casing installing mechanism, middle-end casing installing mechanism and middle-end magnetic shoe installing mechanism；
Described middle-end splicing hoisting mechanism include can upper and lower displacement middle-end splicing lifting positioning base；
Described middle-end splicing gripping body includes middle-end splicing gripping frame, and being provided with described middle-end splicing gripping frame can The middle-end splicing gripping clamping jaw of displacement gripping workpiece；
Described middle-end linear transport mechanism includes the middle-end linear transmission section bar that can carry out displacement, described middle-end straight line Transmission section bar is provided with some middle-end linear transmission positioning bases, and the afterbody of described middle-end linear transmission section bar is provided with straight with middle-end The movable small stroke positioning base of middle-end linear transmission of the corresponding distribution of line transmission section bar；
Described middle-end brush holder gripping body includes middle-end brush holder feeding assembly, middle-end brush holder lifting assembly and middle-end brush holder Material component is moved, described middle-end brush holder feeding assembly is distributed with middle-end brush holder lifting assembly in corresponding；
Described middle-end brush holder feeding assembly includes middle-end X-axis movement module, during described middle-end X-axis movement module drives Hold brush holder feeding rack to carry out displacement, charging charging tray is provided with described middle-end brush holder feeding rack；Middle-end brush holder lifting assembly includes Middle-end brush holder lifts leading screw, and described middle-end brush holder lifting leading screw drives middle-end brush holder lifting supporting plate to carry out upper and lower displacement, institute The middle-end brush holder lifting supporting plate stated touches with the charging charging tray in middle-end brush holder feeding rack in movable；
Described middle-end brush holder, which moves material component, includes middle-end brush holder shifting material X-axis gripping module, and described middle-end brush holder moves material X Axle clamp modulus group is provided with the middle-end brush holder shifting material Y-axis gripping mould for moving material X-axis gripping module along middle-end brush holder and being slidably connected Group, the inner of described middle-end brush holder shifting material Y-axis gripping module are provided with least one middle-end with charging charging tray phase activity gripping Brush holder moves feed collet and takes clamping jaw, and the outer end that described middle-end brush holder moves material Y-axis gripping module is provided with and the workpiece phase in charging charging tray The middle-end brush holder of activity gripping moves feed collet pawl；
Described middle-end brush holder installing mechanism include middle-end brush holder corrective component, middle-end brush holder horizontal shifting gripping body and Middle-end brush holder pressure assembly；
Middle-end brush holder horizontal shifting gripping body includes the traversing gripper assembly of middle-end brush holder and the traversing component of middle-end brush holder, institute The traversing gripper assembly of middle-end brush holder stated is distributed with the traversing component of middle-end brush holder in matching type is corresponding；
The described traversing gripper assembly of middle-end brush holder includes the traversing gripping frame of middle-end brush holder, the described traversing folder of middle-end brush holder The traversing positioning seat of middle-end brush holder for being provided with frame and displacement being carried out with the traversing gripping frame of middle-end brush holder is taken, described middle-end brush holder moves material Clamping jaw is moved to the top of the traversing positioning seat of middle-end brush holder and touched with the traversing positioning seat of middle-end brush holder in movable；Middle-end brush holder Traversing component includes middle-end brush holder transversely-moving rack, is provided with described middle-end brush holder transversely-moving rack along middle-end brush holder transversely-moving rack and carries out displacement The traversing clamping jaw of middle-end brush holder, the described traversing clamping jaw of middle-end brush holder and the traversing positioning seat of middle-end brush holder touch in movable, institute The top for the traversing clamping jaw of middle-end brush holder stated is provided with the traversing briquetting of middle-end brush holder that displacement is carried out with middle-end brush holder transversely-moving rack, described The bottom of the traversing briquetting of middle-end brush holder be provided with the traversing guide pad of middle-end brush holder, the described traversing guide pad of middle-end brush holder and middle-end The traversing clamping jaw of brush holder is distributed in upper and lower corresponding；
Described middle-end brush holder corrective component includes middle-end brush holder brace, and described middle-end brush holder brace can go up bottom The middle-end brush holder correction clamping jaw of shifting, described middle-end brush holder correction clamping jaw touch with the traversing positioning seat of middle-end brush holder in movable up and down Connect, the lower section of described middle-end brush holder brace is provided with the movable middle-end brush holder of distribution corresponding with middle-end brush holder brace Correct baffle plate；
Described middle-end brush holder pressure assembly include can upper and lower displacement middle-end brush holder pressure sensor, described middle-end brush The bottom of frame pressure sensor is provided with middle-end brush holder and fixes signature block, and described middle-end brush holder, which is fixed, gives as security block and the traversing pressure of middle-end brush holder Block is in movable crimping；
Described middle-end casing conveying mechanism includes middle-end casing Belt Conveying component, middle-end casing discharge assembly and middle-end Casing gripper assembly, described middle-end casing Belt Conveying component is distributed with middle-end casing discharge assembly in matching type, described Middle-end casing gripper assembly is located at the top of middle-end casing discharge assembly；
Described middle-end casing Belt Conveying component includes middle-end casing belt conveying frame, and described middle-end casing belt is defeated The top of frame is sent to be provided with middle-end casing belt conveyor；
Described middle-end casing discharge assembly includes middle-end casing discharge frame, and being provided with described middle-end casing discharge frame can The middle-end casing discharge support frame of upper and lower displacement, described middle-end casing discharge support frame were in middle-end casing belt conveyor Formula connection is crossed, some middle-end casing discharge rollers, described middle-end casing row are provided with described middle-end casing discharge support frame The turning rolls for tilting down distribution is provided with bin, described middle-end casing discharge support frame can be moved under turning rolls downwards Side；
Described middle-end casing gripper assembly includes middle-end casing and grips X to traversing module, described middle-end casing gripping X It is provided with to the top of traversing module along the middle-end casing gripping X middle-end casings being slidably connected to traversing module and grips Y-direction horizontal stroke Shifting formwork group, described middle-end casing, which grips to be provided with the traversing module of Y-direction along middle-end casing, grips the traversing module progress displacement of Y-direction Middle-end casing grips clamping jaw, and described middle-end casing gripping clamping jaw is located at the top of middle-end casing discharge support frame；
Described middle-end casing installing mechanism includes middle-end casing rotation detection components, middle-end lifting standard package, middle-end The traversing gripper assembly of horizontal shifting component, middle-end, middle-end gripper assembly and middle-end casing push component, the rotation of described middle-end casing Turn detection components, middle-end lifting standard package, middle-end horizontal shifting component, the traversing gripper assembly of middle-end, middle-end gripper assembly and Middle-end casing pushes component and is distributed in matching type is corresponding；
Described middle-end casing rotation detection components include rotatable middle-end casing rotational positioning base, described workpiece The top of middle-end casing rotational positioning base is located at, the outside of described workpiece is provided with the laser displacement inspecting corresponding with workpiece Device, described middle-end casing gripping clamping jaw activity gripping workpiece to the top of middle-end casing rotational positioning base；
Described middle-end lifting standard package includes middle-end lifting positioning base；
Described middle-end horizontal shifting component includes middle-end horizontal shifting frame, and being provided with described middle-end horizontal shifting frame can The middle-end horizontal shifting positioning base installing plate of displacement, middle-end water is provided with described middle-end horizontal shifting positioning base installing plate Put down traversing positioning base；
The traversing gripper assembly of described middle-end includes the traversing gripping frame of middle-end, and edge is provided with the traversing gripping frame of described middle-end The traversing gripping of middle-end that the traversing gripping frame of middle-end carries out lateral displacement is transversely mounted plate, and the traversing gripping of described middle-end is transversely mounted The traversing vertical jaw installing plate of gripping of middle-end for being transversely mounted plate along the traversing gripping of middle-end and carrying out vertical displacement is provided with plate, it is described The vertical jaw installing plate of the traversing gripping of middle-end in be provided with the traversing gripping briquetting of middle-end, the traversing bottom for gripping briquetting of described middle-end Portion is provided with the traversing gripping guide pad of middle-end, and the lower section of the traversing gripping guide pad of described middle-end is provided with the traversing gripping clamping jaw of middle-end, Described frame is provided with the traversing push rod of middle-end in corresponding distribution up and down with the traversing gripping clamping jaw of middle-end；
Described middle-end casing push component include can the middle-end casing of upper and lower displacement push briquetting, described middle-end casing Briquetting is pushed to crimp in movable with the top of the traversing gripping briquetting of middle-end to bottom offset；
Described middle-end gripper assembly includes movable middle-end gripping jaw installing plate, described middle-end gripping jaw peace One end of loading board outer wall is provided with and the middle-end gripping rotation clamping jaw that mutually activity grips of workpiece in middle-end casing rotational positioning base, institute The other end for the middle-end gripping jaw installing plate outer wall stated is provided with and the mutually activity gripping of workpiece in middle-end horizontal shifting positioning base Middle-end gripping displacement clamping jaw；
Described middle-end magnetic shoe installing mechanism includes middle-end magnetic shoe supply assembly, middle-end magnetic shoe pushing material component, middle-end magnetic shoe Lifting rotation component, middle-end magnetic shoe gripper assembly, middle-end magnetic shoe spring mounting assembly and middle-end magnetic shoe cylinder push component, described Middle-end magnetic shoe pushing material component promote middle-end magnetic shoe supply assembly in magnetic shoe carry out displacement, described middle-end magnetic shoe supply assembly With middle-end magnetic shoe lifting rotation component in connection shape distribution, described middle-end magnetic shoe gripper assembly activity gripping middle-end magnetic shoe lifting Magnetic shoe in rotary components, described middle-end magnetic shoe gripper assembly is distributed with middle-end magnetic shoe spring mounting assembly in corresponding, described The top of middle-end magnetic shoe spring mounting assembly be provided with and push component in movable crimping up and down with middle-end magnetic shoe cylinder；
Described middle-end magnetic shoe supply assembly includes middle-end magnetic shoe feed frame, the company of being provided with described middle-end magnetic shoe feed frame The middle-end magnetic shoe hopper of distribution is connect, described middle-end magnetic shoe hopper carries out displacement transmission by sprocket wheel power packages；
Described middle-end magnetic shoe pushing material component includes middle-end magnetic shoe material-pushing frame, and being provided with described middle-end magnetic shoe material-pushing frame can The middle-end magnetic shoe pusher connecting plate of displacement, one end of described middle-end magnetic shoe pusher connecting plate are installed provided with middle-end magnetic shoe expeller Plate, the middle-end magnetic shoe for promoting magnetic shoe in middle-end magnetic shoe hopper to carry out displacement is provided with described middle-end magnetic shoe expeller installing plate and is pushed away Expect block；
Described middle-end magnetic shoe lifting rotation component includes middle-end magnetic shoe lifting rotation support, the lifting of described middle-end magnetic shoe Be provided with movable middle-end magnetic shoe lifting rotation rotating shaft in runing rest, described middle-end magnetic shoe lifting rotation support be provided with The middle-end magnetic shoe lifting rotation symmetrical baffle plate of the corresponding distribution of middle-end magnetic shoe lifting rotation rotating shaft, described magnetic shoe enter to middle-end Between magnetic shoe lifting rotation symmetrical baffle plate and middle-end magnetic shoe lifting rotation rotating shaft, the top of described middle-end magnetic shoe lifting rotation rotating shaft Provided with the middle-end magnetic shoe lifting rotation lower lock block crimped with middle-end magnetic shoe lifting rotation rotating shaft phase activity；
Described middle-end magnetic shoe spring mounting assembly includes middle-end magnetic shoe spring positioning base, described middle-end magnetic shoe spring Middle-end magnetic shoe spring feed well is provided with positioning base, the bottom of described middle-end magnetic shoe spring feed well, which is provided with, promotes middle-end magnetic The middle-end magnetic shoe spring displacement component that spring is shifted up in watt spring feed well, described middle-end magnetic shoe spring positioning bottom The outer wall of seat is provided with middle-end magnetic shoe spring positioning base magnet；
Described middle-end magnetic shoe gripper assembly includes middle-end magnetic shoe gripping frame, and edge is provided with described middle-end magnetic shoe gripping frame The middle-end magnetic shoe gripping linkage board that middle-end magnetic shoe gripping frame is slid laterally, described middle-end magnetic shoe grip the outer end of linkage board Component is pushed provided with the gripping of middle-end magnetic shoe, the inner of described middle-end magnetic shoe gripping linkage board is provided with the gripping of middle-end magnetic shoe and moves material group Part；
Described middle-end magnetic shoe gripping, which pushes component, includes the lower pressure rack of middle-end magnetic shoe gripping, under the gripping of described middle-end magnetic shoe The middle-end magnetic shoe gripping that pressure rack progress upper and lower displacement under being gripped along middle-end magnetic shoe is provided with pressure rack pushes installing plate, described middle-end Magnetic shoe gripping pushes and middle-end magnetic shoe gripping briquetting is provided with installing plate, and the bottom of described middle-end magnetic shoe gripping briquetting is provided with middle-end Magnetic shoe grips guide pad, and the lower section of described middle-end magnetic shoe gripping guide pad is provided with to press from both sides with the middle-end magnetic shoe of workpiece phase activity gripping Remove pressure clamping jaw；
Described middle-end magnetic shoe gripping moves material component and moves bin including the gripping of middle-end magnetic shoe, and the gripping of described middle-end magnetic shoe moves The middle-end magnetic shoe gripping that pressure rack progress upper and lower displacement under being gripped along middle-end magnetic shoe is provided with bin moves material installing plate, described middle-end Magnetic shoe gripping moves in material installing plate and moves material one-level clamping jaw arm, described middle-end magnetic shoe gripping shifting material one-level provided with the gripping of middle-end magnetic shoe The outer end of clamping jaw arm is provided with the gripping of middle-end magnetic shoe and moves material two level clamping jaw arm, and two middle-end magnetic shoe grippings move material two level clamping jaw arm and formed Middle-end magnetic shoe grips chamber, and the gripping of described middle-end magnetic shoe moves material two level clamping jaw arm and gripped with magnetic shoe in activity；
Described middle-end magnetic shoe cylinder, which pushes component, includes pressure rack under middle-end magnetic shoe cylinder, under described middle-end magnetic shoe cylinder The middle-end magnetic shoe cylinder lower lock block crimped with middle-end magnetic shoe gripping briquetting in activity is provided with pressure rack；
Described middle-end straight line sliding feed mechanism includes middle-end straight line sliding cradle, and the sliding of described middle-end straight line is sent The middle-end straight line sliding feeding clamping jaw that straight-line displacement is carried out along middle-end straight line sliding cradle is provided with bin, described middle-end is straight It is in movable gripping that line, which slides feeding clamping jaw with the small stroke positioning base of middle-end linear transmission,；
Closing mechanism includes closing in lifting rotation component in closing in pressure assembly in middle-end and middle-end, institute in described middle-end Closing in pressure assembly is distributed with closing in lifting rotation component in middle-end in matching type in the middle-end stated；
In described middle-end closing in lifting rotation component include can closing in lifting rotation travelling carriage in the middle-end of upper and lower displacement, The top of closing in lifting rotation travelling carriage is provided with closing in lifting rotation jaw installing plate in rotatable middle-end in described middle-end, The two side ends of closing in lifting rotation jaw installing plate are respectively equipped with closing in lifting rotation clamping jaw in middle-end in described middle-end, described Middle-end on closing in lifting rotation travelling carriage outer end be provided with closing in lifting rotation clamping jaw in middle-end be in movable gripping in Closing in lifting rotation workpiece positioning seat on end, the outer end of closing in lifting rotation travelling carriage is provided with middle-end and closed up in described middle-end Positioning base is lifted, the bottom for the lifting positioning base that closed up in described middle-end is provided with middle-end the lifting vacuum generator that closes up；
Closing in pressure assembly includes closing in pressure support frame in middle-end in described middle-end, and close up pressure in described middle-end It is provided with the pressure frame that can close up in the middle-end of upper and lower displacement in support frame, is provided with middle-end and receives in closing in pressure frame in described middle-end Mouthful pressure sensor, the bottom of closing in pressure frame is provided with the lifting positioning base that closed up in middle-end in living up and down in described middle-end Close up pressure ram in the middle-end of dynamic formula crimping；
The described middle-end mechanism that magnetizes is magnetized cover including middle-end, and the magnetize top of cover of described middle-end is magnetized provided with middle-end Groove, described middle-end magnetize be provided with cover can upper and lower displacement some middle-end magnet chargers, described middle-end straight line sliding feed clamp Pawl activity gripping workpiece to middle-end magnetizes in groove；
Described middle-end XYZ cantilevers receiving mechanism includes middle-end X-axis cantilever receiving rack, described middle-end X-axis cantilever rewinding Frame is provided with the middle-end Y-axis cantilever receiving rack that displacement is carried out along middle-end X-axis cantilever receiving rack, described middle-end Y-axis cantilever rewinding It is provided with frame and the workpiece middle-end Y-axis cantilever rewinding clamping jaw that mutually activity grips.
Preferably, described middle-end splicing lifting positioning base is located on middle-end splicing lifting floating junction installing plate, The lower section of described middle-end splicing lifting floating junction installing plate is provided with middle-end splicing lifting cylinder installing plate, described middle termination Material lifting floating junction installing plate lifts optical axis by some middle-end splicings with middle-end splicing lifting cylinder installing plate and enters line slip Connection, the bottom of described middle-end splicing lifting cylinder installing plate, which is provided with, promotes middle-end splicing lifting floating junction installing plate to carry out The middle-end splicing lifting cylinder of displacement；
Described middle-end splicing gripping frame grips support column by middle-end splicing and fixed with frame, described middle-end splicing folder Take and middle-end splicing gripping upright guide rail installing plate is provided with frame, be provided with described middle-end splicing gripping upright guide rail installing plate perpendicular Middle-end splicing to displacement grips jaw installing plate, and being provided with middle-end splicing in described middle-end splicing gripping jaw installing plate grips Jaw, described middle-end splicing gripping jaw control middle-end splicing gripping clamping jaw open and close；Set in described middle-end splicing gripping frame There are the middle-end splicing lifting lateral cylinder for promoting middle-end splicing lifting floating junction installing plate to carry out displacement, described middle-end splicing Gripping to be provided with upright guide rail installing plate promotes the middle-end splicing lifting of middle-end splicing gripping jaw installing plate progress displacement vertical Cylinder；
The bottom of middle-end linear transmission section bar carries out displacement along middle-end linear transmission guide rail, and described middle-end linear transmission is led The afterbody of rail is provided with the small stroke positioning base of middle-end linear transmission that displacement is carried out along middle-end linear transmission guide rail, described middle-end Linear transmission section bar carries out displacement by middle-end linear transmission cylinder, and the small stroke positioning base of described middle-end linear transmission passes through The small stroke cylinder of middle-end linear transmission carries out displacement, and described middle-end linear transmission section bar is determined provided with 4 middle-end linear transmissions Position base；
The afterbody of middle-end X-axis movement module is provided with the middle-end brush holder connect with middle-end brush holder feeding rack phase active catch and feeds gear Plate；Middle-end brush holder riser is provided with described middle-end brush holder lifting leading screw, described middle-end brush holder riser passes through middle-end brush Frame lifting power packages carry out lead screw transmission, and the both sides of described middle-end brush holder lifting leading screw are respectively equipped with the lifting support of middle-end brush holder Axle, described middle-end brush holder lift the middle-end brush holder lifting linear bearing for being provided with support shaft and mutually being fixed with middle-end brush holder riser Fixed seat, described middle-end brush holder lifting Linear bearing fixing seat drive middle-end brush holder lifting supporting plate to carry out displacement；
One end of described middle-end X-axis movement module is provided with middle-end brush holder and moves material receiving rack, and described middle-end brush holder moves material Gripping clamping jaw moves feed collet by middle-end brush holder and takes jaw to be opened and closed, and described middle-end brush holder moves feed collet and takes jaw to pass through middle-end brush Frame moves feed collet and takes cylinder to carry out upper and lower displacement, and described middle-end brush holder moves feed collet and takes cylinder to move module along middle-end X-axis to enter line position Move；Described middle-end brush holder, which moves feed collet pawl and moved by middle-end brush holder, expects that jaw is opened and closed, and described middle-end brush holder moves material jaw Material rotary cylinder is moved by middle-end brush holder and carries out swing offset, described middle-end brush holder moves material rotary cylinder and moved by middle-end brush holder Expect that cylinder carries out upper and lower displacement, described middle-end brush holder moves material cylinder and moves module progress displacement along middle-end X-axis；
Middle-end brush holder correction guide plate is provided with middle-end brush holder brace, the top of described middle-end brush holder brace is provided with Middle-end brush holder correction guide plate is promoted to carry out the middle-end brush holder correction cylinder of displacement, described middle-end brush holder corrects the one of guide plate End is provided with middle-end brush holder correction jaw, described middle-end brush holder correction jaw control middle-end brush holder correction clamping jaw gripping workpiece, institute The middle-end brush holder correction baffle plate stated corrects baffle plate cylinder by middle-end brush holder and carries out displacement, described middle-end brush holder correction baffle plate with Middle-end brush holder correction guide plate touches in movable up and down；The top of described middle-end brush holder brace, which is provided with, promotes middle-end brush holder The middle-end brush holder pressure cylinder that pressure sensor is pushed；
The traversing guide rail installing plate of middle-end brush holder, the traversing guide rail installation of described middle-end brush holder are provided with middle-end brush holder transversely-moving rack Plate carries out lateral displacement by the traversing guide rail installing plate cylinder of middle-end brush holder along middle-end brush holder transversely-moving rack, and described middle-end brush holder is horizontal Move in guide rail installing plate and be provided with the traversing jaw installing plate of middle-end brush holder, the traversing jaw installing plate of described middle-end brush holder passes through middle-end The traversing jaw installing plate cylinder of brush holder carries out upper and lower displacement along the traversing guide rail installing plate of middle-end brush holder, and described middle-end brush holder is traversing Briquetting is located on the traversing jaw installing plate of middle-end brush holder, and the described traversing clamping jaw of middle-end brush holder passes through the traversing jaw control of middle-end brush holder System opens and closes；
Middle-end casing discharge cylinder mounting plate, described middle-end casing discharge gas are provided with described middle-end casing discharge frame The bottom of cylinder installing plate is provided with the middle-end casing discharge cylinder for promoting middle-end casing discharge support frame to carry out displacement, described middle-end Casing discharge cylinder mounting plate is slidably connected with middle-end casing discharge support frame by some middle-end casing discharge axis of guides, The bottom of the described middle-end casing discharge axis of guide is provided with middle-end casing discharge stop bit retainer ring；Described middle-end casing gripping X It is provided with into traversing module and grips pushing block with the charging tray middle-end casing that mutually activity touches, described middle-end casing gripping pushing block passes through Middle-end casing gripping pushing block cylinder carries out upper and lower displacement；
Described middle-end casing rotational positioning base is located on middle-end casing rotational positioning floor installation block, described middle-end Casing rotational positioning floor installation block is located on middle-end casing rotation linking block, during described middle-end casing rotation linking block is located at On terminal shell rotating stepper motor installing plate, the back side of described middle-end casing rotating stepper motor installing plate is provided with control middle-end The middle-end casing rotating stepper motor that casing rotational positioning base is rotated；
Being provided with described middle-end horizontal shifting frame promotes middle-end horizontal shifting positioning base installing plate to carry out in displacement Hold horizontal shifting cylinder；
It is traversing that the middle-end for promoting the traversing gripping of middle-end to be transversely mounted plate progress lateral displacement is provided with the traversing gripping frame of middle-end Lateral cylinder is gripped, the traversing gripping of described middle-end, which is transversely mounted in plate to be provided with, promotes the traversing vertical jaw installing plate of gripping of middle-end The traversing vertical cylinder of gripping of middle-end of vertical displacement is carried out, control is provided with the traversing vertical jaw installing plate of gripping of described middle-end The traversing gripping jaw of middle-end that the traversing gripping clamping jaw of middle-end opens and closes, the bottom of the traversing vertical jaw installing plate of gripping of described middle-end The traversing gripping jacking block of middle-end provided with distribution corresponding with workpiece, the traversing push rod of described middle-end pass through the traversing push rod cylinder of middle-end Carry out upper and lower displacement；
Middle-end casing pushes briquetting and pushes the progress displacement of briquetting cylinder by middle-end casing, and described middle-end casing pushes pressure Block cylinder is fixed on middle-end casing and pushed in briquetting cylinder mounting plate；
Described middle-end gripping jaw installing plate grips vertical engagement plate with middle-end and fixed, the vertical rank of described middle-end gripping Fishplate bar carries out upper and lower displacement along middle-end gripping vertical supports, is provided with described middle-end gripping vertical supports and promotes middle-end gripping perpendicular The middle-end that upper and lower displacement is carried out to engagement plate grips vertical cylinder, and described middle-end grips vertical supports and grips laterally branch along middle-end Frame carries out displacement, is provided with described middle-end gripping horizontal support and promotes the middle-end of middle-end gripping vertical supports to grip horizontal gas Cylinder, described middle-end grip vertical supports and fixed by middle-end gripping support frame with frame, described middle-end gripping rotation clamping jaw Rotation jaw control is gripped by middle-end to open and close, described middle-end gripping displacement clamping jaw grips the control of displacement jaw by middle-end and opened Close, described middle-end gripping jaw installing plate the back side be provided with middle-end gripping vertical supports be mutually oriented to be connected middle-end gripping lead To connector；
Middle-end magnetic shoe feed frame is supported positioning by middle-end magnetic shoe support base；
The outer end of middle-end magnetic shoe material-pushing frame is provided with middle-end magnetic shoe photoelectricity slide rail, the afterbody of described middle-end magnetic shoe photoelectricity slide rail Provided with middle-end magnetic shoe optoelectronic switch, the other end of described middle-end magnetic shoe pusher connecting plate, which is provided with middle-end magnetic shoe optoelectronic switch, is in Sense the middle-end magnetic shoe Photoelectric Detection part of distribution, being provided with middle-end magnetic shoe displacement transducer in described middle-end magnetic shoe expeller installs Block, the middle-end magnetic shoe displacement transducer mutually touched with magnetic shoe is provided with described middle-end magnetic shoe displacement transducer mounting blocks；
The middle-end magnetic shoe to socket-connect with middle-end magnetic shoe lifting rotation rotating shaft is provided with middle-end magnetic shoe lifting rotation support to lift Rotary sleeve, the lower section of described middle-end magnetic shoe lifting rotation support is provided with middle-end magnetic shoe lifting rotation cylinder mounting plate, described The top of middle-end magnetic shoe lifting rotation cylinder mounting plate be provided with middle-end magnetic shoe lifting rotation cylinder, the lifting of described middle-end magnetic shoe The middle-end magnetic shoe lifting rotation rotating shaft that the top of rotary cylinder is provided with middle-end magnetic shoe lifting rotation rotating shaft bottom phase maintenance is installed Block, the control middle-end magnetic shoe lifting rotation rotating shaft of described middle-end magnetic shoe lifting rotation cylinder are rotated, described middle-end magnetic shoe The lower section of lifting rotation cylinder mounting plate is provided with the middle-end magnetic shoe for promoting middle-end magnetic shoe lifting rotation cylinder mounting plate to carry out displacement Lift cylinder；The top of described middle-end magnetic shoe lifting rotation support is provided with middle-end magnetic shoe lifting rotation briquetting support, middle-end magnetic It is provided with watt lifting rotation briquetting support and the middle-end magnetic shoe of upper and lower displacement is carried out along middle-end magnetic shoe lifting rotation briquetting support lifts Briquetting engagement plate is rotated, described middle-end magnetic shoe lifting rotation lower lock block is fixed on middle-end magnetic shoe lifting rotation bearing mounting seat In, described middle-end magnetic shoe lifting rotation bearing mounting seat is fixed with middle-end magnetic shoe lifting rotation briquetting engagement plate；
Middle-end magnetic shoe spring positioning base is located on middle-end magnetic shoe spring positioning base mounting blocks, described middle-end magnetic shoe bullet The middle-end magnetic shoe light pricker for mutually sensing distribution with spring in middle-end magnetic shoe spring feed well is provided with spring positioning base, in described The bottom of end magnetic shoe spring positioning base mounting blocks is provided with middle-end magnetic shoe spring positioning base cylinder, described middle-end magnetic shoe spring Positioning base cylinder promotes middle-end magnetic shoe pushing block to carry out displacement, and the top of described middle-end magnetic shoe pushing block is provided with middle-end magnetic shoe pushing block Pressure sensor mounting blocks, the top of described middle-end magnetic shoe pushing block pressure sensor mounting blocks are provided with middle-end magnetic shoe pushing block pressure Sensor, the top of described middle-end magnetic shoe pushing block pressure sensor are provided with middle-end magnetic shoe pushing block pressure sensor torsion spring push rod, Described middle-end magnetic shoe spring positioning base cylinder promotes middle-end magnetic shoe pushing block pressure sensor torsion spring push rod to shift up；
The gripping of middle-end magnetic shoe pushes clamping jaw and pushes jaw control keying by the gripping of middle-end magnetic shoe；Described middle-end magnetic shoe folder Take shifting material one-level clamping jaw arm to grip shifting material one-level jaw control by middle-end magnetic shoe to open and close, described middle-end magnetic shoe gripping shifting material two Level clamping jaw arm grips to move by middle-end magnetic shoe expects that the control of two level jaw opens and closes；Described middle-end magnetic shoe gripping linkage board passes through middle-end Magnetic shoe gripping lateral cylinder promotes along middle-end magnetic shoe gripping frame and carries out displacement, the lower pressure rack of described middle-end magnetic shoe gripping and middle-end magnetic Watt lower pressure rack of gripping, the gripping of middle-end magnetic shoe move bin and move material installing plate respectively by the gripping shifting of middle-end magnetic shoe with the gripping of middle-end magnetic shoe Expect that vertical cylinder carries out displacement；
The middle-end magnetic shoe for promoting middle-end magnetic shoe cylinder lower lock block to carry out displacement is provided with middle-end magnetic shoe cylinder in pressure rack to push Cylinder；
Closing in lifting rotation cylinder mounting plate in middle-end is arranged at the top of closing in lifting rotation travelling carriage in middle-end, described Middle-end on be provided with closing in lifting rotation travelling carriage and promote during closing in lifting rotation cylinder mounting plate shifts up in middle-end Close up lift cylinder on end, and the top of closing in lifting rotation cylinder mounting plate is provided with middle-end the rotary pneumatic that closes up in described middle-end Cylinder, closing in rotary cylinder drives closing in lifting rotation jaw installing plate in middle-end to be rotated in described middle-end, in described Closing in lifting rotation clamping jaw is opened and closed by closing in lifting rotation jaw control in middle-end on end；
Closing in pressure frame drives upper and lower displacement by closing in pressure servo motor in middle-end in middle-end；
The middle-end that middle-end magnet charger is located at magnetizes in support, and the magnetize bottom of support of described middle-end is provided with and magnetized branch with middle-end Mutually the fixed middle-end of activity is magnetized bottom plate frame, and the described middle-end bottom plate that magnetizes is fixed with frame, and described middle-end magnetizes bottom plate Bottom, which is provided with, promotes the middle-end support that magnetizes to carry out the middle-end of upper and lower displacement and magnetize cylinder, and the described promotion middle-end support that magnetizes is upward Displacement stretches to middle-end and magnetized cover；
Described middle-end Y-axis cantilever rewinding clamping jaw is controlled by middle-end Y-axis cantilever rewinding jaw and opened and closed, described middle-end Y Axle suspension arm rewinding jaw is fixed on middle-end Y-axis cantilever rewinding jaw installing plate, the installation of described middle-end Y-axis cantilever rewinding jaw Plate carries out upper and lower displacement by middle-end Y-axis cantilever rewinding cylinder, and described middle-end Y-axis cantilever rewinding cylinder is located at middle-end Y-axis and hanged Arm rewinding cylinder mounting plate, described middle-end Y-axis cantilever rewinding cylinder mounting plate are fixed with middle-end Y-axis cantilever receiving rack；
Middle-end transition gripping body is provided between described middle-end casing installing mechanism and middle-end magnetic shoe installing mechanism, it is described Middle-end transition gripping body is with the small stroke positioning base of middle-end linear transmission in movable corresponding distribution, described middle-end transition clamp Take mechanism to include middle-end transition gripping frame, be provided with described middle-end transition gripping frame along middle-end transition gripping frame and carry out upper bottom The middle-end transition gripping claw clip of shifting.
A kind of operating method of fuel pump automatic assembly line middle-end assembly machine, improves according to the following steps：
(1), assemble：
1st, assembling figure is compareed, each group part is assembled, pinpoints the problems answer timely processing in an assembling process：Pay attention to thing ：
A) frame is put in correct position, avoids moving during assembly and adjustment；
B) after securing a base plate in frame, cleaning inspection is carried out to all holes on bottom plate, to ensure each hole Expected assembling is attained by require；
Should accomplish when c) assembling without non-tapping hole, do not attack in place hole, without interference hole, to prevent tearing big dress open greatly during follow-up assembling；
2nd, installation electricity, pneumatic element：Sensor, cylinder, motor and its other standard components are loaded on machine, and it is right Required position is positioned, to ensure precision；
(2), debug：
1st, connect electricity and connect gas：By the PLC needed for circuit, touch-screen, pickup wire, it is installed in place and is powered；To needed for gas circuit Tracheae, valve is installed in place and ventilates；
2nd, program is inputted, manually debugging：Program is write in PLC, touch-screen, and run；Product is put into, with manual mode Each action is debugged, it is whether qualified to observe the product produced under manual mode, for there is bad phenomenon Analyzed, and find in time and solve problem；
3rd, automatic debugging：For the machine debugged manually, it is put into appropriate product and is test-manufactured automatically, and examines the product to be It is no qualified, the problem of excluding to be likely to occur；
(3), middle-end assembly machine operating method：
1st, product is put to the product positioning base of splicing hoisting mechanism by manipulator after the completion of preceding road assembling, lifted Product lifting is arrived eminence by air cylinder lifting, and splicing gripping body lift cylinder drops at product space, jaw clamping jaw contraction clip Firmly product, splicing gripping body lift cylinder rise gripping product, and splicing gripping body horizontal air cylinder, which shrinks, is moved to product Above linear transport mechanism positioning base, general who has surrendered's product is put into linear transport mechanism positioning bottom under splicing gripping body lift cylinder On seat, splicing gripping body jaw release product；
2nd, product is sent to brush holder installation station by linear transport mechanism, and brush holder gripping body lift cylinder declines, jaw Upper gripper jaw shrinks gripping brush holder, and after lift cylinder rises to certain altitude, rotary cylinder is rotated by 90 ° brush holder from horizontality It is changed into vertical state, cantilever XYZ moves module and brush holder is sent to above brush holder installation station brush holder firm banking, brush holder catching device General who has surrendered's brush holder is put into fixed seat under structure lift cylinder, and jaw upper gripper jaw release product, brush holder installation station pushes reshaping device Shaping lift cylinder declines, and shaping jaw, which is shunk, carries out shaping to brush holder, brush holder installation station horizontal shifting mechanism cylinder cylinder Promoting brush holder, lift cylinder declines on horizontal shifting gripping body to below pressure cylinder, and the contraction of jaw upper gripper jaw is from straight-line transmitting Send and product is gripped on mechanism positioning base, lift cylinder rises, and product is sent to above brush holder by the operation of horizontal shifting cylinder, horizontal Transverse-moving mechanism lift cylinder, which declines, to be put into product on brush holder, and pressure cylinder declines, and product and brush holder are compressed, on pressure cylinder Rise, horizontal shifting gripping body lift cylinder rises, and product is sent to straight-line transmitting by the motion of horizontal shifting gripping body horizontal air cylinder Send above mechanism positioning base, general who has surrendered assembles product and is put on positioning base under horizontal shifting mechanism lift cylinder, jaw folder Pawl discharges product；
3rd, product is sent to casing installation station, XYZ module manipulators on casing conveying pipeline by linear transport mechanism Casing gripping is sent on casing erector's position detecting mechanism positioning base, laser displacement sensor carries out positive and negative and table to casing Planar defect is detected, and defect casing will be gone to put into casing box by XYZ modules manipulator if casing surface is defective after detection, If surface does not have defect, casing installation station gripping body lift cylinder declines, and rotary oscillation jaw foundation above swashs The detection gripping rotation casing of Optical displacement sensor, the direction that casing is adjusted to need, the motion of gripping body horizontal air cylinder will Casing is sent to above horizontal shifting mechanism positioning base, and gripping body lift cylinder declines, and the release of jaw clamping jaw is put into casing On horizontal shifting mechanism positioning base, horizontal shifting mechanism cylinder moving is transported to casing below pressure mechanism, horizontal shifting Gripping body lift cylinder declines, and jaw upper gripper jaw shrinks grips product, horizontal shifting from linear transport mechanism positioning base Gripping body lift cylinder rises is sent to eminence product, the motion of horizontal shifting gripping body horizontal air cylinder, product is sent to pressure Under force mechanisms, horizontal shifting gripping body lift cylinder, which declines, to be put into product on casing, and pressure mechanism pressure cylinder declines, under Square cylinder is withstood, then withstands product with aciculiform cylinder, declines in lift cylinder and product and casing are compressed, and pressure cylinder rises, Horizontal shifting gripping body lift cylinder rises, and eminence is sent to product is assembled, horizontal shifting gripping body horizontal air cylinder, Product is sent to above linear transport mechanism positioning base, and horizontal shifting gripping body lift cylinder declines is put into straight-line transmitting product Send on mechanism positioning base, the release of jaw upper gripper jaw；
4th, product is sent to transition gripping station by linear transport mechanism, and lift cylinder declines on transition gripping station, gas Pawl upper gripper jaw shrinks gripping product, and lift cylinder rises on transition gripping station is sent to eminence product, after linear transport mechanism A station is moved, transition grips lift cylinder decline on station and product is put on linear transport mechanism positioning base, jaw folder Pawl discharges, and lift cylinder rises；
5th, product is sent to magnetic shoe installation station by linear transport mechanism, and magnetic shoe pusher promotes on magnetic shoe installation station Magnetic shoe is on lifting rotation mechanism magnetic shoe positioning base, and lift cylinder declines above lifting rotation mechanism, and pressure head compresses positioning bottom Magnetic shoe on seat, lifting rotation mechanism lower section lift cylinder rise, and magnetic shoe is sent into eminence, the rotary cylinder rotation of lifting rotation mechanism 180 degree, positioning base and magnetic shoe rotation 180 degree being driven, lower section lift cylinder declines, and returns to original position, and top lift cylinder rises, Pressure head unclamps, and magnetic shoe pusher promotes magnetic shoe to shift another magnetic shoe on lifting rotation mechanism magnetic shoe positioning base onto, top Lift cylinder, which declines, compresses magnetic shoe, and lower section lift cylinder rises is sent to eminence by magnetic shoe, and magnetic shoe gripping body jaw shrinks gripping Magnetic shoe, lifting rotation mechanism top lift cylinder rise, and lower section lift cylinder declines, the motion of magnetic shoe gripping body horizontal air cylinder, Magnetic shoe is sent to above magnetic shoe installation positioning base, magnetic shoe gripping body lift cylinder declines, and magnetic shoe is fixed mounted in magnetic shoe assembling On the base of position, magnetic shoe is held by the magnet on magnetic shoe assembling positioning base, product gripping body lifting air on magnetic shoe gripping body Cylinder declines, and product gripping body jaw shrinks gripping product, and product gripping body lift cylinder rises, and magnetic shoe gripping body is horizontal Cylinder moving, product is sent to above magnetic shoe installation positioning base, product gripping body lift cylinder declines, and product is placed on magnetic On watt installation positioning seat, spring pressure mechanism lift cylinder rises, between spring is pressed into magnetic shoe magnetic shoe, spring pressure mechanism liter Sending down abnormally ascending cylinder declines, and pressure mechanism lift cylinder, which declines, compresses product, and product gripping body lift cylinder rises, and product is sent to height Place, magnetic shoe gripping body horizontal air cylinder moving handle product are sent to above magnetic tile conveying device product positioning base, product catching device Structure lift cylinder declines, and product is put into transport mechanism product positioning base, the release of product gripping body jaw, product gripping Mechanism lift cylinder rises, and the small stroke cylinder of linear transport mechanism shrinks, and product is sent to below straight line conveying gripping body；
6th, straight line conveying gripping body lift cylinder declines, and jaw shrinks gripping product, and lift cylinder rises to certain height Degree, single shaft travel mechanism motor are rotated, and product is transported into upper closing in station, and straight line conveying gripping body lift cylinder declines, Jaw is discharged, and product is placed in product positioning base；
7th, the jaw of lifting rotation mechanism shrinks gripping product in upper closing in station, on lifting rotation mechanism lift cylinder Rise, then rotary cylinder rotation 180 degree, send product to and push several mouthfuls of lower sections, lift cylinder declines, product is put into product and determined On the base of position, pressure mechanism servomotor rotation, pressure head pushes closing in, while vacuum generator work siphons away what is come off on product Some coating epidermises, after the completion of closing in, private takes motor rotation, and pressure head rises, and lifting rotation mechanism lift cylinder rises, lifting rotation Rotation mechanism rotary cylinder rotates 180 degree, and lifting rotation mechanism lift cylinder declines, and jaw release, product is positioned over product and determined On the base of position；
8th, straight line conveying gripping body lift cylinder declines, and jaw, which is shunk from upper closing in station positioning base, grips product, Straight line conveying gripping body lift cylinder rises, and product is sent to certain altitude, single shaft travel mechanism motor rotates, and product is defeated It is sent to above the station that magnetizes, the station lift cylinder that magnetizes rises, and product positioning base is raised to eminence, straight line conveying gripping body Lift cylinder, which declines product to be placed into, to magnetize on station lifting pedestal, and straight line conveying gripping body jaw release, magnetize station Lift cylinder declines, and product is sent into magnet charger, magnet charger magnetizes to product, the mechanism that magnetized after the completion of magnetizing lift cylinder Rise, product is risen to certain altitude；
9th, cantilever XYZ motors are rotated, and receiving mechanism clamping jaw is moved to above product, and gripping product is put after being put into charging tray Under；
(4), points for attention：
1st, when on station continuous 10S do not sensed that product can then alarm, automatic eliminate of alarming after product to be added；
2nd, the inductor on cylinder is not bright after action, or cylinder is suffocated and do not acted, and can be alarmed, need to be on operating case Manual-automatic switch get to manual mode then manually intervene, cylinder is returned to normal operating conditions, then press alarm and disappear Except button, switch is then got to auto state again, presses start button, machine normal work.
Therefore, the middle-end assembly machine and its operating method of a kind of fuel pump automatic assembly line of the invention, it is compact-sized, from Dynamicization degree is high, reduces manual operation and use cost, Improving The Quality of Products.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of upper rack in Fig. 1；
Fig. 3 is the structural representation of middle-end splicing hoisting mechanism in the present invention；
Fig. 4 is the structural representation of middle-end splicing gripping body in the present invention；
Fig. 5 is the structural representation of middle-end linear transport mechanism in the present invention；
Fig. 6 is the structural representation of middle-end brush holder gripping body in the present invention；
Fig. 7 is that middle-end brush holder moves material component structure diagram in the present invention；
Fig. 8 is the structural representation of middle-end brush holder installing mechanism in the present invention；
Fig. 9 is the structural representation of middle-end brush holder corrective component in Fig. 8；
Figure 10 is the structural representation of middle-end brush holder horizontal shifting gripping body in Fig. 8；
Figure 11 is the structural representation of the traversing gripper assembly of middle-end brush holder in Fig. 8；
Figure 12 is the structural representation of middle-end casing conveying mechanism in the present invention；
Figure 13 is the structural representation of middle-end casing discharge assembly in Figure 12；
Figure 14 is the structural representation of middle-end casing installing mechanism in the present invention；
Figure 15 is the structural representation of the traversing gripper assembly of middle-end in Figure 14；
Figure 16 is the structural representation of middle-end horizontal shifting component in Figure 14；
Figure 17 is the structural representation of middle-end lifting standard package in Figure 14；
Figure 18 is the structural representation of middle-end gripper assembly in Figure 14；
Figure 19 is the structural representation of middle-end casing rotation detection components in Figure 14；
Figure 20 is the structural representation that middle-end casing pushes component in Figure 14；
Figure 21 is the structural representation of middle-end magnetic shoe installing mechanism in the present invention；
Figure 22 is the structural representation that middle-end magnetic shoe cylinder pushes component in Figure 21；
Figure 23 is the structural representation of middle-end magnetic shoe spring mounting assembly in Figure 21；
Figure 24 is the structural representation of middle-end magnetic shoe lifting rotation component in Figure 21；
Figure 25 is the structural representation of middle-end magnetic shoe gripper assembly in Figure 21；
Figure 26 is Figure 25 overlooking the structure diagram；
Figure 27 is the structural representation of middle-end magnetic shoe supply assembly in Figure 21；
Figure 28 is the structural representation of middle-end magnetic shoe pushing material component in Figure 21；
Figure 29 is the structural representation of middle-end straight line sliding feed mechanism in the present invention；
Figure 30 is the structural representation of closing mechanism in middle-end in the present invention；
Figure 31 is the structural representation of closing in lifting rotation component in middle-end in Figure 30；
Figure 32 is the structural representation of closing in pressure assembly in middle-end in Figure 30；
Figure 33 is that middle-end magnetizes the structural representation of mechanism in the present invention；
Figure 34 is the structural representation of middle-end XYZ cantilever receiving mechanisms in the present invention；
Figure 35 is the structural representation of middle-end Y-axis cantilever rewinding clamping jaw in Figure 34；
Figure 36 is the structural representation of middle-end transition gripping body in the present invention.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.Embodiment 1：As shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 16, figure 17th, Figure 18, Figure 19, Figure 20, Figure 21, Figure 22, Figure 23, Figure 24, Figure 25, Figure 26, Figure 27, Figure 28, Figure 29, Figure 30, Figure 31, figure 32nd, shown in Figure 33, Figure 34, Figure 35 and Figure 36, a kind of middle-end assembly machine of fuel pump automatic assembly line, including charging tray 1, workpiece 2 With frame 3, described frame 3 is provided with middle-end splicing hoisting mechanism 19, middle-end splicing gripping body 20, middle-end linear transmission machine Structure 21, middle-end brush holder gripping body 22, middle-end brush holder installing mechanism 23, middle-end casing conveying mechanism 24, middle-end casing fitting machine Structure 25, middle-end magnetic shoe installing mechanism 26, middle-end straight line sliding feed mechanism 27, closing mechanism 28, middle-end magnetize mechanism in middle-end 29 and middle-end XYZ cantilevers receiving mechanism 30；
The inner of described middle-end linear transport mechanism 21 is sequentially provided with middle-end splicing hoisting mechanism 19, middle-end from left to right Splicing gripping body 20, middle-end casing installing mechanism 23, middle-end casing installing mechanism 25 and middle-end magnetic shoe installing mechanism 26；
Described middle-end splicing hoisting mechanism 19 include can upper and lower displacement middle-end splicing lifting positioning base 180；
Described middle-end splicing gripping body 20 includes middle-end splicing gripping frame 181, described middle-end splicing gripping frame 181 In be provided with it is movable gripping workpiece middle-end splicing gripping clamping jaw 182；
Described middle-end linear transport mechanism 21 includes the middle-end linear transmission section bar 183 that can carry out displacement, in described End linear transmission section bar 183 is provided with some middle-end linear transmission positioning bases 184, described middle-end linear transmission section bar 183 Afterbody is provided with the movable small stroke positioning base 185 of middle-end linear transmission of distribution corresponding with middle-end linear transmission section bar 183；
Described middle-end brush holder gripping body 22 includes middle-end brush holder feeding assembly, middle-end brush holder lifting assembly and middle-end brush Frame moves material component, and described middle-end brush holder feeding assembly is distributed with middle-end brush holder lifting assembly in corresponding；
Described middle-end brush holder feeding assembly 186 includes middle-end X-axis movement module 189, described middle-end X-axis movement module 189 drive middle-end brush holder feeding rack 190 to carry out displacement, and charging charging tray 191 is provided with described middle-end brush holder feeding rack 190；In Brush holder lifting assembly 187 is held to include middle-end brush holder lifting leading screw 192, described middle-end brush holder lifting leading screw 192 drives middle-end brush Frame lifting supporting plate 193 carries out upper and lower displacement, and described middle-end brush holder is lifted in supporting plate 193 and middle-end brush holder feeding rack 190 Charging charging tray 191 touch in movable；
Described middle-end brush holder, which moves material component 188, includes middle-end brush holder shifting material X-axis gripping module 194, described middle-end brush Frame moves material X-axis gripping module 194 and is provided with the middle-end brush holder for moving material X-axis gripping module 194 along middle-end brush holder and being slidably connected Material Y-axis gripping module 195 is moved, it is at least one with feeding material that the shifting of described middle-end brush holder expects that the inner of Y-axis gripping module 195 is provided with The middle-end brush holder of the phase activity of disk 191 gripping moves feed collet and takes clamping jaw 196, and described middle-end brush holder moves the outer of material Y-axis gripping module 195 End is provided with moves feed collet pawl 197 with the middle-end brush holder of the workpiece phase activity gripping in charging charging tray 191；
Described middle-end brush holder installing mechanism 23 includes middle-end brush holder corrective component 198, middle-end brush holder horizontal shifting grips Mechanism 199 and middle-end brush holder pressure assembly 200；
Middle-end brush holder horizontal shifting gripping body 199 includes the traversing gripper assembly of middle-end brush holder and traversing group of middle-end brush holder Part, the described traversing gripper assembly of middle-end brush holder are distributed with the traversing component of middle-end brush holder in matching type is corresponding；
The described traversing gripper assembly of middle-end brush holder includes the traversing gripping frame 201 of middle-end brush holder, and described middle-end brush holder is horizontal The traversing positioning seat 202 of middle-end brush holder for being provided with and displacement being carried out with the traversing gripping frame 201 of middle-end brush holder is moved in gripping frame 201, it is described Middle-end brush holder move feed collet pawl 197 be moved to the traversing positioning seat 202 of middle-end brush holder top and with the traversing positioning seat of middle-end brush holder 202 touch in movable；
The traversing component of middle-end brush holder includes middle-end brush holder transversely-moving rack 204, and edge is provided with described middle-end brush holder transversely-moving rack 204 Middle-end brush holder transversely-moving rack 204 carries out the traversing clamping jaw 205 of middle-end brush holder of displacement, and the traversing clamping jaw 205 of described middle-end brush holder is with Brush holder traversing positioning seat 202 in end is touched in movable, and the top of the traversing clamping jaw 205 of described middle-end brush holder is provided with middle-end brush holder Transversely-moving rack 204 carries out the traversing briquetting 206 of middle-end brush holder of displacement, during the bottom of the traversing briquetting 206 of described middle-end brush holder is provided with The traversing guide pad 207 of brush holder is held, the traversing guide pad 207 of described middle-end brush holder clamping jaw 205 traversing with middle-end brush holder is in right up and down Formula is answered to be distributed；
Described middle-end brush holder corrective component 198 includes middle-end brush holder brace 208, described middle-end brush holder brace 208 can upper and lower displacement middle-end brush holder correction clamping jaw 209, described middle-end brush holder correction clamping jaw 209 and middle-end brush holder it is traversing fixed Position seat 202 is touched in movable up and down, and the lower section of described middle-end brush holder brace 208 is provided with and middle-end brush holder brace 208 The movable middle-end brush holder correction baffle plate 210 of corresponding distribution；
Described middle-end brush holder pressure assembly 200 include can upper and lower displacement middle-end brush holder pressure sensor 211, it is described The bottom of middle-end brush holder pressure sensor 211 is provided with middle-end brush holder and fixes signature block 212, and described middle-end brush holder, which is fixed, gives as security block 212 Briquetting 206 traversing with middle-end brush holder crimps in movable；
Described middle-end casing conveying mechanism 24 includes middle-end casing Belt Conveying component 213, middle-end casing discharge assembly 214 and middle-end casing gripper assembly 215, described middle-end casing Belt Conveying component 213 be in middle-end casing discharge assembly 214 Matching type is distributed, and described middle-end casing gripper assembly 215 is located at the top of middle-end casing discharge assembly 214；
Described middle-end casing Belt Conveying component 213 includes middle-end casing belt conveying frame 216, described middle-end casing The top of belt conveying frame 216 is provided with middle-end casing belt conveyor 217；
Described middle-end casing discharge assembly 214 includes middle-end casing discharge frame 218, described middle-end casing discharge frame Be provided with 218 can upper and lower displacement middle-end casing discharge support frame 219, described middle-end casing discharge support frame 219 and middle-end Casing belt conveyor 217 is connected in transition type, and some middle-end casings are provided with described middle-end casing discharge support frame 219 and are arranged Material roller 220, the turning rolls 221 for tilting down distribution, described middle-end casing are provided with described middle-end casing discharge frame 218 Discharge support frame 219 can be moved to the lower section of turning rolls 221 downwards；
Described middle-end casing gripper assembly 215 includes middle-end casing and grips X to traversing module 222, described middle terminal Shell grips X and the middle-end being slidably connected along middle-end casing gripping X to traversing module 222 is provided with to the top of traversing module 222 Casing grips the traversing module 223 of Y-direction, is provided with the described middle-end casing gripping traversing module 223 of Y-direction along middle-end casing and grips Y The middle-end casing that displacement is carried out to traversing module 223 grips clamping jaw 224, and described middle-end casing gripping clamping jaw 224 is located at middle-end The top of casing discharge support frame 219；
Described middle-end casing installing mechanism 25 includes middle-end casing rotation detection components 225, middle-end lifting standard package 226th, the traversing gripper assembly 228 of middle-end horizontal shifting component 227, middle-end, middle-end gripper assembly 229 and middle-end casing push component 230, described middle-end casing rotation detection components 225, middle-end lifting standard package 226, middle-end horizontal shifting component 227, in Hold traversing gripper assembly 228, middle-end gripper assembly 229 and middle-end casing to push component 229 to be distributed in matching type is corresponding；
Described middle-end casing rotation detection components 225 include rotatable middle-end casing rotational positioning base 231, described Workpiece be located at the top of middle-end casing rotational positioning base 231, the outside of described workpiece, which is provided with, corresponding with workpiece swashs Light displacement detector 232, the activity gripping workpiece of described middle-end casing gripping clamping jaw 224 to middle-end casing rotational positioning base 231 top；
Described middle-end lifting standard package 226 includes middle-end lifting positioning base 233；
Described middle-end horizontal shifting component 227 includes middle-end horizontal shifting frame 234, described middle-end horizontal shifting frame Movable middle-end horizontal shifting positioning base installing plate 235, the installation of described middle-end horizontal shifting positioning base are provided with 234 Middle-end horizontal shifting positioning base 236 is provided with plate 235；
The traversing gripper assembly 228 of described middle-end includes the traversing gripping frame 237 of middle-end, the traversing gripping frame of described middle-end The traversing gripping of middle-end for carrying out lateral displacement along the traversing gripping frame 237 of middle-end is provided with 237 and is transversely mounted plate 238, in described Traversing gripping is held to be transversely mounted the middle-end horizontal stroke for being provided with plate 238 and being transversely mounted plate 238 along the traversing gripping of middle-end and carry out vertical displacement Move and grip vertical jaw installing plate 239, the traversing gripping of middle-end is provided with the traversing vertical jaw installing plate 239 of gripping of described middle-end Briquetting 240, the bottom of the traversing gripping briquetting 240 of described middle-end are provided with the traversing gripping guide pad 241 of middle-end, and described middle-end is horizontal The lower section for moving gripping guide pad 241 is provided with the traversing gripping clamping jaw 246 of middle-end, and described frame 3 is provided with and the traversing gripping of middle-end Clamping jaw 242 is in the traversing push rod 243 of middle-end for corresponding to distribution up and down；
Described middle-end casing push component 230 include can the middle-end casing of upper and lower displacement push briquetting 244, in described Terminal shell pushes briquetting 244 and crimped to bottom offset with the top of the traversing gripping briquetting 240 of middle-end in movable；
Described middle-end gripper assembly 229 includes movable middle-end gripping jaw installing plate 245, the gripping of described middle-end One end of the outer wall of jaw installing plate 245 is provided with to press from both sides with the middle-end that mutually activity grips of workpiece in middle-end casing rotational positioning base 231 Rotation clamping jaw 246 is taken, the other end of the outer wall of described middle-end gripping jaw installing plate 245 is provided with positions bottom with middle-end horizontal shifting The workpiece middle-end gripping displacement clamping jaw 247 that mutually activity grips in seat 236；
Described middle-end magnetic shoe installing mechanism 26 include middle-end magnetic shoe supply assembly 248, middle-end magnetic shoe pushing material component 249, Middle-end magnetic shoe lifting rotation component 250, middle-end magnetic shoe gripper assembly 251, middle-end magnetic shoe spring mounting assembly 252 and middle-end magnetic shoe Cylinder pushes component 253, and described middle-end magnetic shoe pushing material component 249 promotes the magnetic shoe in middle-end magnetic shoe supply assembly 248 to carry out Displacement, described middle-end magnetic shoe supply assembly 248 is distributed with middle-end magnetic shoe lifting rotation component 250 in connection shape, in described Hold the magnetic shoe in the activity gripping middle-end magnetic shoe lifting rotation of magnetic shoe gripper assembly 251 component 250, described middle-end magnetic shoe gripping group Part 250 is with middle-end magnetic shoe spring mounting assembly 252 in corresponding distribution, the top of described middle-end magnetic shoe spring mounting assembly 252 Crimped provided with component 253 is pushed with middle-end magnetic shoe cylinder in movable up and down；
Described middle-end magnetic shoe supply assembly 248 includes middle-end magnetic shoe feed frame 254, described middle-end magnetic shoe feed frame The middle-end magnetic shoe hopper 255 of connection distribution is provided with 254, described middle-end magnetic shoe hopper 255 is carried out by sprocket wheel power packages 256 Displacement is driven；
Described middle-end magnetic shoe pushing material component 249 includes middle-end magnetic shoe material-pushing frame 257, described middle-end magnetic shoe material-pushing frame Movable middle-end magnetic shoe pusher connecting plate 258 is provided with 257, one end of described middle-end magnetic shoe pusher connecting plate 258 is provided with Middle-end magnetic shoe expeller installing plate 259, it is provided with described middle-end magnetic shoe expeller installing plate 259 and promotes middle-end magnetic shoe hopper Magnetic shoe carries out the middle-end magnetic shoe expeller 260 of displacement in 255；
Described middle-end magnetic shoe lifting rotation component 250 includes middle-end magnetic shoe lifting rotation support 261, described middle-end magnetic Movable middle-end magnetic shoe lifting rotation rotating shaft 262, described middle-end magnetic shoe lifting rotation are provided with watt lifting rotation support 261 Support 261 is provided with the middle-end magnetic shoe lifting rotation symmetrical baffle plate with 262 corresponding distribution of middle-end magnetic shoe lifting rotation rotating shaft 263, described magnetic shoe is entered between middle-end magnetic shoe lifting rotation symmetrical baffle plate 263 and middle-end magnetic shoe lifting rotation rotating shaft 262, institute The top for the middle-end magnetic shoe lifting rotation rotating shaft 262 stated with the phase activity of middle-end magnetic shoe lifting rotation rotating shaft 262 provided with crimping Hold magnetic shoe lifting rotation lower lock block 264；
Described middle-end magnetic shoe spring mounting assembly 252 includes middle-end magnetic shoe spring positioning base 265, described middle-end magnetic Middle-end magnetic shoe spring feed well 266, the bottom of described middle-end magnetic shoe spring feed well 266 are provided with watt spring positioning base 265 Portion is provided with the middle-end magnetic shoe spring displacement component for promoting that spring is shifted up in middle-end magnetic shoe spring feed well 266, described The outer wall of middle-end magnetic shoe spring positioning base 265 be provided with middle-end magnetic shoe spring positioning base magnet 267；
Described middle-end magnetic shoe gripper assembly 251 includes middle-end magnetic shoe gripping frame 268, described middle-end magnetic shoe gripping frame The middle-end magnetic shoe slid laterally along middle-end magnetic shoe gripping frame 268 is provided with 268 and grips linkage board 269, described middle-end magnetic The outer end of watt gripping linkage board 269 is provided with the gripping of middle-end magnetic shoe and pushes component, described middle-end magnetic shoe gripping linkage board 269 it is interior End is provided with the gripping of middle-end magnetic shoe and moves material component；
Described middle-end magnetic shoe gripping, which pushes component, includes the lower pressure rack 270 of middle-end magnetic shoe gripping, described middle-end magnetic shoe folder Remove to be provided with pressure rack 270 along the middle-end magnetic shoe gripping of the lower progress of pressure rack 270 upper and lower displacement of middle-end magnetic shoe gripping and push installing plate 271, the gripping of described middle-end magnetic shoe, which pushes, is provided with middle-end magnetic shoe gripping briquetting 272, described middle-end magnetic shoe folder in installing plate 271 The bottom of pressure block 272 is provided with middle-end magnetic shoe gripping guide pad 273, and the lower section of described middle-end magnetic shoe gripping guide pad 273 is set Have and push clamping jaw 274 with the workpiece middle-end magnetic shoe gripping that mutually activity grips；
Described middle-end magnetic shoe gripping moves material component and moves bin 275, described middle-end magnetic shoe folder including the gripping of middle-end magnetic shoe Take to move in bin 275 to be provided with to move along the middle-end magnetic shoe gripping of the lower progress of pressure rack 275 upper and lower displacement of middle-end magnetic shoe gripping and expect installing plate 276, the gripping of described middle-end magnetic shoe moves in material installing plate 276 and moves material one-level clamping jaw arm 277 provided with the gripping of middle-end magnetic shoe, described Material two level clamping jaw arm 278, two middle-ends are moved in the outer end that the gripping of middle-end magnetic shoe moves material one-level clamping jaw arm 277 provided with the gripping of middle-end magnetic shoe Magnetic shoe gripping moves material two level clamping jaw arm 278 and forms middle-end magnetic shoe gripping chamber, and the gripping of described middle-end magnetic shoe moves material two level clamping jaw arm 278 grip with magnetic shoe in activity；
Described middle-end magnetic shoe cylinder, which pushes component 253, includes pressure rack 279 under middle-end magnetic shoe cylinder, described middle-end magnetic shoe The middle-end magnetic shoe cylinder lower lock block 280 crimped with middle-end magnetic shoe gripping briquetting 272 in activity is provided with cylinder in pressure rack 279；
Described middle-end straight line sliding feed mechanism 27 includes middle-end straight line sliding cradle 281, described middle-end straight line Slide the middle-end straight line sliding feeding clamping jaw for being provided with cradle 281 and straight-line displacement being carried out along middle-end straight line sliding cradle 281 282, described middle-end straight line sliding feeding clamping jaw 282 is in movable gripping with the small stroke positioning base 185 of middle-end linear transmission；
Closing mechanism 28 includes closing in lifting rotation group in closing in pressure assembly 283 in middle-end and middle-end in described middle-end Part 284, in described middle-end closing in pressure assembly 283 with closing in lifting rotation component 285 in middle-end in matching type distribution；
Closing in lifting rotation component 284 includes closing in lifting rotation to slide in the middle-end of upper and lower displacement in described middle-end Frame 285, the top of closing in lifting rotation travelling carriage 285 is provided with closing in lifting rotation gas in rotatable middle-end in described middle-end Pawl installing plate 286, the two side ends of closing in lifting rotation jaw installing plate 286 are respectively equipped with to close up in middle-end and risen in described middle-end Drop rotation clamping jaw 287, the outer end of closing in lifting rotation travelling carriage 285 is provided with and the lifting rotation that closed up in middle-end in described middle-end Clamping jaw 287 is in closing in lifting rotation workpiece positioning seat 288 in the middle-end of movable gripping, and close up lifting rotation in described middle-end The outer end of travelling carriage 285 is provided with middle-end the lifting positioning base 289 that closes up, and close up lifting positioning base 289 in described middle-end Bottom be provided with middle-end on close up lifting vacuum generator 290；
Closing in pressure assembly 283 includes closing in pressure support frame 291 in middle-end in described middle-end, is received in described middle-end Be provided with mouthful pressure support frame 291 can closing in pressure frame 292 in the middle-end of upper and lower displacement, close up in described middle-end pressure frame Closing in pressure sensor 293 in middle-end is provided with 292, in described middle-end the bottom of closing in pressure frame 292 be provided with middle-end The lifting positioning base 289 that closes up is in closing in pressure ram 294 in the middle-end of upper and lower movable crimping；
The described middle-end mechanism 29 that magnetizes magnetized cover 295 including middle-end, and the magnetize top of cover 295 of described middle-end is provided with End is magnetized groove 296, described middle-end magnetize be provided with cover 295 can upper and lower displacement some middle-end magnet chargers 297, described middle-end Activity gripping workpiece to the middle-end of straight line sliding feeding clamping jaw 282 magnetizes in groove 296；
Described middle-end XYZ cantilevers receiving mechanism 30 includes middle-end X-axis cantilever receiving rack 298, described middle-end X-axis cantilever Receiving rack 298 is provided with the middle-end Y-axis cantilever receiving rack 299 that displacement is carried out along middle-end X-axis cantilever receiving rack 298, in described Hold and be provided with Y-axis cantilever receiving rack 299 and the workpiece middle-end Y-axis cantilever rewinding clamping jaw 300 that mutually activity grips.
Described middle-end splicing lifting positioning base 180 is located on middle-end splicing lifting floating junction installing plate 495, described The lower section of middle-end splicing lifting floating junction installing plate 495 be provided with middle-end splicing lifting cylinder installing plate 496, described middle-end Splicing lifting floating junction installing plate 495 lifts optical axis with middle-end splicing lifting cylinder installing plate 496 by some middle-end splicings 497 are slidably connected, and the bottom of described middle-end splicing lifting cylinder installing plate 496, which is provided with, promotes middle-end splicing lifting to float Joint installing plate 495 carries out the middle-end splicing lifting cylinder 498 of displacement；
Described middle-end splicing gripping frame 181 grips support column 499 by middle-end splicing and fixed with frame 3, in described Termination feed collet takes and middle-end splicing gripping upright guide rail installing plate 500 is provided with frame 181, described middle-end splicing gripping upright guide rail Middle-end splicing gripping jaw installing plate 501 provided with vertical displacement in installing plate 500, described middle-end splicing gripping jaw installation Middle-end splicing gripping jaw 502 is provided with plate 501, described middle-end splicing gripping jaw 502 controls middle-end splicing gripping clamping jaw 182 open and close；Being provided with described middle-end splicing gripping frame 181 promotes middle-end splicing lifting floating junction installing plate 495 to enter line position The middle-end splicing lifting lateral cylinder 504 of shifting, described middle-end splicing, which grips to be provided with upright guide rail installing plate 500, promotes middle-end The middle-end splicing that splicing gripping jaw installing plate 501 carries out displacement lifts vertical cylinder 506；
The bottom of middle-end linear transmission section bar 183 carries out displacement, described middle-end straight line along middle-end linear transmission guide rail 507 The afterbody for transmitting guide rail 507 is provided with the small stroke positioning bottom of middle-end linear transmission that displacement is carried out along middle-end linear transmission guide rail 507 Seat 508, described middle-end linear transmission section bar 183 carry out displacement, described middle-end straight line by middle-end linear transmission cylinder 509 Transmit small stroke positioning base 508 and displacement, described middle-end linear transmission are carried out by the small stroke cylinder 510 of middle-end linear transmission Section bar 183 is provided with 4 middle-end linear transmission positioning bases 184；
The afterbody of middle-end X-axis movement module 189 is provided with the middle-end brush holder connect with the phase active catch of middle-end brush holder feeding rack 190 and entered Expect baffle plate 511；Middle-end brush holder riser 512, the lifting of described middle-end brush holder are provided with described middle-end brush holder lifting leading screw 192 Plate 512 lifts power packages 513 by middle-end brush holder and carries out lead screw transmission, the both sides point of described middle-end brush holder lifting leading screw 192 Not She You middle-end brush holder lifting support shaft 514, described middle-end brush holder lifting support shaft 514 in be provided with and middle-end brush holder riser The middle-end brush holder lifting Linear bearing fixing seat 515 that 512 phases are fixed, described middle-end brush holder lifting Linear bearing fixing seat 515 Middle-end brush holder lifting supporting plate 193 is driven to carry out displacement；
One end of described middle-end X-axis movement module 189 is provided with middle-end brush holder and moves material receiving rack 516, described middle-end brush Frame moves feed collet and takes clamping jaw 196 to take jaw 517 to be opened and closed by middle-end brush holder shifting feed collet, and described middle-end brush holder moves feed collet and takes gas Pawl 517 moves feed collet by middle-end brush holder and takes cylinder 518 to carry out upper and lower displacement, and described middle-end brush holder moves feed collet and takes the edge of cylinder 518 Middle-end X-axis movement module 189 carries out displacement；Described middle-end brush holder, which moves feed collet pawl 197 and moved by middle-end brush holder, expects that jaw 519 is entered Row opens and closes, and described middle-end brush holder moves material jaw 519 and carries out swing offset by middle-end brush holder shifting material rotary cylinder 520, described Middle-end brush holder move material rotary cylinder 520 pass through middle-end brush holder move material cylinder 521 carry out upper and lower displacement, described middle-end brush holder move Material cylinder 521 moves module 189 along middle-end X-axis and carries out displacement；
Middle-end brush holder correction guide plate 522, described middle-end brush holder brace 208 are provided with middle-end brush holder brace 208 Top be provided with the middle-end brush holder correction cylinder 523 for promoting middle-end brush holder correction guide plate 522 to carry out displacement, described middle-end brush One end of frame correction guide plate 522 is provided with middle-end brush holder correction jaw 524, during described middle-end brush holder correction jaw 524 controls Brush holder correction clamping jaw 209 is held to grip workpiece, described middle-end brush holder corrects baffle plate 210 and corrects baffle plate cylinder by middle-end brush holder 525 carry out displacement, and described middle-end brush holder is corrected baffle plate 210 and touched with middle-end brush holder correction guide plate 522 in movable up and down； The top of described middle-end brush holder brace 208 is provided with the middle-end brush holder for promoting middle-end brush holder pressure sensor 211 to be pushed Pressure cylinder 526；
The traversing guide rail installing plate 527 of middle-end brush holder is provided with middle-end brush holder transversely-moving rack 204, described middle-end brush holder is traversing to lead Rail installing plate 527 carries out lateral displacement by the traversing guide rail installing plate cylinder 528 of middle-end brush holder along middle-end brush holder transversely-moving rack 204, The traversing jaw installing plate 529 of middle-end brush holder, described middle-end brush holder are provided with the traversing guide rail installing plate 528 of described middle-end brush holder Traversing jaw installing plate 529 is by the traversing jaw installing plate cylinder 530 of middle-end brush holder along the traversing guide rail installing plate 527 of middle-end brush holder Upper and lower displacement is carried out, the traversing briquetting 206 of described middle-end brush holder is located on the traversing jaw installing plate 529 of middle-end brush holder, described The traversing clamping jaw 205 of middle-end brush holder is opened and closed by the traversing control of jaw 532 of middle-end brush holder；
Middle-end casing discharge cylinder mounting plate 533, described middle-end casing are provided with described middle-end casing discharge frame 218 The bottom of discharge cylinder mounting plate 533 is provided with the middle-end casing discharge gas for promoting middle-end casing discharge support frame 219 to carry out displacement Cylinder 534, described middle-end casing discharge cylinder mounting plate 533 pass through some middle-end casings with middle-end casing discharge support frame 219 The discharge axis of guide 535 is slidably connected, and the bottom of the described middle-end casing discharge axis of guide 535 is stopped provided with middle-end casing discharge Position retainer ring 536；Described middle-end casing grips X and is provided with into traversing module 222 and the charging tray middle-end casing that mutually activity touches Pushing block 537 is gripped, described middle-end casing grips pushing block 537 and grips the progress upper and lower displacement of pushing block cylinder 538 by middle-end casing；
Described middle-end casing rotational positioning base 231 is located on middle-end casing rotational positioning floor installation block 539, described Middle-end casing rotational positioning floor installation block 539 be located at middle-end casing rotation linking block 540 on, described middle-end casing rotation Linking block 540 is located on middle-end casing rotating stepper motor installing plate 541, described middle-end casing rotating stepper motor installing plate 541 back side is provided with the middle-end casing rotating stepper motor 542 that control middle-end casing rotational positioning base 231 is rotated；
Being provided with described middle-end horizontal shifting frame 234 promotes middle-end horizontal shifting positioning base installing plate 235 to enter line position The middle-end horizontal shifting cylinder 543 of shifting；
It is provided with the traversing gripping frame 237 of middle-end and promotes the traversing gripping of middle-end to be transversely mounted in the progress lateral displacement of plate 238 Traversing gripping lateral cylinder 544 is held, the traversing gripping of described middle-end, which is transversely mounted in plate 238 to be provided with, promotes the traversing gripping of middle-end perpendicular The traversing vertical cylinder 545 of gripping of middle-end of vertical displacement, the traversing vertical gas of gripping of described middle-end are carried out to jaw installing plate 239 The traversing gripping jaw 546 of middle-end that the traversing gripping clamping jaw 242 of control middle-end opens and closes, described middle-end are provided with pawl installing plate 239 The bottom of the traversing vertical jaw installing plate 239 of gripping is provided with the traversing gripping jacking block 547 of middle-end of distribution corresponding with workpiece, described The traversing push rod 243 of middle-end pass through the traversing push rod cylinder 548 of middle-end and carry out upper and lower displacement；
Middle-end casing pushes briquetting 244 and pushes the progress displacement of briquetting cylinder 549, described middle-end casing by middle-end casing Push briquetting cylinder 549 and be fixed on middle-end casing and push in briquetting cylinder mounting plate 550；
Described middle-end gripping jaw installing plate 245 grips vertical engagement plate 551 with middle-end and fixed, the gripping of described middle-end Vertical engagement plate 551 carries out upper and lower displacement along middle-end gripping vertical supports 552, is set in described middle-end gripping vertical supports 552 Have and promote middle-end to grip the vertical cylinder 553 of middle-end gripping that vertical engagement plate 551 carries out upper and lower displacement, the gripping of described middle-end is perpendicular Displacement is carried out to support 552 along middle-end gripping horizontal support 554, is provided with described middle-end gripping horizontal support 554 in promoting The middle-end gripping lateral cylinder 555 of end gripping vertical supports 552, described middle-end gripping vertical supports 552 are gripped by middle-end Support frame 556 is fixed with frame 3, and described middle-end gripping rotation clamping jaw 246 grips the rotation control of jaw 557 by middle-end and opened Close, described middle-end gripping displacement clamping jaw 247 grips displacement jaw 558 by middle-end and controls keying, described middle-end gripping gas The back side of pawl installing plate 245 is provided with the middle-end gripping guiding connector 559 that connection is oriented to middle-end gripping vertical supports 553 phase；
Middle-end magnetic shoe feed frame 254 is supported positioning by middle-end magnetic shoe support base 560；
The outer end of middle-end magnetic shoe material-pushing frame 254 is provided with middle-end magnetic shoe photoelectricity slide rail 561, described middle-end magnetic shoe photoelectricity slide rail 561 afterbody is provided with middle-end magnetic shoe optoelectronic switch 562, and the other end of described middle-end magnetic shoe pusher connecting plate 258 is provided with The middle-end magnetic shoe Photoelectric Detection part 563 that end magnetic shoe optoelectronic switch 562 is inductively distributed, in described middle-end magnetic shoe expeller 260 Provided with middle-end magnetic shoe displacement transducer mounting blocks 564, it is provided with described middle-end magnetic shoe displacement transducer mounting blocks 564 and magnetic shoe The middle-end magnetic shoe displacement transducer 565 mutually touched；
The middle-end magnetic to be socket-connected with middle-end magnetic shoe lifting rotation rotating shaft 262 is provided with middle-end magnetic shoe lifting rotation support 261 Watt lifting rotation axle sleeve 566, the lower section of described middle-end magnetic shoe lifting rotation support 261 is provided with middle-end magnetic shoe lifting rotation cylinder Installing plate 567, the top of described middle-end magnetic shoe lifting rotation cylinder mounting plate 567 are provided with middle-end magnetic shoe lifting rotation cylinder 568, the top of described middle-end magnetic shoe lifting rotation cylinder 568 is provided with mutually solid with the bottom of middle-end magnetic shoe lifting rotation rotating shaft 262 The middle-end magnetic shoe lifting rotation rotating shaft mounting blocks 569 of position, described middle-end magnetic shoe lifting rotation cylinder 568 control middle-end magnetic shoe liter Drop rotating shaft 262 is rotated, and the lower section of described middle-end magnetic shoe lifting rotation cylinder mounting plate 567, which is provided with, promotes middle-end magnetic Watt lifting rotation cylinder mounting plate 567 carries out the middle-end magnetic shoe lift cylinder 570 of displacement；Described middle-end magnetic shoe lifting rotation branch The top of frame 261 is provided with middle-end magnetic shoe lifting rotation briquetting support 571, is provided with middle-end magnetic shoe lifting rotation briquetting support 571 The middle-end magnetic shoe lifting rotation briquetting engagement plate 572 of upper and lower displacement is carried out along middle-end magnetic shoe lifting rotation briquetting support 571, it is described Middle-end magnetic shoe lifting rotation lower lock block 264 be fixed in middle-end magnetic shoe lifting rotation bearing mounting seat 573, described middle-end magnetic Watt lifting rotation bearing mounting seat 573 is fixed with middle-end magnetic shoe lifting rotation briquetting engagement plate 572；
Middle-end magnetic shoe spring positioning base 265 is located on middle-end magnetic shoe spring positioning base mounting blocks 574, described middle-end The middle-end magnetic shoe for mutually sensing distribution with spring in middle-end magnetic shoe spring feed well 266 is provided with magnetic shoe spring positioning base 265 Light pricker 575, the bottom of described middle-end magnetic shoe spring positioning base mounting blocks 574 are provided with middle-end magnetic shoe spring positioning base cylinder 576, described middle-end magnetic shoe spring positioning base cylinder 576 promotes middle-end magnetic shoe pushing block 692 to carry out displacement, described middle-end magnetic The top of watt pushing block 692 is provided with middle-end magnetic shoe pushing block pressure sensor mounting blocks 577, described middle-end magnetic shoe pushing block pressure sensing The top of device mounting blocks 577 is provided with middle-end magnetic shoe pushing block pressure sensor 578, described middle-end magnetic shoe pushing block pressure sensor 578 top is provided with middle-end magnetic shoe pushing block pressure sensor torsion spring push rod 579, described middle-end magnetic shoe spring positioning base cylinder 576 promotion middle-end magnetic shoe pushing block pressure sensor torsion spring push rods 579 shift up；
The gripping of middle-end magnetic shoe pushes clamping jaw 274 and pushes the control keying of jaw 580 by the gripping of middle-end magnetic shoe；Described middle-end Magnetic shoe gripping, which moves, expects that one-level clamping jaw arm 277 grips shifting material one-level jaw 581 by middle-end magnetic shoe and controls keying, described middle-end magnetic Watt gripping, which moves material two level clamping jaw arm 278 and passes through the gripping of middle-end magnetic shoe and move material two level jaw 582 and control, to be opened and closed；Described middle-end magnetic shoe Gripping linkage board 269 grips lateral cylinder 583 by middle-end magnetic shoe and promoted along the gripping progress displacement of frame 268 of middle-end magnetic shoe, described The lower pressure rack 270 of middle-end magnetic shoe gripping pressure rack installing plate 271 lower with the gripping of middle-end magnetic shoe, the gripping of middle-end magnetic shoe move bin 275 with The gripping of middle-end magnetic shoe, which moves material installing plate 271 and grips to move respectively by middle-end magnetic shoe, expects that vertical cylinder 584 carries out displacement；
The middle-end magnetic for promoting middle-end magnetic shoe cylinder lower lock block 280 to carry out displacement is provided with middle-end magnetic shoe cylinder in pressure rack 279 Watt lower air cylinder 585；
The top of closing in lifting rotation travelling carriage 285 is provided with closing in lifting rotation cylinder mounting plate 586 in middle-end in middle-end, In described middle-end in closing in lifting rotation travelling carriage 285 be provided with promote middle-end on closing in lifting rotation cylinder mounting plate 586 to Closing in lift cylinder 587 in the middle-end of top offset, the top of closing in lifting rotation cylinder mounting plate 586 is provided with described middle-end Closing in rotary cylinder 588 in middle-end, closing in rotary cylinder 588 drives closing in lifting rotation jaw peace in middle-end in described middle-end Loading board 586 is rotated, and closing in lifting rotation clamping jaw 287 passes through closing in lifting rotation jaw 589 in middle-end in described middle-end Control opens and closes；
Closing in pressure frame 292 drives upper and lower displacement by closing in pressure servo motor 590 in middle-end in middle-end；
The middle-end that middle-end magnet charger 297 is located at magnetizes in support 591, described middle-end magnetize support 591 bottom be provided with The magnetize middle-end of the phase activity of support 591 fixation of middle-end is magnetized bottom plate 592, and the described middle-end bottom plate 592 that magnetizes is fixed with frame 3, The magnetize bottom of bottom plate 592 of described middle-end is provided with and promotes the middle-end support 591 that magnetizes to carry out the middle-end of upper and lower displacement and magnetize cylinder 593, the described middle-end cylinder 593 that magnetizes promotes the middle-end support 591 that magnetizes to shift up and stretch to middle-end and magnetize cover 295；
Described middle-end Y-axis cantilever rewinding clamping jaw 300 is controlled by middle-end Y-axis cantilever rewinding jaw 594 and opened and closed, described Middle-end Y-axis cantilever rewinding jaw 594 is fixed on middle-end Y-axis cantilever rewinding jaw installing plate 595, described middle-end Y-axis cantilever Rewinding jaw installing plate 595 carries out upper and lower displacement, described middle-end Y-axis cantilever rewinding by middle-end Y-axis cantilever rewinding cylinder 596 Cylinder 596 is located on middle-end Y-axis cantilever rewinding cylinder mounting plate 595, described middle-end Y-axis cantilever rewinding cylinder mounting plate 595 Fixed with middle-end Y-axis cantilever receiving rack 299；
Middle-end transition gripping body is provided between described middle-end casing installing mechanism and middle-end magnetic shoe installing mechanism, it is described Middle-end transition gripping body is with the small stroke positioning base 185 of middle-end linear transmission in movable corresponding distribution, described middle-end mistake Crossing gripping body includes middle-end transition gripping frame 598, is provided with described middle-end transition gripping frame 598 along middle-end transition and grips frame 598 carry out the middle-end transition gripping claw clip 599 of upper and lower displacement.
A kind of operating method of fuel pump automatic assembly line middle-end assembly machine, improves according to the following steps：
(1), assemble：
1st, assembling figure is compareed, each group part is assembled, pinpoints the problems answer timely processing in an assembling process：Pay attention to thing ：
A) frame is put in correct position, avoids moving during assembly and adjustment；
B) after securing a base plate in frame, cleaning inspection is carried out to all holes on bottom plate, to ensure each hole Expected assembling is attained by require；
Should accomplish when c) assembling without non-tapping hole, do not attack in place hole, without interference hole, to prevent tearing big dress open greatly during follow-up assembling；
2nd, installation electricity, pneumatic element：Sensor, cylinder, motor and its other standard components are loaded on machine, and it is right Required position is positioned, to ensure precision；
(2), debug：
1st, connect electricity and connect gas：By the PLC needed for circuit, touch-screen, pickup wire, it is installed in place and is powered；To needed for gas circuit Tracheae, valve is installed in place and ventilates；
2nd, program is inputted, manually debugging：Program is write in PLC, touch-screen, and run；Product is put into, with manual mode Each action is debugged, it is whether qualified to observe the product produced under manual mode, for there is bad phenomenon Analyzed, and find in time and solve problem；
3rd, automatic debugging：For the machine debugged manually, it is put into appropriate product and is test-manufactured automatically, and examines the product to be It is no qualified, the problem of excluding to be likely to occur；
(3), middle-end assembly machine operating method：
1st, product is put to the product positioning base of splicing hoisting mechanism by manipulator after the completion of preceding road assembling, lifted Product lifting is arrived eminence by air cylinder lifting, and splicing gripping body lift cylinder drops at product space, jaw clamping jaw contraction clip Firmly product, splicing gripping body lift cylinder rise gripping product, and splicing gripping body horizontal air cylinder, which shrinks, is moved to product Above linear transport mechanism positioning base, general who has surrendered's product is put into linear transport mechanism positioning bottom under splicing gripping body lift cylinder On seat, splicing gripping body jaw release product；
2nd, product is sent to brush holder installation station by linear transport mechanism, and brush holder gripping body lift cylinder declines, jaw Upper gripper jaw shrinks gripping brush holder, and after lift cylinder rises to certain altitude, rotary cylinder is rotated by 90 ° brush holder from horizontality It is changed into vertical state, cantilever XYZ moves module and brush holder is sent to above brush holder installation station brush holder firm banking, brush holder catching device General who has surrendered's brush holder is put into fixed seat under structure lift cylinder, and jaw upper gripper jaw release product, brush holder installation station pushes reshaping device Shaping lift cylinder declines, and shaping jaw, which is shunk, carries out shaping to brush holder, brush holder installation station horizontal shifting mechanism cylinder cylinder Promoting brush holder, lift cylinder declines on horizontal shifting gripping body to below pressure cylinder, and the contraction of jaw upper gripper jaw is from straight-line transmitting Send and product is gripped on mechanism positioning base, lift cylinder rises, and product is sent to above brush holder by the operation of horizontal shifting cylinder, horizontal Transverse-moving mechanism lift cylinder, which declines, to be put into product on brush holder, and pressure cylinder declines, and product and brush holder are compressed, on pressure cylinder Rise, horizontal shifting gripping body lift cylinder rises, and product is sent to straight-line transmitting by the motion of horizontal shifting gripping body horizontal air cylinder Send above mechanism positioning base, general who has surrendered assembles product and is put on positioning base under horizontal shifting mechanism lift cylinder, jaw folder Pawl discharges product；
3rd, product is sent to casing installation station, XYZ module manipulators on casing conveying pipeline by linear transport mechanism Casing gripping is sent on casing erector's position detecting mechanism positioning base, laser displacement sensor carries out positive and negative and table to casing Planar defect is detected, and defect casing will be gone to put into casing box by XYZ modules manipulator if casing surface is defective after detection, If surface does not have defect, casing installation station gripping body lift cylinder declines, and rotary oscillation jaw foundation above swashs The detection gripping rotation casing of Optical displacement sensor, the direction that casing is adjusted to need, the motion of gripping body horizontal air cylinder will Casing is sent to above horizontal shifting mechanism positioning base, and gripping body lift cylinder declines, and the release of jaw clamping jaw is put into casing On horizontal shifting mechanism positioning base, horizontal shifting mechanism cylinder moving is transported to casing below pressure mechanism, horizontal shifting Gripping body lift cylinder declines, and jaw upper gripper jaw shrinks grips product, horizontal shifting from linear transport mechanism positioning base Gripping body lift cylinder rises is sent to eminence product, the motion of horizontal shifting gripping body horizontal air cylinder, product is sent to pressure Under force mechanisms, horizontal shifting gripping body lift cylinder, which declines, to be put into product on casing, and pressure mechanism pressure cylinder declines, under Square cylinder is withstood, then withstands product with aciculiform cylinder, declines in lift cylinder and product and casing are compressed, and pressure cylinder rises, Horizontal shifting gripping body lift cylinder rises, and eminence is sent to product is assembled, horizontal shifting gripping body horizontal air cylinder, Product is sent to above linear transport mechanism positioning base, and horizontal shifting gripping body lift cylinder declines is put into straight-line transmitting product Send on mechanism positioning base, the release of jaw upper gripper jaw；
4th, product is sent to transition gripping station by linear transport mechanism, and lift cylinder declines on transition gripping station, gas Pawl upper gripper jaw shrinks gripping product, and lift cylinder rises on transition gripping station is sent to eminence product, after linear transport mechanism A station is moved, transition grips lift cylinder decline on station and product is put on linear transport mechanism positioning base, jaw folder Pawl discharges, and lift cylinder rises；
5th, product is sent to magnetic shoe installation station by linear transport mechanism, and magnetic shoe pusher promotes on magnetic shoe installation station Magnetic shoe is on lifting rotation mechanism magnetic shoe positioning base, and lift cylinder declines above lifting rotation mechanism, and pressure head compresses positioning bottom Magnetic shoe on seat, lifting rotation mechanism lower section lift cylinder rise, and magnetic shoe is sent into eminence, the rotary cylinder rotation of lifting rotation mechanism 180 degree, positioning base and magnetic shoe rotation 180 degree being driven, lower section lift cylinder declines, and returns to original position, and top lift cylinder rises, Pressure head unclamps, and magnetic shoe pusher promotes magnetic shoe to shift another magnetic shoe on lifting rotation mechanism magnetic shoe positioning base onto, top Lift cylinder, which declines, compresses magnetic shoe, and lower section lift cylinder rises is sent to eminence by magnetic shoe, and magnetic shoe gripping body jaw shrinks gripping Magnetic shoe, lifting rotation mechanism top lift cylinder rise, and lower section lift cylinder declines, the motion of magnetic shoe gripping body horizontal air cylinder, Magnetic shoe is sent to above magnetic shoe installation positioning base, magnetic shoe gripping body lift cylinder declines, and magnetic shoe is fixed mounted in magnetic shoe assembling On the base of position, magnetic shoe is held by the magnet on magnetic shoe assembling positioning base, product gripping body lifting air on magnetic shoe gripping body Cylinder declines, and product gripping body jaw shrinks gripping product, and product gripping body lift cylinder rises, and magnetic shoe gripping body is horizontal Cylinder moving, product is sent to above magnetic shoe installation positioning base, product gripping body lift cylinder declines, and product is placed on magnetic On watt installation positioning seat, spring pressure mechanism lift cylinder rises, between spring is pressed into magnetic shoe magnetic shoe, spring pressure mechanism liter Sending down abnormally ascending cylinder declines, and pressure mechanism lift cylinder, which declines, compresses product, and product gripping body lift cylinder rises, and product is sent to height Place, magnetic shoe gripping body horizontal air cylinder moving handle product are sent to above magnetic tile conveying device product positioning base, product catching device Structure lift cylinder declines, and product is put into transport mechanism product positioning base, the release of product gripping body jaw, product gripping Mechanism lift cylinder rises, and the small stroke cylinder of linear transport mechanism shrinks, and product is sent to below straight line conveying gripping body；
6th, straight line conveying gripping body lift cylinder declines, and jaw shrinks gripping product, and lift cylinder rises to certain height Degree, single shaft travel mechanism motor are rotated, and product is transported into upper closing in station, and straight line conveying gripping body lift cylinder declines, Jaw is discharged, and product is placed in product positioning base；
7th, the jaw of lifting rotation mechanism shrinks gripping product in upper closing in station, on lifting rotation mechanism lift cylinder Rise, then rotary cylinder rotation 180 degree, send product to and push several mouthfuls of lower sections, lift cylinder declines, product is put into product and determined On the base of position, pressure mechanism servomotor rotation, pressure head pushes closing in, while vacuum generator work siphons away what is come off on product Some coating epidermises, after the completion of closing in, private takes motor rotation, and pressure head rises, and lifting rotation mechanism lift cylinder rises, lifting rotation Rotation mechanism rotary cylinder rotates 180 degree, and lifting rotation mechanism lift cylinder declines, and jaw release, product is positioned over product and determined On the base of position；
8th, straight line conveying gripping body lift cylinder declines, and jaw, which is shunk from upper closing in station positioning base, grips product, Straight line conveying gripping body lift cylinder rises, and product is sent to certain altitude, single shaft travel mechanism motor rotates, and product is defeated It is sent to above the station that magnetizes, the station lift cylinder that magnetizes rises, and product positioning base is raised to eminence, straight line conveying gripping body Lift cylinder, which declines product to be placed into, to magnetize on station lifting pedestal, and straight line conveying gripping body jaw release, magnetize station Lift cylinder declines, and product is sent into magnet charger, magnet charger magnetizes to product, the mechanism that magnetized after the completion of magnetizing lift cylinder Rise, product is risen to certain altitude；
9th, cantilever XYZ motors are rotated, and receiving mechanism clamping jaw is moved to above product, and gripping product is put after being put into charging tray Under；
(4), points for attention：
1st, when on station continuous 10S do not sensed that product can then alarm, automatic eliminate of alarming after product to be added；
2nd, the inductor on cylinder is not bright after action, or cylinder is suffocated and do not acted, and can be alarmed, need to be on operating case Manual-automatic switch get to manual mode then manually intervene, cylinder is returned to normal operating conditions, then press alarm and disappear Except button, switch is then got to auto state again, presses start button, machine normal work.

Claims (3)

1. a kind of middle-end assembly machine of fuel pump automatic assembly line, including charging tray (1), workpiece (2) and frame (3), its feature exist In：Frame be provided with middle-end splicing hoisting mechanism (19), middle-end splicing gripping body (20), middle-end linear transport mechanism (21), Middle-end brush holder gripping body (22), middle-end brush holder installing mechanism (23), middle-end casing conveying mechanism (24), middle-end casing fitting machine Structure (25), middle-end magnetic shoe installing mechanism (26), middle-end straight line sliding feed mechanism (27), closing mechanism (28), middle-end in middle-end The mechanism that magnetizes (29) and middle-end XYZ cantilevers receiving mechanism (30)；
The inner of described middle-end linear transport mechanism (21) is sequentially provided with middle-end splicing hoisting mechanism (19), middle-end from left to right Splicing gripping body (20), middle-end casing installing mechanism (23), middle-end casing installing mechanism (25) and middle-end magnetic shoe installing mechanism (26)；
Described middle-end splicing hoisting mechanism (19) include can upper and lower displacement middle-end splicing lifting positioning base (180)；
Described middle-end splicing gripping body (20) includes middle-end splicing gripping frame (181), described middle-end splicing gripping frame (181) the middle-end splicing gripping clamping jaw (182) of movable gripping workpiece is provided with；
Described middle-end linear transport mechanism (21) includes the middle-end linear transmission section bar (183) that can carry out displacement, in described End linear transmission section bar (183) is provided with some middle-end linear transmission positioning bases (184), described middle-end linear transmission section bar (183) afterbody, which is provided with the movable small stroke of middle-end linear transmission of distribution corresponding with middle-end linear transmission section bar (183), to be determined Position base (185)；
Described middle-end brush holder gripping body (22) includes middle-end brush holder feeding assembly, middle-end brush holder lifting assembly and middle-end brush holder Material component is moved, described middle-end brush holder feeding assembly is distributed with middle-end brush holder lifting assembly in corresponding；
Described middle-end brush holder feeding assembly (186) includes middle-end X-axis movement module (189), described middle-end X-axis movement module (189) drive middle-end brush holder feeding rack (190) to carry out displacement, charging charging tray is provided with described middle-end brush holder feeding rack (190) (191)；Middle-end brush holder lifting assembly (187) includes middle-end brush holder lifting leading screw (192), described middle-end brush holder lifting leading screw (192) drive middle-end brush holder lifting supporting plate (193) to carry out upper and lower displacement, described middle-end brush holder lifting supporting plate (193) with Charging charging tray (191) in middle-end brush holder feeding rack (190) touches in movable；
Described middle-end brush holder, which moves material component (188), includes middle-end brush holder shifting material X-axis gripping module (194), described middle-end brush Frame moves material X-axis gripping module (194) and is provided with the middle-end moved material X-axis gripping module (194) along middle-end brush holder and be slidably connected Brush holder moves material Y-axis gripping module (195), and it is at least one that the shifting of described middle-end brush holder expects that the inner of Y-axis gripping module (195) is provided with Feed collet is moved with charging charging tray (191) the middle-end brush holder that mutually activity grips and takes clamping jaw (196), and described middle-end brush holder moves material Y-axis folder The outer end of modulus group (195) is provided with moves feed collet pawl with the middle-end brush holder that mutually activity grips of the workpiece in charging charging tray (191) (197)；
Described middle-end brush holder installing mechanism (23) includes middle-end brush holder corrective component (198), middle-end brush holder horizontal shifting grips Mechanism (199) and middle-end brush holder pressure assembly (200)；
Middle-end brush holder horizontal shifting gripping body (199) includes the traversing gripper assembly of middle-end brush holder and the traversing component of middle-end brush holder, The described traversing gripper assembly of middle-end brush holder is distributed with the traversing component of middle-end brush holder in matching type is corresponding；
The described traversing gripper assembly of middle-end brush holder includes the traversing gripping frame (201) of middle-end brush holder, and described middle-end brush holder is traversing The traversing positioning seat of middle-end brush holder (202) for being provided with frame (201) and displacement being carried out with the traversing gripping frame (201) of middle-end brush holder is gripped, Described middle-end brush holder moves feed collet pawl (197) and is moved to the top of the traversing positioning seat of middle-end brush holder (202) and horizontal with middle-end brush holder Positioning seat (202) is moved to touch in movable；
The traversing component of middle-end brush holder includes middle-end brush holder transversely-moving rack (204), and edge is provided with described middle-end brush holder transversely-moving rack (204) Middle-end brush holder transversely-moving rack (204) carries out the traversing clamping jaw of middle-end brush holder (205) of displacement, the described traversing clamping jaw of middle-end brush holder (205) touched with the traversing positioning seat of middle-end brush holder (202) in movable, the top of the described traversing clamping jaw of middle-end brush holder (205) Provided with the traversing briquetting of middle-end brush holder (206) that displacement is carried out with middle-end brush holder transversely-moving rack (204), the described traversing pressure of middle-end brush holder The bottom of block (206) is provided with the traversing guide pad of middle-end brush holder (207), the described traversing guide pad of middle-end brush holder (207) and middle-end The traversing clamping jaw of brush holder (205) is distributed in upper and lower corresponding；
Described middle-end brush holder corrective component (198) includes middle-end brush holder brace (208), described middle-end brush holder brace (208) can upper and lower displacement middle-end brush holder correction clamping jaw (209), described middle-end brush holder correction clamping jaw (209) with middle-end brush holder Traversing positioning seat (202) is touched in movable up and down, and the lower section of described middle-end brush holder brace (208) is provided with and middle-end brush holder The movable middle-end brush holder correction baffle plate (210) of brace (208) corresponding distribution；
Described middle-end brush holder pressure assembly (200) include can upper and lower displacement middle-end brush holder pressure sensor (211), it is described The bottom of middle-end brush holder pressure sensor (211) is provided with middle-end brush holder and fixes signature block (212), and described middle-end brush holder, which is fixed, gives as security block (212) crimped with the traversing briquetting of middle-end brush holder (206) in movable；
Described middle-end casing conveying mechanism (24) includes middle-end casing Belt Conveying component (213), middle-end casing discharge assembly (214) and middle-end casing gripper assembly (215), described middle-end casing Belt Conveying component (213) and middle-end casing discharge group Part (214) is distributed in matching type, and described middle-end casing gripper assembly (215) is located at the upper of middle-end casing discharge assembly (214) Portion；
Described middle-end casing Belt Conveying component (213) includes middle-end casing belt conveying frame (216), described middle-end casing The top of belt conveying frame (216) is provided with middle-end casing belt conveyor (217)；
Described middle-end casing discharge assembly (214) includes middle-end casing discharge frame (218), described middle-end casing discharge frame (218) in be provided with can upper and lower displacement middle-end casing discharge support frame (219), described middle-end casing discharge support frame (219) It is connected, is provided with described middle-end casing discharge support frame (219) some in transition type with middle-end casing belt conveyor (217) Middle-end casing discharge roller (220), the turning rolls for tilting down distribution is provided with described middle-end casing discharge frame (218) (221), described middle-end casing discharge support frame (219) can be moved to the lower section of turning rolls (221) downwards；
Described middle-end casing gripper assembly (215) includes middle-end casing and grips X to traversing module (222), described middle terminal Shell grips X and is provided with what is be slidably connected along middle-end casing gripping X to traversing module (222) to the top of traversing module (222) The middle-end casing gripping traversing module of Y-direction (223), described middle-end casing are gripped in the traversing module of Y-direction (223) and are provided with along middle terminal The shell gripping traversing module of Y-direction (223) carries out the middle-end casing gripping clamping jaw (224) of displacement, described middle-end casing gripping clamping jaw (224) it is located at the top of middle-end casing discharge support frame (219)；
Described middle-end casing installing mechanism (25) includes middle-end casing rotation detection components (225), middle-end lifting standard package (226), middle-end horizontal shifting component (227), the traversing gripper assembly of middle-end (228), middle-end gripper assembly (229) and middle-end casing Component (230) is pushed, described middle-end casing rotation detection components (225), middle-end lifting standard package (226), middle-end are horizontal Traversing component (227), the traversing gripper assembly of middle-end (228), middle-end gripper assembly (229) and middle-end casing push component (229) It is distributed in matching type is corresponding；
Described middle-end casing rotation detection components (225) include rotatable middle-end casing rotational positioning base (231), described Workpiece be located at the top of middle-end casing rotational positioning base (231), the outside of described workpiece is provided with corresponding with workpiece Laser displacement inspecting device (232), described middle-end casing gripping clamping jaw (224) activity gripping workpiece are fixed to the rotation of middle-end casing The top of position base (231)；
Described middle-end lifting standard package (226) includes middle-end lifting positioning base (233)；
Described middle-end horizontal shifting component (227) includes middle-end horizontal shifting frame (234), described middle-end horizontal shifting frame (234) movable middle-end horizontal shifting positioning base installing plate (235), described middle-end horizontal shifting positioning base are provided with Middle-end horizontal shifting positioning base (236) is provided with installing plate (235)；
The traversing gripper assembly of described middle-end (228) includes the traversing gripping frame (237) of middle-end, the traversing gripping frame of described middle-end (237) the traversing gripping of middle-end for carrying out lateral displacement along the traversing gripping frame (237) of middle-end is provided with and is transversely mounted plate (238), institute The traversing gripping of middle-end stated, which is transversely mounted in plate (238) to be provided with along the traversing gripping of middle-end, is transversely mounted the vertical position of plate (238) progress The traversing vertical jaw installing plate (239) of gripping of middle-end of shifting, traversing grip of described middle-end set in vertical jaw installing plate (239) There is the traversing gripping briquetting (240) of middle-end, the bottom of the traversing gripping briquetting (240) of described middle-end is provided with the traversing gripping of middle-end and is oriented to Block (241), the lower section of the traversing gripping guide pad (241) of described middle-end are provided with the traversing gripping clamping jaw (246) of middle-end, described machine Frame (3) is provided with the traversing push rod of middle-end (243) in corresponding distribution up and down with the traversing gripping clamping jaw (242) of middle-end；
Described middle-end casing push component (230) include can the middle-end casing of upper and lower displacement push briquetting (244), in described Terminal shell pushes briquetting (244) and crimped to bottom offset with the top of the traversing gripping briquetting (240) of middle-end in movable；
Described middle-end gripper assembly (229) includes movable middle-end gripping jaw installing plate (245), the gripping of described middle-end During one end of jaw installing plate (245) outer wall is provided with mutually activity grips with workpiece in middle-end casing rotational positioning base (231) End gripping rotation clamping jaw (246), the other end of described middle-end gripping jaw installing plate (245) outer wall is provided with horizontal horizontal with middle-end Move the workpiece middle-end gripping displacement clamping jaw (247) that mutually activity grips in positioning base (236)；
Described middle-end magnetic shoe installing mechanism (26) includes middle-end magnetic shoe supply assembly (248), middle-end magnetic shoe pushing material component (249), middle-end magnetic shoe lifting rotation component (250), middle-end magnetic shoe gripper assembly (251), middle-end magnetic shoe spring mounting assembly (252) and middle-end magnetic shoe cylinder pushes component (253), and described middle-end magnetic shoe pushing material component (249) promotes middle-end magnetic shoe feed Magnetic shoe in component (248) carries out displacement, described middle-end magnetic shoe supply assembly (248) and middle-end magnetic shoe lifting rotation component (250) in connection shape distribution, described middle-end magnetic shoe gripper assembly (251) activity gripping middle-end magnetic shoe lifting rotation component (250) magnetic shoe in, described middle-end magnetic shoe gripper assembly (250) is with middle-end magnetic shoe spring mounting assembly (252) in corresponding point Cloth, the top of described middle-end magnetic shoe spring mounting assembly (252) is provided with pushes component (253) in up and down with middle-end magnetic shoe cylinder Movable crimping；
Described middle-end magnetic shoe supply assembly (248) includes middle-end magnetic shoe feed frame (254), described middle-end magnetic shoe feed frame (254) the middle-end magnetic shoe hopper (255) of connection distribution is provided with, described middle-end magnetic shoe hopper (255) passes through sprocket wheel power packages (256) displacement transmission is carried out；
Described middle-end magnetic shoe pushing material component (249) includes middle-end magnetic shoe material-pushing frame (257), described middle-end magnetic shoe material-pushing frame (257) it is provided with movable middle-end magnetic shoe pusher connecting plate (258) in, the one of described middle-end magnetic shoe pusher connecting plate (258) End is provided with middle-end magnetic shoe expeller installing plate (259), is provided with described middle-end magnetic shoe expeller installing plate (259) and promotes middle-end Magnetic shoe carries out the middle-end magnetic shoe expeller (260) of displacement in magnetic shoe hopper (255)；
Described middle-end magnetic shoe lifting rotation component (250) includes middle-end magnetic shoe lifting rotation support (261), described middle-end magnetic Movable middle-end magnetic shoe lifting rotation rotating shaft (262), the lifting of described middle-end magnetic shoe are provided with watt lifting rotation support (261) Runing rest (261) is provided with the middle-end magnetic shoe lifting rotation pair of distribution corresponding with middle-end magnetic shoe lifting rotation rotating shaft (262) Claim baffle plate (263), described magnetic shoe enters to middle-end magnetic shoe lifting rotation symmetrical baffle plate (263) and turned with middle-end magnetic shoe lifting rotation Between axle (262), the top of described middle-end magnetic shoe lifting rotation rotating shaft (262) is provided with and middle-end magnetic shoe lifting rotation rotating shaft (262) the middle-end magnetic shoe lifting rotation lower lock block (264) that mutually activity crimps；
Described middle-end magnetic shoe spring mounting assembly (252) includes middle-end magnetic shoe spring positioning base (265), described middle-end magnetic Middle-end magnetic shoe spring feed well (266), described middle-end magnetic shoe spring feed well are provided with watt spring positioning base (265) (266) bottom is provided with the middle-end magnetic shoe spring position for promoting that spring is shifted up in middle-end magnetic shoe spring feed well (266) Component is moved, the outer wall of described middle-end magnetic shoe spring positioning base (265) is provided with middle-end magnetic shoe spring positioning base magnet (267)；
Described middle-end magnetic shoe gripper assembly (251) includes middle-end magnetic shoe gripping frame (268), described middle-end magnetic shoe gripping frame (268) the middle-end magnetic shoe gripping linkage board (269) for gripping frame (268) along middle-end magnetic shoe and being slid laterally is provided with, it is described The outer end of middle-end magnetic shoe gripping linkage board (269) is provided with the gripping of middle-end magnetic shoe and pushes component, the gripping linkage of described middle-end magnetic shoe The inner of plate (269) is provided with the gripping of middle-end magnetic shoe and moves material component；
Described middle-end magnetic shoe gripping, which pushes component, includes the lower pressure rack (270) of middle-end magnetic shoe gripping, the gripping of described middle-end magnetic shoe The middle-end magnetic shoe gripping that pressure rack (270) progress upper and lower displacement under being gripped along middle-end magnetic shoe is provided with lower pressure rack (270) pushes installation Plate (271), the gripping of described middle-end magnetic shoe, which pushes, is provided with middle-end magnetic shoe gripping briquetting (272) in installing plate (271), in described The bottom of magnetic shoe gripping briquetting (272) is held to be provided with middle-end magnetic shoe gripping guide pad (273), described middle-end magnetic shoe gripping guide pad (273) lower section is provided with pushes clamping jaw (274) with the workpiece middle-end magnetic shoe gripping that mutually activity grips；
Described middle-end magnetic shoe gripping moves material component and moves bin (275), the gripping of described middle-end magnetic shoe including the gripping of middle-end magnetic shoe Move in bin (275) to be provided with to move along the middle-end magnetic shoe gripping of lower pressure rack (275) the progress upper and lower displacement of middle-end magnetic shoe gripping and expect installation Plate (276), the gripping of described middle-end magnetic shoe move in material installing plate (276) and move material one-level clamping jaw arm provided with the gripping of middle-end magnetic shoe (277), the gripping of described middle-end magnetic shoe, which moves, expects that the outer end of one-level clamping jaw arm (277) is provided with the gripping of middle-end magnetic shoe and moves material two level clamping jaw Arm (278), two middle-end magnetic shoe grippings move material two level clamping jaw arm (278) and form middle-end magnetic shoe gripping chamber, described middle-end magnetic shoe Gripping moves material two level clamping jaw arm (278) and gripped with magnetic shoe in activity；
Described middle-end magnetic shoe cylinder, which pushes component (253), includes pressure rack (279) under middle-end magnetic shoe cylinder, described middle-end magnetic shoe The middle-end magnetic shoe cylinder lower lock block crimped with middle-end magnetic shoe gripping briquetting (272) in activity is provided with cylinder in pressure rack (279) (280)；
Described middle-end straight line sliding feed mechanism (27) includes middle-end straight line sliding cradle (281), described middle-end straight line Slide the middle-end straight line sliding feeding for being provided with cradle (281) and sliding cradle (281) along middle-end straight line and carry out straight-line displacement Clamping jaw (282), described middle-end straight line sliding feeding clamping jaw (282) stroke positioning base (185) small with middle-end linear transmission are in Movable gripping；
Closing mechanism (28) includes closing in lifting rotation group in closing in pressure assembly (283) in middle-end and middle-end in described middle-end Part (284), in described middle-end closing in pressure assembly (283) with closing in lifting rotation component (285) in middle-end in matching type point Cloth；
Include can closing in lifting rotation travelling carriage in the middle-end of upper and lower displacement for closing in lifting rotation component (284) in described middle-end (285), the top of closing in lifting rotation travelling carriage (285) is provided with rotatable middle-end the lifting rotation that closes up in described middle-end Jaw installing plate (286), the two side ends of closing in lifting rotation jaw installing plate (286) are respectively equipped with middle-end in described middle-end Closing in lifting rotation clamping jaw (287), the outer end of closing in lifting rotation travelling carriage (285) is provided with being received in middle-end in described middle-end Mouth lifting rotation clamping jaw (287) is in closing in lifting rotation workpiece positioning seat (288) in the middle-end of movable gripping, described middle-end The outer end of upper closing in lifting rotation travelling carriage (285) is provided with middle-end the lifting positioning base (289) that closes up, and is received in described middle-end The bottom of mouth lifting positioning base (289) is provided with middle-end the lifting vacuum generator (290) that closes up；
Closing in pressure assembly (283) includes closing in pressure support frame (291) in middle-end in described middle-end, is received in described middle-end Be provided with mouthful pressure support frame (291) can closing in pressure frame (292) in the middle-end of upper and lower displacement, close up in described middle-end pressure Closing in pressure sensor (293) in middle-end is provided with frame (292), the bottom of closing in pressure frame (292) is provided with described middle-end It is in closing in pressure ram (294) in the upper and lower movable middle-end crimped with the lifting positioning base (289) that closed up in middle-end；
The described middle-end mechanism (29) that magnetizes is magnetized cover (295) including middle-end, and the magnetize top of cover (295) of described middle-end is provided with Middle-end magnetizes groove (296), described middle-end magnetize be provided with cover (295) can upper and lower displacement some middle-end magnet chargers (297), institute Middle-end straight line sliding feeding clamping jaw (282) activity gripping workpiece to the middle-end stated magnetizes in groove (296)；
Described middle-end XYZ cantilevers receiving mechanism (30) includes middle-end X-axis cantilever receiving rack (298), described middle-end X-axis cantilever Receiving rack (298) is provided with the middle-end Y-axis cantilever receiving rack (299) that displacement is carried out along middle-end X-axis cantilever receiving rack (298), institute It is provided with the middle-end Y-axis cantilever receiving rack (299) stated and the workpiece middle-end Y-axis cantilever rewinding clamping jaw (300) that mutually activity grips.
A kind of 2. middle-end assembly machine of fuel pump automatic assembly line according to claim 1, it is characterised in that：In described Termination material lifting positioning base (180) is located on middle-end splicing lifting floating junction installing plate (495), and described middle-end splicing carries The lower section for rising floating junction installing plate (495) is provided with middle-end splicing lifting cylinder installing plate (496), described middle-end splicing lifting Floating junction installing plate (495) lifts optical axis (497) with middle-end splicing lifting cylinder installing plate (496) by some middle-end splicings It is slidably connected, the bottom of described middle-end splicing lifting cylinder installing plate (496), which is provided with, promotes middle-end splicing lifting to float Joint installing plate (495) carries out the middle-end splicing lifting cylinder (498) of displacement；
Described middle-end splicing gripping frame (181) grips support column (499) by middle-end splicing and fixed with frame (3), described Middle-end splicing gripping upright guide rail installing plate (500) is provided with middle-end splicing gripping frame (181), described middle-end splicing gripping is perpendicular Middle-end splicing gripping jaw installing plate (501) provided with vertical displacement in straight guide installing plate (500), described middle-end splicing folder Take and middle-end splicing gripping jaw (502) is provided with jaw installing plate (501), described middle-end splicing gripping jaw (502) control Middle-end splicing gripping clamping jaw (182) opens and closes；It is provided with described middle-end splicing gripping frame (181) and promotes middle-end splicing lifting to float Joint installing plate (495) carries out the middle-end splicing lifting lateral cylinder (504) of displacement, described middle-end splicing gripping upright guide rail The middle-end splicing for promoting middle-end splicing gripping jaw installing plate (501) to carry out displacement is provided with installing plate (500) and lifts vertical gas Cylinder (506)；
The bottom of middle-end linear transmission section bar (183) carries out displacement, described middle-end straight line along middle-end linear transmission guide rail (507) The afterbody of transmission guide rail (507), which is provided with along the small stroke of middle-end linear transmission of middle-end linear transmission guide rail (507) progress displacement, to be determined Position base (508), described middle-end linear transmission section bar (183) carries out displacement by middle-end linear transmission cylinder (509), described The small stroke positioning base (508) of middle-end linear transmission by the small stroke cylinder of middle-end linear transmission (510) carry out displacement, it is described Middle-end linear transmission section bar (183) be provided with 4 middle-end linear transmission positioning bases (184)；
The afterbody of middle-end X-axis movement module (189) is provided with the middle-end brush holder connect with middle-end brush holder feeding rack (190) phase active catch and entered Expect baffle plate (511)；Middle-end brush holder riser (512), described middle-end brush are provided with described middle-end brush holder lifting leading screw (192) Frame riser (512) lifts power packages (513) by middle-end brush holder and carries out lead screw transmission, described middle-end brush holder lifting leading screw (192) both sides are respectively equipped with middle-end brush holder lifting support shaft (514), are set in described middle-end brush holder lifting support shaft (514) There are the middle-end brush holder lifting Linear bearing fixing seat (515) mutually fixed with middle-end brush holder riser (512), described middle-end brush holder Lifting Linear bearing fixing seat (515) drives middle-end brush holder lifting supporting plate (193) to carry out displacement；
One end of described middle-end X-axis movement module (189) is provided with middle-end brush holder and moves material receiving rack (516), described middle-end brush Frame moves feed collet and takes clamping jaw (196) to take jaw (517) to be opened and closed by middle-end brush holder shifting feed collet, and described middle-end brush holder moves feed collet Taking jaw (517) to move feed collet by middle-end brush holder takes cylinder (518) to carry out upper and lower displacement, and described middle-end brush holder moves feed collet and takes gas Cylinder (518) moves module (189) along middle-end X-axis and carries out displacement；Described middle-end brush holder moves feed collet pawl (197) and passes through middle-end brush holder Move material jaw (519) to be opened and closed, described middle-end brush holder moves material jaw (519) and moves material rotary cylinder by middle-end brush holder (520) swing offset is carried out, described middle-end brush holder, which moves material rotary cylinder (520) and moved by middle-end brush holder, expects that cylinder (521) enters Row upper and lower displacement, described middle-end brush holder move material cylinder (521) and move module (189) progress displacement along middle-end X-axis；
Middle-end brush holder correction guide plate (522), described middle-end brush holder brace are provided with middle-end brush holder brace (208) (208) top is provided with the middle-end brush holder correction cylinder (523) for promoting middle-end brush holder correction guide plate (522) to carry out displacement, institute The one end for the middle-end brush holder correction guide plate (522) stated is provided with middle-end brush holder correction jaw (524), the correction of described middle-end brush holder Jaw (524) control middle-end brush holder correction clamping jaw (209) gripping workpiece, described middle-end brush holder correction baffle plate (210) is in Brush holder correction baffle plate cylinder (525) is held to carry out displacement, described middle-end brush holder correction baffle plate (210) is oriented to the correction of middle-end brush holder Plate (522) touches in movable up and down；The top of described middle-end brush holder brace (208), which is provided with, promotes middle-end brush holder pressure to pass The middle-end brush holder pressure cylinder (526) that sensor (211) is pushed；
The traversing guide rail installing plate (527) of middle-end brush holder is provided with middle-end brush holder transversely-moving rack (204), described middle-end brush holder is traversing to lead Rail installing plate (527) is carried out laterally by the traversing guide rail installing plate cylinder (528) of middle-end brush holder along middle-end brush holder transversely-moving rack (204) Displacement, the traversing jaw installing plate (529) of middle-end brush holder is provided with the traversing guide rail installing plate (528) of described middle-end brush holder, it is described The traversing jaw installing plate (529) of middle-end brush holder it is horizontal along middle-end brush holder by the traversing jaw installing plate cylinder (530) of middle-end brush holder Move guide rail installing plate (527) and carry out upper and lower displacement, the described traversing briquetting of middle-end brush holder (206) is located at the traversing jaw of middle-end brush holder On installing plate (529), the described traversing clamping jaw of middle-end brush holder (205) is controlled by the traversing jaw of middle-end brush holder (532) and opened and closed；
Middle-end casing discharge cylinder mounting plate (533), described middle-end casing are provided with described middle-end casing discharge frame (218) The bottom of discharge cylinder mounting plate (533) is provided with the middle-end casing row for promoting middle-end casing discharge support frame (219) to carry out displacement Expect cylinder (534), described middle-end casing discharge cylinder mounting plate (533) and middle-end casing discharge support frame (219) if by The dry middle-end casing discharge axis of guide (535) is slidably connected, and the bottom of the described middle-end casing discharge axis of guide (535) is provided with Middle-end casing discharge stop bit retainer ring (536)；Described middle-end casing grips X and is provided with and charging tray phase into traversing module (222) The middle-end casing gripping pushing block (537) that activity touches, described middle-end casing gripping pushing block (537) are pushed away by the gripping of middle-end casing Block cylinder (538) carries out upper and lower displacement；
Described middle-end casing rotational positioning base (231) is located on middle-end casing rotational positioning floor installation block (539), described Middle-end casing rotational positioning floor installation block (539) be located in middle-end casing rotation linking block (540), described middle-end casing Rotation linking block (540) is located on middle-end casing rotating stepper motor installing plate (541), described middle-end casing rotation stepping electricity The back side of machine installing plate (541) is provided with the middle-end casing rotation step that control middle-end casing rotational positioning base (231) is rotated Stepper motor (542)；
Being provided with described middle-end horizontal shifting frame (234) promotes middle-end horizontal shifting positioning base installing plate (235) to enter line position The middle-end horizontal shifting cylinder (543) of shifting；
It is provided with the traversing gripping frame (237) of middle-end and promotes the traversing gripping of middle-end to be transversely mounted in plate (238) progress lateral displacement Traversing gripping lateral cylinder (544) is held, the traversing gripping of described middle-end, which is transversely mounted to be provided with plate (238), promotes the traversing folder of middle-end Vertical jaw installing plate (239) is taken to carry out the traversing vertical cylinder (545) of gripping of middle-end of vertical displacement, the traversing folder of described middle-end Take and the traversing gripping jaw of middle-end that the traversing gripping clamping jaw (242) of control middle-end opens and closes is provided with vertical jaw installing plate (239) (546), the bottom of the traversing vertical jaw installing plate (239) of gripping of described middle-end is provided with the middle-end horizontal stroke of distribution corresponding with workpiece Gripping jacking block (547) is moved, the traversing push rod of described middle-end (243) carries out upper and lower displacement by the traversing push rod cylinder (548) of middle-end；
Middle-end casing pushes briquetting (244) and pushes briquetting cylinder (549) progress displacement, described middle-end casing by middle-end casing Push briquetting cylinder (549) and be fixed on middle-end casing and push in briquetting cylinder mounting plate (550)；
Described middle-end gripping jaw installing plate (245) grips vertical engagement plate (551) with middle-end and fixed, the gripping of described middle-end Vertical engagement plate (551) grips vertical supports (552) along middle-end and carries out upper and lower displacement, described middle-end gripping vertical supports (552) it is provided with and promotes middle-end to grip the vertical cylinder (553) of middle-end gripping that vertical engagement plate (551) carries out upper and lower displacement, institute The middle-end gripping vertical supports (552) stated grip horizontal support (554) along middle-end and carry out displacement, the horizontal branch of described middle-end gripping The middle-end gripping lateral cylinder (555) for promoting middle-end gripping vertical supports (552), the gripping of described middle-end are provided with frame (554) Vertical supports (552) grip support frame (556) the middle-end gripping rotation clamping jaw (246) fixed, described with frame (3) by middle-end Rotation jaw (557) control is gripped by middle-end to open and close, described middle-end gripping displacement clamping jaw (247) grips displacement by middle-end Jaw (558) control opens and closes, and the back side of described middle-end gripping jaw installing plate (245) is provided with grips vertical supports with middle-end (553) mutually it is oriented to the middle-end gripping guiding connector (559) of connection；
Middle-end magnetic shoe feed frame (254) is supported positioning by middle-end magnetic shoe support base (560)；
The outer end of middle-end magnetic shoe material-pushing frame (254) is provided with middle-end magnetic shoe photoelectricity slide rail (561), described middle-end magnetic shoe photoelectricity slide rail (561) afterbody is provided with middle-end magnetic shoe optoelectronic switch (562), and the other end of described middle-end magnetic shoe pusher connecting plate (258) is set There is the middle-end magnetic shoe Photoelectric Detection part (563) being inductively distributed with middle-end magnetic shoe optoelectronic switch (562), described middle-end magnetic shoe pushes away Middle-end magnetic shoe displacement transducer mounting blocks (564), described middle-end magnetic shoe displacement transducer mounting blocks are provided with material block (260) (564) the middle-end magnetic shoe displacement transducer (565) mutually touched with magnetic shoe is provided with；
The middle-end magnetic to be socket-connected with middle-end magnetic shoe lifting rotation rotating shaft (262) is provided with middle-end magnetic shoe lifting rotation support (261) Watt lifting rotation axle sleeve (566), the lower section of described middle-end magnetic shoe lifting rotation support (261) is provided with middle-end magnetic shoe lifting rotation Cylinder mounting plate (567), the top of described middle-end magnetic shoe lifting rotation cylinder mounting plate (567) are provided with the lifting rotation of middle-end magnetic shoe Rotaring cylinder (568), the top of described middle-end magnetic shoe lifting rotation cylinder (568) are provided with and middle-end magnetic shoe lifting rotation rotating shaft (262) the middle-end magnetic shoe lifting rotation rotating shaft mounting blocks (569) of bottom phase maintenance, described middle-end magnetic shoe lifting rotation cylinder (568) middle-end magnetic shoe lifting rotation rotating shaft (262) is controlled to be rotated, described middle-end magnetic shoe lifting rotation cylinder mounting plate (567) lower section is provided with the middle-end magnetic shoe lift cylinder for promoting middle-end magnetic shoe lifting rotation cylinder mounting plate (567) to carry out displacement (570)；The top of described middle-end magnetic shoe lifting rotation support (261) is provided with middle-end magnetic shoe lifting rotation briquetting support (571), It is provided with middle-end magnetic shoe lifting rotation briquetting support (571) along middle-end magnetic shoe lifting rotation briquetting support (571) and carries out upper bottom The middle-end magnetic shoe lifting rotation briquetting engagement plate (572) of shifting, during described middle-end magnetic shoe lifting rotation lower lock block (264) is fixed on Hold in magnetic shoe lifting rotation bearing mounting seat (573), described middle-end magnetic shoe lifting rotation bearing mounting seat (573) and middle-end magnetic Watt lifting rotation briquetting engagement plate (572) is fixed；
Middle-end magnetic shoe spring positioning base (265) is located on middle-end magnetic shoe spring positioning base mounting blocks (574), described middle-end The middle-end for mutually sensing distribution with spring in middle-end magnetic shoe spring feed well (266) is provided with magnetic shoe spring positioning base (265) Magnetic shoe light pricker (575), the bottom of described middle-end magnetic shoe spring positioning base mounting blocks (574) position provided with middle-end magnetic shoe spring Base cylinder (576), described middle-end magnetic shoe spring positioning base cylinder (576) promote middle-end magnetic shoe pushing block (692) to enter line position Move, the top of described middle-end magnetic shoe pushing block (692) is provided with middle-end magnetic shoe pushing block pressure sensor mounting blocks (577), described The top of middle-end magnetic shoe pushing block pressure sensor mounting blocks (577) is provided with middle-end magnetic shoe pushing block pressure sensor (578), described The top of middle-end magnetic shoe pushing block pressure sensor (578) is provided with middle-end magnetic shoe pushing block pressure sensor torsion spring push rod (579), described Middle-end magnetic shoe spring positioning base cylinder (576) promote middle-end magnetic shoe pushing block pressure sensor torsion spring push rod (579) to upper Move；
The gripping of middle-end magnetic shoe pushes clamping jaw (274) and pushes jaw (580) control keying by the gripping of middle-end magnetic shoe；Described middle-end Magnetic shoe gripping moves material one-level clamping jaw arm (277) and opened and closed by middle-end magnetic shoe gripping shifting material one-level jaw (581) control, in described Hold magnetic shoe gripping to move and expect that two level clamping jaw arm (278) moves material two level jaw (582) control keying by the gripping of middle-end magnetic shoe；Described Middle-end magnetic shoe gripping linkage board (269) grips lateral cylinder (583) by middle-end magnetic shoe and promoted along middle-end magnetic shoe gripping frame (268) Carry out displacement, the lower pressure rack (270) of described middle-end magnetic shoe gripping and the gripping of middle-end magnetic shoe lower pressure rack installing plate (271), middle-end magnetic Watt gripping, which moves bin (275) and moves material installing plate (271) with the gripping of middle-end magnetic shoe and grip to move by middle-end magnetic shoe respectively, expects vertical gas Cylinder (584) carries out displacement；
The middle-end magnetic for promoting middle-end magnetic shoe cylinder lower lock block (280) to carry out displacement is provided with middle-end magnetic shoe cylinder in pressure rack (279) Watt lower air cylinder (585)；
The top of closing in lifting rotation travelling carriage (285) is provided with closing in lifting rotation cylinder mounting plate (586) in middle-end in middle-end, It is provided with described middle-end in closing in lifting rotation travelling carriage (285) and promotes closing in lifting rotation cylinder mounting plate in middle-end (586) closing in lift cylinder (587) in the middle-end shifted up, closing in lifting rotation cylinder mounting plate in described middle-end (586) top is provided with closing in rotary cylinder (588) in middle-end, and closing in rotary cylinder (588) drives middle-end in described middle-end Upper closing in lifting rotation jaw installing plate (586) is rotated, and closing in lifting rotation clamping jaw (287) is in described middle-end Closing in lifting rotation jaw (589) control opens and closes on end；
Closing in pressure frame (292) drives upper and lower displacement by closing in pressure servo motor (590) in middle-end in middle-end；
The middle-end that middle-end magnet charger (297) is located at is magnetized in support (591), and the magnetize bottom of support (591) of described middle-end is provided with Being magnetized with middle-end, mutually the fixed middle-end of activity magnetizes bottom plate (592) support (591), and described middle-end magnetizes bottom plate (592) and machine Frame (3) is fixed, and the magnetize bottom of bottom plate (592) of described middle-end is provided with and promotes the middle-end support (591) that magnetizes to carry out upper and lower displacement Middle-end magnetize cylinder (593), the described middle-end cylinder (593) that magnetizes promotes the middle-end support (591) that magnetizes to shift up and stretch into Magnetized cover (295) to middle-end；
Described middle-end Y-axis cantilever rewinding clamping jaw (300) is controlled by middle-end Y-axis cantilever rewinding jaw (594) and opened and closed, described Middle-end Y-axis cantilever rewinding jaw (594) is fixed on middle-end Y-axis cantilever rewinding jaw installing plate (595), described middle-end Y-axis Cantilever rewinding jaw installing plate (595) carries out upper and lower displacement, described middle-end Y-axis by middle-end Y-axis cantilever rewinding cylinder (596) Cantilever rewinding cylinder (596) is located on middle-end Y-axis cantilever rewinding cylinder mounting plate (595), described middle-end Y-axis cantilever rewinding gas Cylinder installing plate (595) is fixed with middle-end Y-axis cantilever receiving rack (299)；
Middle-end transition gripping body, described middle-end are provided between described middle-end casing installing mechanism and middle-end magnetic shoe installing mechanism Transition gripping body stroke positioning base (185) small with middle-end linear transmission is in movable corresponding distribution, described middle-end transition Gripping body includes middle-end transition gripping frame (598), is provided with along middle-end transition and grips in described middle-end transition gripping frame (598) Frame (598) carries out the middle-end transition gripping claw clip (599) of upper and lower displacement.
3. using the middle-end assembly machine and its operating method of a kind of fuel pump automatic assembly line described in claim 1 or 2, it is special Sign is to improve according to the following steps：
(1), assemble：
1st, assembling figure is compareed, each group part is assembled, pinpoints the problems answer timely processing in an assembling process：Points for attention：
A) frame is put in correct position, avoids moving during assembly and adjustment；
B) after securing a base plate in frame, cleaning inspection is carried out to all holes on bottom plate, to ensure that each hole can Reach expected assembling to require；
Should accomplish when c) assembling without non-tapping hole, do not attack in place hole, without interference hole, to prevent tearing big dress open greatly during follow-up assembling；
2nd, installation electricity, pneumatic element：Sensor, cylinder, motor and its other standard components are loaded on machine, and to required Position is positioned, to ensure precision；
(2), debug：
1st, connect electricity and connect gas：By the PLC needed for circuit, touch-screen, pickup wire, it is installed in place and is powered；To the gas needed for gas circuit Pipe, valve are installed in place and ventilated；
2nd, program is inputted, manually debugging：Program is write in PLC, touch-screen, and run；Product is put into, with manual mode to every Whether one action is debugged, qualified to observe the product produced under manual mode, for there is bad phenomenon progress Analysis, and find in time and solve problem；
3rd, automatic debugging：For the machine debugged manually, it is put into appropriate product and is test-manufactured automatically, and examine whether product closes Lattice, the problem of excluding to be likely to occur；
(3), middle-end assembly machine operating method：
1st, product is put to the product positioning base of splicing hoisting mechanism by manipulator after the completion of preceding road assembling, lift cylinder Product lifting is arrived eminence by lifting, and splicing gripping body lift cylinder drops at product space, and jaw clamping jaw, which shrinks, clamps production Product, splicing gripping body lift cylinder rise gripping product, and splicing gripping body horizontal air cylinder shrinks is moved to straight line by product Above transport mechanism positioning base, general who has surrendered's product is put into linear transport mechanism positioning base under splicing gripping body lift cylinder On, splicing gripping body jaw release product；
2nd, product is sent to brush holder installation station by linear transport mechanism, and brush holder gripping body lift cylinder declines, pressed from both sides in jaw Pawl shrinks gripping brush holder, and after lift cylinder rises to certain altitude, rotary cylinder, which is rotated by 90 °, is changed into brush holder from horizontality Vertical state, cantilever XYZ move module and brush holder are sent to above brush holder installation station brush holder firm banking, brush holder gripping body liter General who has surrendered's brush holder is put into fixed seat under sending down abnormally ascending cylinder, and jaw upper gripper jaw release product, brush holder installation station pushes reshaping device shaping Lift cylinder declines, and shaping jaw, which is shunk, carries out shaping to brush holder, and brush holder installation station horizontal shifting mechanism cylinder cylinder promotes Brush holder is to below pressure cylinder, and lift cylinder declines on horizontal shifting gripping body, and jaw upper gripper jaw is shunk from linear transmission machine Product is gripped on structure positioning base, lift cylinder rises, and product is sent to above brush holder by the operation of horizontal shifting cylinder, horizontal shifting Mechanism lift cylinder, which declines, to be put into product on brush holder, and pressure cylinder declines, and product and brush holder are compressed, and pressure cylinder rises, Horizontal shifting gripping body lift cylinder rises, and product is sent to linear transmission machine by the motion of horizontal shifting gripping body horizontal air cylinder Above structure positioning base, general who has surrendered assembles product and is put on positioning base under horizontal shifting mechanism lift cylinder, and jaw clamping jaw is released Put product；
3rd, product is sent to casing installation station by linear transport mechanism, and XYZ modules manipulator is by machine on casing conveying pipeline Shell gripping is sent on casing erector's position detecting mechanism positioning base, and laser displacement sensor carries out positive and negative and surface to casing and lacked Detection is fallen into, defect casing will be gone to put into casing box by XYZ modules manipulator if casing surface is defective after detection, if table Face does not have defect, then casing installation station gripping body lift cylinder declines, and rotary oscillation jaw is according to above laser position The detection gripping rotation casing of displacement sensor, the direction that casing is adjusted to need, gripping body horizontal air cylinder are moved casing It is sent to above horizontal shifting mechanism positioning base, gripping body lift cylinder declines, and casing is put into level by the release of jaw clamping jaw On transverse-moving mechanism positioning base, horizontal shifting mechanism cylinder moving is transported to casing below pressure mechanism, horizontal shifting gripping Mechanism lift cylinder declines, and jaw upper gripper jaw shrinks grips product from linear transport mechanism positioning base, horizontal shifting gripping Mechanism lift cylinder rises is sent to eminence product, the motion of horizontal shifting gripping body horizontal air cylinder, product is sent to forcing press Under structure, horizontal shifting gripping body lift cylinder, which declines, to be put into product on casing, and pressure mechanism pressure cylinder declines, lower section gas Cylinder is withstood, then withstands product with aciculiform cylinder, declines in lift cylinder and product and casing are compressed, and pressure cylinder rises, horizontal Traversing gripping body lift cylinder rises, and eminence, horizontal shifting gripping body horizontal air cylinder, product are sent to product is assembled It is sent to above linear transport mechanism positioning base, horizontal shifting gripping body lift cylinder declines is put into linear transmission machine product On structure positioning base, the release of jaw upper gripper jaw；
4th, product is sent to transition gripping station by linear transport mechanism, and lift cylinder declines on transition gripping station, in jaw Clamping jaw shrinks gripping product, and transition grips lift cylinder rising on station and product is sent to eminence, and one is moved after linear transport mechanism Individual station, transition grip lift cylinder decline on station and product are put on linear transport mechanism positioning base, and jaw clamping jaw is released Put, lift cylinder rises；
5th, product is sent to magnetic shoe installation station by linear transport mechanism, and magnetic shoe pusher promotes magnetic shoe on magnetic shoe installation station Onto lifting rotation mechanism magnetic shoe positioning base, lift cylinder declines above lifting rotation mechanism, and pressure head is compressed on positioning base Magnetic shoe, lifting rotation mechanism lower section lift cylinder rise, and magnetic shoe is sent into eminence, lifting rotation mechanism rotary cylinder rotation 180 Degree, positioning base and magnetic shoe rotation 180 degree are driven, lower section lift cylinder declines, and returns to original position, and top lift cylinder rises, pressure Head unclamps, and magnetic shoe pusher promotes magnetic shoe to shift another magnetic shoe on lifting rotation mechanism magnetic shoe positioning base onto, top liter Sending down abnormally ascending cylinder, which declines, compresses magnetic shoe, and lower section lift cylinder rises is sent to eminence by magnetic shoe, and magnetic shoe gripping body jaw shrinks gripping magnetic Watt, lift cylinder rises above lifting rotation mechanism, and lower section lift cylinder declines, the motion of magnetic shoe gripping body horizontal air cylinder, will Magnetic shoe is sent to above magnetic shoe installation positioning base, and magnetic shoe gripping body lift cylinder declines, magnetic shoe mounted in magnetic shoe assembling positioning On base, magnetic shoe is held by the magnet on magnetic shoe assembling positioning base, product gripping body lift cylinder on magnetic shoe gripping body Decline, product gripping body jaw shrinks gripping product, and product gripping body lift cylinder rises, magnetic shoe gripping body horizontal gas Cylinder moves, and product is sent to above magnetic shoe installation positioning base, product gripping body lift cylinder declines, and product is placed on magnetic shoe To install on positioning seat, spring pressure mechanism lift cylinder rises, between spring is pressed into magnetic shoe magnetic shoe, the lifting of spring pressure mechanism Cylinder declines, and pressure mechanism lift cylinder, which declines, compresses product, and product gripping body lift cylinder rises, and product is sent to height Place, magnetic shoe gripping body horizontal air cylinder moving handle product are sent to above magnetic tile conveying device product positioning base, product catching device Structure lift cylinder declines, and product is put into transport mechanism product positioning base, the release of product gripping body jaw, product gripping Mechanism lift cylinder rises, and the small stroke cylinder of linear transport mechanism shrinks, and product is sent to below straight line conveying gripping body；
6th, straight line conveying gripping body lift cylinder declines, and jaw shrinks gripping product, and lift cylinder rises to certain altitude, single Axle travel mechanism motor rotates, and product is transported into upper closing in station, straight line conveying gripping body lift cylinder declines, and jaw is released Put, product is placed in product positioning base；
7th, the jaw of lifting rotation mechanism shrinks gripping product in upper closing in station, and lifting rotation mechanism lift cylinder rises, so Rotary cylinder rotation 180 degree afterwards, send product to and push several mouthfuls of lower sections, lift cylinder declines, and product is put into product orientation bottom On seat, pressure mechanism servomotor rotation, pressure head pushes closing in, while vacuum generator work siphons away some to be come off on product Coating epidermis, after the completion of closing in, private takes motor rotation, and pressure head rises, and lifting rotation mechanism lift cylinder rises, elevating and rotating machine Structure rotary cylinder rotates 180 degree, and lifting rotation mechanism lift cylinder declines, and jaw release, product is positioned over product orientation bottom On seat；
8th, straight line conveying gripping body lift cylinder declines, and jaw, which is shunk from upper closing in station positioning base, grips product, straight line Convey gripping body lift cylinder to rise, product is sent to certain altitude, single shaft travel mechanism motor rotates, product is transported to Magnetize above station, the station lift cylinder that magnetizes rises, and product positioning base is raised to eminence, straight line conveying gripping body lifting Cylinder, which declines product to be placed into, to magnetize on station lifting pedestal, straight line conveying gripping body jaw release, the station that magnetizes lifting Cylinder declines, and product is sent into magnet charger, magnet charger magnetizes to product, on the mechanism that magnetized after the completion of magnetizing lift cylinder Rise, product is risen to certain altitude；
9th, cantilever XYZ motors are rotated, and receiving mechanism clamping jaw is moved to above product, and gripping product is put down after being put into charging tray；
(4), points for attention：
1st, when on station continuous 10S do not sensed that product can then alarm, automatic eliminate of alarming after product to be added；
2nd, the inductor on cylinder is not bright after action, or cylinder is suffocated and do not acted, and can be alarmed, need to be the hand on operating case Dynamic automatic switch get to manual mode then manually intervene, cylinder is returned to normal operating conditions, then press alarm eliminate by Button, switch is then got to auto state again, press start button, machine normal work.
CN201710700016.7A 2017-08-16 2017-08-16 Middle-end assembly machine of automatic fuel pump assembly line and operation method thereof Active CN107470900B (en)

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CN109396834A (en) * 2018-12-11 2019-03-01 嘉兴百盈自动化设备有限公司 Fuel pump assembly line
CN109474147A (en) * 2018-12-29 2019-03-15 常州摩通机器人科技有限公司 A kind of production equipment and method for assembling motor case
CN109570976A (en) * 2019-01-30 2019-04-05 广东大唐永恒智能科技有限公司 Torsional spring installing mechanism and the torsional spring automatic assembling machine for applying it
CN109590719A (en) * 2019-01-30 2019-04-09 广东大唐永恒智能科技有限公司 Illuminator production torsional spring automatic assembling machine
CN112692533A (en) * 2020-12-16 2021-04-23 杭州徐睿机械有限公司 Robot floating holding deviation rectifying fine throwing mechanism and operation method thereof
CN113829027A (en) * 2021-10-20 2021-12-24 威海福睿智能装备有限公司 Automatic medical heparin cap kludge of material loading pressfitting

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CN109570976A (en) * 2019-01-30 2019-04-05 广东大唐永恒智能科技有限公司 Torsional spring installing mechanism and the torsional spring automatic assembling machine for applying it
CN109590719A (en) * 2019-01-30 2019-04-09 广东大唐永恒智能科技有限公司 Illuminator production torsional spring automatic assembling machine
CN109590719B (en) * 2019-01-30 2024-03-01 广东大唐永恒智能科技有限公司 Torsion spring automatic assembly machine for lighting lamp production
CN109570976B (en) * 2019-01-30 2024-03-01 广东大唐永恒智能科技有限公司 Torsional spring installation mechanism and torsional spring automatic assembly machine applying same
CN112692533A (en) * 2020-12-16 2021-04-23 杭州徐睿机械有限公司 Robot floating holding deviation rectifying fine throwing mechanism and operation method thereof
CN113829027A (en) * 2021-10-20 2021-12-24 威海福睿智能装备有限公司 Automatic medical heparin cap kludge of material loading pressfitting

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