CN108747358B - Automatic valve body assembly line - Google Patents

Automatic valve body assembly line Download PDF

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Publication number
CN108747358B
CN108747358B CN201810927331.8A CN201810927331A CN108747358B CN 108747358 B CN108747358 B CN 108747358B CN 201810927331 A CN201810927331 A CN 201810927331A CN 108747358 B CN108747358 B CN 108747358B
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CN
China
Prior art keywords
riveting
sealing ring
feeding
plug
tightening
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CN201810927331.8A
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CN108747358A (en
Inventor
刘寒涛
于壮壮
郭敬
马宏波
林涛
朱振友
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Jiangsu Beiren Intelligent Manufacturing Technology Co ltd
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Jiangsu Beiren Intelligent Manufacturing Technology Co ltd
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Priority to CN201810927331.8A priority Critical patent/CN108747358B/en
Publication of CN108747358A publication Critical patent/CN108747358A/en
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Publication of CN108747358B publication Critical patent/CN108747358B/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
    • 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
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention relates to an automatic valve body assembly line, which comprises a steel ball riveting device and a feeding mechanical arm, wherein the steel ball riveting device is used for riveting and sealing a steel ball on a valve body; the clamping device is arranged on the feeding mechanical arm which is arranged on the feeding mobile device; the clamping device is used for grabbing the integrated plate and the valve body; the integrated plate is provided with a valve body, a sealing ring, a riveting plug and a thread plug; the feeding moving device is used for driving the feeding mechanical arm to move between stations; the feeding mechanical arm is used for conveying the valve body or the integrated plate to each station; the feeding and discharging device is used for feeding the integrated plate into or out of the working area; the plug riveting device is used for riveting the plug on the valve body; the plug tightening device is used for tightening the threaded plug on the valve body. The assembly line can realize automatic production, has ingenious structural design, stable and reliable work, greatly reduces required workers, has high working efficiency and effectively reduces production cost.

Description

Automatic valve body assembly line
Technical Field
The invention relates to a valve body assembly device, in particular to an automatic valve body assembly line.
Background
The reversing valve, the connecting valve and the like have similar structures, a large number of riveting plugs and screw plugs are required to be installed, and sealing rings are required to be additionally installed on the screw plugs.
At present, the riveting steel ball, the rivet plug and the installation thread plug are all installed manually, a worker places the steel ball into the valve body, places the valve body into a steel ball riveting device to rivet the steel ball, then sends the valve body with the riveted steel ball to the next plug riveting procedure, places the riveting plug on the valve body, places the valve body on the plug riveting machine to rivet the plug, then rotates the valve body with the riveted plug to the thread plug installation procedure, the worker firstly sleeving the sealing ring on the thread plug, then installs the thread plug on the valve body, installs the accessories on the valve body, and needs a plurality of procedures, and each procedure needs workers, and has low automation degree, low working efficiency, high production cost and long production period.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic valve body assembly line which can realize automatic production of steel ball riveting, seal assembly, plug riveting and screw plug installation, greatly reduces required workers, has high working efficiency and effectively reduces production cost, and the specific technical scheme is as follows:
the automatic valve body assembly line comprises a steel ball riveting device and a feeding mechanical arm, wherein the steel ball riveting device is used for performing steel ball riveting sealing on the valve body; the device also comprises a clamping device, an integrated plate, an automatic sealing ring assembly device, a feeding moving device, a plug riveting device, a plug tightening device and a feeding and discharging device; the feeding device, the steel ball riveting device, the sealing ring automatic assembly device, the plug riveting device and the plug tightening device are sequentially arranged on the periphery or two sides of the feeding mobile device; the clamping device is used for grabbing the integrated plate and the valve body; the integrated plate is provided with a valve body, a sealing ring, a riveting plug and a threaded plug; the feeding moving device is used for driving the feeding mechanical arm to move between stations; the feeding mechanical arm is used for conveying the valve body or the integrated plate to each station, namely to the automatic sealing ring assembly device, the feeding moving device, the plug riveting device, the plug tightening device and the feeding and discharging device; the feeding and discharging device is used for feeding the integrated board into or out of the working area; the plug riveting device is used for riveting the riveting plug on the valve body; the plug tightening device is used for tightening the threaded plug on the valve body.
Preferably, the clamping device comprises a clamping seat and a mechanical gripper; the material clamping seat is fixed on the feeding mechanical arm, the mechanical gripper is fixed on the material clamping seat, the material clamping block is arranged on the mechanical gripper, and the material clamping groove is arranged on the material clamping block.
Preferably, the feeding moving device comprises a feeding seat, a feeding plate, a feeding guide rail, a feeding sliding block, a feeding motor, a feeding gear and a feeding rack; the top of the feeding seat is provided with a feeding guide rail, the feeding guide rail is provided with a feeding sliding block in a sliding way, the feeding sliding block is arranged at the bottom of the feeding plate, and the top of the feeding plate is provided with a feeding mechanical arm; the feeding motor is fixed on one side of the feeding plate, the feeding motor is provided with a feeding gear, the feeding gear is meshed with the feeding rack, and the feeding rack is fixed on one side of the feeding seat.
Preferably, the integrated board is provided with a valve body positioning block, a sealing ring fixing table, a sealing ring fixing column, a plug fixing hole and a grabbing handle, and a plurality of sealing ring fixing tables, sealing ring fixing columns and plug fixing holes are formed; the sealing ring fixing table is a cylinder, the top of the sealing ring fixing table is provided with grabbing grooves A, the grabbing grooves A extend from the top of the sealing ring fixing table to the integrated board, at least two grabbing grooves A are arranged in an annular array around the axis of the sealing ring fixing table; the sealing ring fixing table and the sealing ring fixing column are used for fixing and positioning the sealing ring; the riveting plug or the threaded plug is movably arranged on the plug fixing hole, and the plug fixing hole is used for positioning the riveting plug or the threaded plug; the grabbing handle is positioned at one end of the integrated board, and grabbing grooves B are formed in two sides of the grabbing handle; the valve body locating blocks are four, and the valve body locating blocks form a rectangular frame.
Preferably, the automatic sealing ring assembling device comprises a sealing assembling mechanical arm, a sealing ring expanding sleeve rod, a sealing ring grabbing device and a sealing ring sleeving device; the sealing ring grabbing device and the sealing ring sleeving device are both fixed on the sealing assembly mechanical arm; the sealing ring expansion sleeve rod is a reducing round rod, the diameter of the top of the sealing ring expansion sleeve rod is smaller than the inner diameter of the sealing ring, and the diameter of the bottom of the sealing ring expansion sleeve rod is not smaller than the outer diameter of the threaded plug; the sealing ring grabbing device is used for grabbing or loosening the sealing ring, and the sealing ring is sleeved on the sealing ring expansion sleeve rod when the sealing ring grabbing device loosens the sealing ring; the sealing ring sleeving device is used for grabbing the sealing ring expansion sleeve rod and pushing the sealing ring from the sealing ring expansion sleeve rod to the sealing groove on the threaded plug; the seal assembly mechanical arm is used for moving the seal ring grabbing device and the seal ring sleeving device to a set position.
Preferably, the sealing ring grabbing device comprises a sealing ring gripper and a sealing ring grabbing driving device, the sealing ring gripper is arranged on the sealing ring grabbing driving device, the sealing ring grabbing driving device is fixed on the sealing assembly mechanical arm, and the sealing ring grabbing driving device is used for driving the sealing ring gripper to grab or loosen the sealing ring; the sealing ring sleeving device comprises a sealing ring pushing device and a sleeve rod grabbing device, wherein the sealing ring pushing device is fixed on a sealing assembly mechanical arm and is used for pushing a sealing ring from a sealing ring expansion sleeve rod to a sealing groove of a threaded plug; the sleeve rod grabbing device is slidably mounted on the sealing assembly mechanical arm and coaxial with the sealing ring pushing device, and the sleeve rod grabbing device is used for grabbing the sealing ring expansion sleeve rod.
Preferably, a sealing ring grabbing piece is arranged at the top of the sealing ring grabbing hand, an inner grabbing arc surface is arranged at the inner side of the sealing ring grabbing piece, and an outer grabbing arc surface is arranged at the outer side of the sealing ring grabbing piece; the sealing ring grabbing driving device is an electric clamping jaw, and the sealing ring grippers are fixed on the electric clamping jaw; the sealing ring pushing device comprises a pushing plate, a pushing block and a pushing reset spring; the pushing plate is fixed on the sealing assembly mechanical arm, a pushing hole is formed in the pushing plate, the pushing hole is a through hole, and the diameter of the pushing hole is larger than that of the bottom of the sealing ring expansion sleeve rod; the pushing blocks are slidably arranged on the pushing plate, at least two pushing blocks are arranged in an annular array around the axis of the pushing hole, a sliding arc surface is arranged on the pushing blocks, and the sliding arc surface faces the pushing hole; one end of the pushing reset spring is pressed on the pushing plate, the other end of the pushing reset spring is pressed on the pushing block, and the pushing block moves back and forth along the direction perpendicular to the axis of the pushing hole; the loop bar grabbing device comprises a finger cylinder and a loop bar clamping jaw, wherein a V-shaped groove is formed in the loop bar clamping jaw, the loop bar clamping jaw is fixed on the finger cylinder, and the central line of the V-shaped groove is arranged on the axis of the pushing hole; the finger cylinder is fixed on the sliding block, the sliding block is slidably mounted on the linear guide rail, and the linear guide rail is fixedly and hermetically assembled on the mechanical arm; the tail end of the finger cylinder is provided with a lifting spring, the other end of the lifting spring is fixed on a spring fixing plate B, and the spring fixing plate B is fixed on the sealing assembly mechanical arm.
Preferably, the pushing plate is provided with a plurality of pushing grooves, the pushing grooves are through grooves, the pushing grooves are annularly arranged around the axis of the pushing hole, a positioning table is arranged in the pushing grooves, and the positioning table is positioned at one side of the pushing hole; the pushing block is slidably arranged in the pushing groove, a spring sleeve rod A is slidably arranged on the pushing block, one end of the spring sleeve rod A is fixed on the spring fixing plate A, the spring fixing plate A is fixed at the end part of the pushing groove, the pushing reset spring is sleeved on the spring sleeve rod A, one end of the pushing reset spring is pressed on the pushing block, and the other end of the pushing reset spring is pressed on the spring fixing plate A.
Preferably, the device also comprises a pneumatic suction head, wherein the pneumatic suction head comprises a sealing ring adsorption table, a sealing ring adsorption seat and a vacuum generator; the sealing ring adsorption table is fixed on the sealing ring adsorption seat, and the sealing ring adsorption seat is fixed on the sealing assembly mechanical arm; the top of the sealing ring adsorption table is provided with sealing ring adsorption grooves, the sealing ring adsorption grooves are annular grooves and are matched with the sealing rings, the bottoms of the sealing ring adsorption grooves are provided with sealing ring adsorption holes, the number of the sealing ring adsorption holes is not less than two, and the sealing ring adsorption holes are arranged in the sealing ring adsorption grooves at equal intervals; the sealing ring adsorption seat is provided with an air suction hole which is communicated with the sealing ring adsorption hole, and is provided with an air pipe quick connector which is communicated with the air suction hole; the vacuum generator is connected with the air pipe quick connector through an air pipe.
Preferably, the plug riveting device comprises a riveting machine, a riveting head fixing device, a hollow rod, a riveting rod, a plug adsorbing device, a riveting positioning device, a riveting mechanical arm, a riveting gripper and a riveting tool rack; the riveting head fixing device and the plug adsorbing device are both arranged on a riveting lifting plate of the riveting machine, the riveting head fixing device is positioned at the center of the riveting lifting plate, the plug adsorbing device is positioned at one side of the riveting head fixing device, the riveting lifting plate is arranged on a lifting shaft of the riveting machine, the central line of the riveting lifting plate coincides with the axis of the lifting shaft, the riveting positioning device is arranged on a riveting table surface of the riveting machine, the riveting mechanical arm and the riveting tool frame are both positioned at one side of the riveting machine, and the riveting gripper is fixed on the riveting mechanical arm; the riveting head fixing device is used for fixing a riveting rod or a hollow rod; the hollow rod is arranged on the riveting head fixing device and connected with the plug adsorbing device, and the hollow rod adsorbs the riveting plug through the plug adsorbing device; the riveting rod is arranged on the riveting head fixing device and used for riveting the riveting plug in the plug hole of the valve body; the riveting tool rack is used for placing the hollow rod and the riveting rod; the riveting positioning device is used for moving the valve body, so that the axis of the plug hole of the valve body coincides with the axis of the riveting head; the riveting gripper is used for grabbing the integrated plate, the hollow rod and the riveting rod; the riveting mechanical arm is used for moving the valve body, the riveting rod, the integrated plate and the hollow rod to a set position.
Preferably, the riveting head fixing device comprises a riveting fixing seat, a riveting finger cylinder and a riveting clamping jaw; the riveting fixing seat is fixed at the center of the riveting lifting plate, a riveting clamping groove is formed in the riveting fixing seat, and a through hole A is formed in one side of the riveting clamping groove; the riveting finger cylinder is fixed on one side of the riveting fixing seat, the riveting clamping jaw is arranged on the riveting finger cylinder, the riveting clamping jaw is provided with a circular arc-shaped riveting clamping jaw groove A, the riveting clamping jaw groove A is matched with the riveting rod and the hollow rod, and the central line of the riveting clamping jaw is overlapped with the axis of the lifting shaft; the bottom of the hollow rod is provided with a plug suction hole, the side surface of the hollow rod is provided with a communication hole, and the through hole A and the communication hole are on the same axis when the hollow rod is inserted into the riveting claw groove A; the plug adsorption device comprises a plug suction rod, a sealing gasket, a vacuum generator and an adsorption moving cylinder, wherein an air suction hole is formed in the end part of the plug suction rod and is communicated with a straight-through quick connector arranged on the plug suction rod, the straight-through quick connector is connected with the vacuum generator, the sealing gasket is fixed at the end part of the plug suction rod, and a through hole is formed in the sealing gasket; the plug suction rod is installed on the adsorption moving cylinder, the plug suction rod is movably inserted into the through hole A, and the adsorption moving cylinder is fixed on the riveting lifting plate.
Preferably, two sides of the riveting clamping groove are provided with pressing rod tables, two sides of the top of the hollow rod and the riveting rod are provided with riveting positioning grooves, the riveting positioning grooves are matched with the pressing rod tables, and the through hole A is positioned on the pressing rod table at one side; the riveting tool rack is provided with a tool hanging rack, the tool hanging rack is provided with a tool groove, the tool groove is consistent with the riveting clamping groove, and the riveting rod and the hollow rod are clamped in the tool groove.
Preferably, the riveting positioning device comprises a transverse positioning cylinder, a transverse electric cylinder, a longitudinal positioning cylinder and a longitudinal electric cylinder which are all fixed on the riveting table top; the transverse positioning cylinder and the transverse electric cylinder are arranged opposite to each other, and are respectively positioned at two opposite sides of the valve body; the longitudinal positioning cylinder and the longitudinal electric cylinder are arranged opposite to each other, and the longitudinal positioning cylinder and the longitudinal electric cylinder are respectively positioned at two opposite sides of the valve body.
Preferably, the riveting gripper comprises an integrated plate finger cylinder, an integrated plate gripper, a compression bar finger cylinder and a compression bar clamping jaw; the integrated plate finger cylinder and the compression bar finger cylinder are both fixed on the riveting mechanical arm; the integrated plate clamping device is characterized in that an integrated plate gripper is arranged on the integrated plate finger cylinder, an integrated plate gripping groove is formed in the integrated plate gripper, a pressing rod clamping jaw is arranged on the pressing rod finger cylinder, an arc-shaped pressing rod groove is formed in the pressing rod clamping jaw, and the pressing rod groove is matched with the riveting rod and the hollow rod.
Preferably, the plug screwing device comprises a screwing mechanical arm, a screwing grip, an electric screw gun, a tool positioning device, a lifting table, a screwing lifting cylinder, a screwing positioning device, a screwing rod and a screwing tool rack; the tightening gripper is fixed on the tightening mechanical arm, the tightening gripper is used for grabbing the threaded plug and the tightening rod, the tightening mechanical arm is fixed on the top of the tightening frame, and the tightening mechanical arm is used for moving the threaded plug and the tightening rod to a set position; the electric screw gun is fixed on the lifting platform, the lifting platform is fixed on the lifting frame through the linear guide rail pair, the lifting frame is fixed on the top of the tightening frame, the tightening lifting cylinder is arranged on the lifting frame, and the tightening lifting cylinder is connected with the lifting platform; the tool positioning device is fixed on the lifting table and positioned below the electric screw driver, and is used for fixing the tightening rod so that the tightening rod is combined with the electric screw driver; one end of the tightening rod is provided with a connecting column, the connecting column is matched with the electric screw gun, the other end of the tightening rod is a tool end, and the tool end is matched with the groove type of the threaded plug; the tightening rod is arranged on the tightening tool rack, and the tightening tool rack is arranged at the top of the tightening rack; the tightening and positioning device is fixed at the top of the tightening frame and positioned below the electric screw gun, and is used for fixing the valve body and moving the valve body to the lower part of the electric screw gun so that the axis of the plug hole of the valve body is overlapped with the axis of the electric screw gun.
Preferably, the tightening handle comprises a tightening finger cylinder and a tightening clamping jaw, the tightening finger cylinder is fixed on the tightening mechanical arm, the tightening clamping jaw is fixed on the tightening finger cylinder, the tightening clamping jaw is provided with a tightening groove, and the tightening groove is a V-shaped groove; the tool positioning device comprises a tool positioning finger cylinder and a tool positioning clamping jaw, wherein the tool positioning clamping jaw is fixed on the tool positioning finger cylinder, the tool positioning clamping jaw is provided with a circular arc-shaped tool positioning groove, the tool positioning groove is matched with the tightening rod, and the center line of the tool positioning groove is overlapped with the axis of the electric screw gun; the tightening and positioning device comprises a transverse linear module, a longitudinal linear module, a tightening and positioning plate, a tightening and positioning cylinder and a tightening and positioning column; the horizontal sharp module is fixed at the top of tightening the frame, and vertical sharp module is fixed on the slip table of horizontal sharp module, is equipped with on the slip table of vertical sharp module and screws up the locating plate, screws up and is equipped with on the locating plate and screws up the locating cylinder and screw up the reference column, screws up the locating cylinder and screws up the reference column and all be equipped with two, screws up the reference column and screws up the equal mutually perpendicular setting of reference column and screw up the reference column and press from both sides tight valve body.
Preferably, the feeding and discharging device comprises a discharging device and a feeding device; the discharging device comprises a rodless cylinder and a discharging plate, wherein the rodless cylinder is fixed at the top of the feeding and discharging frame, the discharging plate is arranged on a sliding table of the rodless cylinder, and discharging positioning blocks are arranged on four corners of the discharging plate; the feeding device comprises a feeding linear module, a feeding plate and a checking camera; the feeding straight line module is fixed at the top of feeding and discharging frame, is equipped with the feeding board on the slip table of feeding straight line module, and four angles of feeding board are equipped with the feeding locating piece, inspection camera is fixed in the top of feeding straight line module, and inspection camera is used for detecting valve body, sealing washer, riveting end cap and the screw plug on the integrated board.
Preferably, the integrated plate positioning device is further arranged on the automatic sealing ring assembly device, the plug riveting device and the plug tightening device respectively; the integrated board positioning device comprises an integrated board positioning plate, an integrated board positioning block, an integrated board positioning column, an integrated board lifting plate, an integrated board lifting cylinder and an integrated board positioning sleeve; the integrated plate positioning blocks are fixed on four corners of the integrated plate positioning plate; the top of the integrated board positioning column is conical, the integrated board positioning column is used for fixing two sides of the integrated board lifting plate, and the integrated board lifting plate is fixed on the integrated board lifting cylinder; the integrated plate locating sleeves are fixed on two sides of the integrated plate and correspond to the integrated plate locating columns.
Compared with the prior art, the invention has the following beneficial effects:
the automatic assembly line for the valve body can realize automatic production of steel ball riveting, sealing assembly, plug riveting and screw plug installation, and has the advantages of ingenious structural design, stable and reliable work, great reduction of required workers, high working efficiency and effective reduction of production cost.
Drawings
FIG. 1 is a schematic plan layout structure of the present invention;
FIG. 2 is a schematic structural view of a clamping device;
FIG. 3 is a schematic view of the structure of the feed mobile device;
FIG. 4 is a schematic structural view of an automatic seal ring assembly device;
FIG. 5 is a schematic view of the seal ring grasping device and the seal ring nesting device mounted on a seal assembly base plate;
FIG. 6 is a schematic view of a partial enlarged structure at I in FIG. 5;
FIG. 7 is a schematic structural view of a seal ring pushing device and a loop bar grabbing device
FIG. 8 is a schematic diagram of an exploded construction of a seal ring pushing device;
FIG. 9 is a schematic view of the structure of a pneumatic suction head;
FIG. 10 is a schematic diagram of the structure of an integrated board positioning device;
FIG. 11 is a schematic structural view of a seal ring expansion stem;
FIG. 12 is a schematic structural view of a plug riveting device;
FIG. 13 is a schematic structural view of a rivet head fixture and a plug adsorbing device;
FIG. 14 is a schematic view of a structure in which a riveting head fixing apparatus is provided with a riveting rod;
FIG. 15 is a schematic cross-sectional view of a hollow shaft;
FIG. 16 is a schematic view of the structure of the crimping grip;
FIG. 17 is a schematic view of a plug tightening device;
fig. 18 is an enlarged schematic view of the structure at II in fig. 17;
fig. 19 is a schematic structural view of the charging and discharging device.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
As shown in fig. 1 to 19, the automatic valve body assembly line comprises a feeding moving device 2, a feeding mechanical arm 10, a clamping device 11, an integrated plate 41, a steel ball riveting device 20, a sealing ring automatic assembly device 3, a plug riveting device 5, a plug tightening device 6, a feeding and discharging device 7 and an integrated plate positioning device; the clamping device 11 is arranged on the feeding mechanical arm 10, the feeding mechanical arm 10 is arranged on the feeding mobile device 2, and the feeding and discharging device 7, the steel ball riveting device 20, the sealing ring automatic assembly device 3, the plug riveting device 5 and the plug tightening device 6 are sequentially arranged on the periphery of the feeding mobile device 2; the steel ball riveting device 20 is used for performing steel ball riveting sealing on the valve body 100, and the steel ball riveting device 20 is an existing mature product and is not described in detail herein; the clamping device 11 is used for grabbing the integrated plate 41 and the valve body 100; the integrated plate 41 is provided with a valve body 100, a sealing ring 101, a riveting plug 103 and a thread plug 102; the feeding moving device 2 is used for driving the feeding mechanical arm 10 to move between stations; the feeding mechanical arm 10 is used for feeding the valve body 100 or the integrated plate 41 to each station, namely the automatic sealing ring assembling device 3, the feeding moving device 2, the plug riveting device 5, the plug tightening device 6 and the feeding and discharging device 7; the feeding and discharging device 7 is used for feeding the integrated board 41 into or out of the working area; the plug riveting device 5 is used for riveting the riveting plug 103 on the valve body 100; the plug tightening device 6 is used to tighten the threaded plug 102 onto the valve body 100.
And the periphery of the automatic valve body assembly line is provided with fences.
As shown in fig. 2, the material clamping device 11 includes a material clamping seat 12 and a mechanical gripper 13; the material clamping seat 12 is fixed on the feeding mechanical arm 10, the mechanical gripper 13 is fixed on the material clamping seat 12, the material clamping block 14 is arranged on the mechanical gripper 13, and the material clamping groove 141 is arranged on the material clamping block 14.
The mechanical gripper 13 may be a pneumatic finger or an electric gripper.
Wherein, as shown in fig. 3, the feeding moving device 2 comprises a feeding seat 21, a feeding plate 24, a feeding guide rail 22, a feeding sliding block 23, a feeding motor 25, a feeding gear 26 and a feeding rack 27; the top of the feeding seat 21 is provided with a feeding guide rail 22, a feeding slide block 23 is slidably arranged on the feeding guide rail 22, the feeding slide block 23 is arranged at the bottom of a feeding plate 24, and the top of the feeding plate 24 is provided with a feeding mechanical arm 10; the feeding motor 25 is fixed on one side of the feeding plate 24, the feeding motor 25 is provided with a feeding gear 26, the feeding gear 26 is meshed with a feeding rack 27, and the feeding rack 27 is fixed on one side of the feeding seat 21.
When the feeding device works, the feeding motor 25 drives the feeding gear 26 to rotate, and the feeding gear 26 drives the feeding plate 24 to move.
As shown in fig. 5 to 11, the automatic sealing ring assembling device 3 includes a sealing assembling mechanical arm 32, a sealing ring expanding sleeve rod 39, a sealing ring grabbing device 34 and a sealing ring sleeving device.
The seal ring grabbing device 34 is used for grabbing or loosening the seal ring 101, and when the seal ring grabbing device 34 loosens the seal ring 101, the seal ring 101 is sleeved on the seal ring expansion sleeve rod 39; the sealing ring sleeving device is used for grabbing the sealing ring expansion sleeve rod 39 and pushing the sealing ring 101 from the sealing ring expansion sleeve rod 39 up to a sealing groove on the plug 102; the seal assembly robot 32 is used to move the seal ring grasping device 34 and the seal ring nesting device to a set position.
As shown in fig. 10, the integrated board 41 is provided with a valve body positioning block 45, a sealing ring fixing table 42, a sealing ring fixing column 43 and a plug fixing hole; the sealing ring fixing table 42 is a cylinder, the top of the sealing ring fixing table 42 is provided with grabbing grooves A421, the grabbing grooves A421 extend from the top of the sealing ring fixing table 42 to the integrated plate 41, the number of the grabbing grooves A421 is two, and the grabbing grooves A421 are symmetrically arranged on two sides of the axis of the sealing ring fixing table 42; the seal ring fixing table 42 and the seal ring fixing column 43 are used for fixing and positioning the seal ring 101; the sealing ring fixing table 42 is used for placing the sealing ring 101 with a larger diameter, the sealing ring fixing column 43 is used for placing the sealing ring 101 with a smaller diameter, and the diameters of the sealing ring fixing table 42 and the sealing ring fixing column 43 are smaller than the inner diameter of the sealing ring 101.
The grabbing groove a421 may be an integral type, that is, two grabbing grooves a421 are communicated, the length of each grabbing groove a421 is larger than the outer diameter of the sealing ring 101, and the width of each grabbing groove a421 is larger than the width of the sealing ring grabbing piece 343.
The plug 102 is movably arranged on the plug fixing hole, and the plug fixing hole is used for positioning the plug 102.
One end of the integrated board 41 is provided with a gripping handle 411, and both sides of the gripping handle 411 are provided with gripping grooves B412.
Four valve body positioning blocks 45 are arranged, the valve body positioning blocks 45 form a rectangular frame, and the valve body positioning blocks 45 limit the position of the valve body 100.
The plug 102 and the sealing ring 101 required for assembly are placed on the integrated plate 41, so that the positioning of the sealing ring 101 and the plug 102 can be realized, and meanwhile, the preparation work is also prepared for automatic assembly, and the sealing ring 101 is convenient to grasp subsequently.
As shown in fig. 11, the seal ring expansion sleeve 39 is a reducing round rod, the diameter of the top of the seal ring expansion sleeve 39 is smaller than the inner diameter of the seal ring 101, and the diameter of the bottom is not smaller than the outer diameter of the plug 102. The seal ring expanding sleeve rod 39 is movably inserted into a sleeve rod groove of the sleeve rod positioning plate 391, and the sleeve rod positioning plate 391 is fixed at the top of the seal assembly frame 31.
The seal ring expansion sleeve rod 39 is a reducing rod, and can expand the inner diameter of the seal ring 101, so that the seal ring 101 can be smoothly sleeved on the plug 102.
As shown in fig. 5, the seal assembly robot 32 is fixed on the top of the seal assembly frame 31, and the seal assembly robot 32 is a six-axis robot. The sealing assembly mechanical arm 32 is provided with a sealing assembly bottom plate 33, and the sealing assembly bottom plate 33 is provided with a sealing ring grabbing device 34 and a sealing ring sleeving device. The seal ring grasping device 34 and the seal ring sleeving device are arranged perpendicular to each other.
As shown in fig. 5 to 8, the seal ring grasping device 34 includes a seal ring gripper 342 and an electric jaw 341, the seal ring gripper 342 is mounted on the electric jaw 341, the electric jaw 341 is fixed on the seal assembly base plate 33, and the electric jaw 341 is used for driving the seal ring gripper 342 to grasp or release the seal ring 101.
As shown in fig. 6, a sealing ring grabbing piece 343 is arranged at the top of the sealing ring grabbing hand 342, an inner grabbing arc surface 345 is arranged at the inner side of the sealing ring grabbing piece 343, and an outer grabbing arc surface 344 is arranged at the outer side of the sealing ring grabbing piece 343.
Motorized jaw 341 is model leff 10K2 from SMC corporation. The motorized jaw 341 can precisely control the distance that the two seal ring grasping tabs 343 open and close, thereby achieving grasping of seal rings 101 of different diameters.
The inner surface of the seal ring 101 is grasped by the outer grasping circular arc surface 344 of the seal ring grasping tab 343 for the seal ring 101 having a larger diameter, and the outer surface of the seal ring 101 is grasped by the inner grasping circular arc surface 345 of the seal ring grasping tab 343 for the seal ring 101 having a smaller diameter.
As shown in fig. 5 to 8, the seal ring sleeving device comprises a seal ring pushing device 35 and a sleeve rod grabbing device 36, wherein the seal ring pushing device 35 is fixed on the seal assembly bottom plate 33 and is positioned at the end part of the seal assembly bottom plate 33, and the seal ring pushing device 35 is used for pushing up the seal ring from the seal ring expansion sleeve rod 39 to the seal groove of the plug 102; the sleeve rod grabbing device 36 is slidably mounted on the seal assembly base plate 33 and is coaxial with the seal ring pushing device 35, and the sleeve rod grabbing device 36 is used for grabbing a seal ring expanding sleeve rod 39.
As shown in fig. 7 and 8, the seal ring pushing device 35 includes a pushing plate 351, a pushing block 355, and a pushing return spring 356; the pushing plate 351 is fixed on the sealing assembly bottom plate 33 and is positioned at the end part of the sealing assembly bottom plate 33, the pushing plate 351 is provided with a pushing hole 352, the pushing hole 352 is a through hole, and the diameter of the pushing hole 352 is larger than that of the bottom of the sealing ring expansion sleeve rod 39; the pushing plate 351 is a rectangular plate, two pushing grooves 353 are formed in the pushing plate 351, the pushing grooves 353 are T-shaped grooves, the pushing grooves 353 are through grooves, the pushing grooves 353 are symmetrically formed in two sides of the axis of the pushing hole 352, positioning tables 354 are arranged on two sides of the pushing grooves 353, and the positioning tables 354 are located on one side of the pushing hole 352, namely, located at one end, intersecting with the pushing hole 352, of the pushing grooves 353. The pushing groove 353 is convenient for installing the pushing block 355, and the positioning table 354 enables the sliding round surface of the pushing block 355 to be positioned on one side of the central line of the pushing hole 352, so that the pushing block 355 is prevented from blocking on the central line of the pushing hole 352, and the sealing ring expanding sleeve rod 39 cannot be inserted into the pushing hole 352.
The pushing block 355 is a T-shaped block, the pushing block 355 is slidably mounted in the pushing groove 353, a sliding arc surface 359 is arranged on the pushing block 355, and the sliding arc surface 359 faces the pushing hole 352.
The pushing block 355 is provided with a loop bar hole, the diameter of the loop bar hole is larger than that of the spring loop bar A357, one end of the spring loop bar A357 is slidably positioned in the loop bar hole, the other end of the spring loop bar A357 is fixed on the spring fixing plate A358, the spring fixing plate A358 is fixed at the end part of the pushing groove 353 far away from the pushing hole 352, the pushing return spring 356 is sleeved on the spring loop bar A357, one end of the pushing return spring 356 is pressed on the pushing block 355, and the other end of the pushing return spring 356 is pressed on the spring fixing plate A358.
The loop bar grabbing device 36 comprises a finger cylinder 363 and a loop bar clamping jaw 361, a V-shaped groove 362 is arranged on the loop bar clamping jaw 361, the loop bar clamping jaw 361 is fixed on the finger cylinder 363, and the central line of the V-shaped groove 362 is arranged on the axis of the pushing hole 352; the V-shaped groove 362 facilitates gripping of the seal ring expansion stem 39.
The finger cylinder 363 is fixed on the sliding seat A364, a through hole is arranged on the sliding seat A364, the sliding seat A364 is fixed on a sliding block, the sliding block is slidably arranged on a linear guide rail, and the linear guide rail is fixedly and hermetically arranged on the bottom plate 33; the sliding seat A364 is provided with a lifting spring 366, the other end of the lifting spring 366 is fixed on a spring fixing plate B365, the spring fixing plate B365 is fixed on the sealing assembly bottom plate 33, the spring fixing plate B365 is provided with a spring sleeve rod B, and the other end of the spring sleeve rod B is slidably inserted into a through hole of the sliding seat A364.
The lifting spring 366 makes the sleeve rod clamping jaw 361 close to one side of the pushing plate 351, so that the sleeve rod clamping jaw 361 can conveniently grip the sealing ring expanding sleeve rod 39.
The pushing blocks 355 are kept closed under the action of the pushing reset springs 356, as the sliding arc surfaces 359 are arranged on the pushing blocks 355, holes are reserved in the middle of the two pushing blocks 355 when the pushing plates 351 are closed, the sealing ring expansion sleeve rods 39 are inserted into the holes when the pushing plates 351 are pressed downwards, the pushing blocks 355 are pushed to two sides, the pushing blocks 355 are tightly attached to the sealing ring expansion sleeve rods 39 under the action of the pushing reset springs 356, so that the sealing rings 101 are positioned at the end parts of the pushing blocks 355, the pushing blocks 355 push the sealing rings 101 to move towards the plugs 102, and when the sealing rings 101 move to the sealing grooves, the sealing rings 101 are clamped into the sealing grooves under the action of elastic force.
The grabbing groove A421 facilitates grabbing the sealing ring 101 from the inner side face of the sealing ring 101 with the larger diameter. Because the sealing ring 101 with a larger diameter is easy to deform, if the clamping is performed from the outer side surface of the sealing ring 101, the sealing ring 101 is easy to deform and drop after the clamping of the sealing ring 101, and when the clamping of the sealing ring 101 is performed by expanding and grabbing the sealing ring 101 from the inner side surface of the sealing ring 101, the sealing ring 101 is pressed on the sealing ring grabbing piece 343 under the action of elastic force, and the sealing ring 101 is not easy to drop. The sealing ring 101 with smaller diameter is not easy to deform, so the sealing ring 101 can be grabbed from the outer side surface of the sealing ring 101, and the sealing ring 101 is grabbed from the sealing ring fixing column 43, and the sealing ring 101 has a certain deformation space due to the smaller diameter of the sealing ring fixing column 43, so that the sealing ring 101 cannot be clamped on the sealing ring fixing column 43 due to deformation.
As shown in fig. 10, the integrated board positioning device is fixed on the top of the seal assembly frame 31, and includes an integrated board positioning plate 441, an integrated board positioning block 442, an integrated board positioning column 46, an integrated board lifting plate 47, an integrated board lifting cylinder 49, an integrated board positioning sleeve 48, and an integrated board positioning frame 415; the integrated board positioning frame 415 is fixed on the top of the sealing assembly frame 31, the integrated board positioning plate 441 is fixed on the top of the integrated board positioning frame 415, and the integrated board positioning blocks 442 are fixed on four corners of the integrated board positioning plate 441; the top of the integrated board positioning column 46 is conical, the integrated board positioning column 46 fixes two sides of the integrated board lifting plate 47, the integrated board lifting plate 47 is fixed on the integrated board lifting cylinder 49, and the integrated board lifting cylinder 49 is fixed at the bottom of the integrated board positioning frame 415; the board positioning sleeves 48 are fixed on both sides of the board 41 and correspond to the board positioning posts 46.
The integrated plate positioning device enables the sealing ring 101 and the plug 102 to be located at fixed positions, and the sealing assembly mechanical arm 32 is convenient to grasp the sealing ring 101 and sleeve the sealing ring.
When the integrated board 41 is placed on the integrated board positioning plate 441 under the movement of the seal assembly robot arm 32 or the operator, the integrated board lifting cylinder 49 is lifted to insert the integrated board positioning posts 46 onto the integrated board positioning sleeves 48 on both sides of the integrated board 41, and guide the integrated board 41, so that the integrated board 41 smoothly enters the integrated board positioning block 442. When the sealing assembly robot 32 or the operator removes the integrated board 41, the integrated board lifting cylinder 49 is retracted, and the integrated board positioning column 46 is separated from the integrated board positioning sleeve 48, so that the integrated board 41 is conveniently removed.
When the integrated plate positioning device is in operation, the sealing ring 101 and the plug 102 are placed on the integrated plate 41, then the integrated plate 41 is placed on the integrated plate positioning device, the sealing assembly mechanical arm 32 rotates the sealing assembly bottom plate 33, the sealing ring grabbing device 34 is in a vertical state, the center line of the electric clamping jaw 341 is arranged on the axis of the sealing ring 101, the sealing assembly mechanical arm 32 drives the sealing ring grabbing hand 342 to descend, the sealing ring grabbing piece 343 descends into the grabbing groove A421, the sealing ring grabbing hand 342 moves towards two sides of the electric clamping jaw 341, the sealing ring grabbing piece 343 tightens the sealing ring 101, then the sealing assembly mechanical arm 32 is lifted, and the sealing ring 101 is separated from the sealing ring fixing table 42; the seal assembly mechanical arm 32 drives the seal ring grabbing device 34 to move to the position right above the seal ring expansion sleeve rod 39, the seal ring grabbing piece 343 loosens the seal ring 101, and the seal ring 101 is sleeved on the seal ring expansion sleeve rod 39; the seal assembly mechanical arm 32 rotates the seal assembly bottom plate 33 to enable the seal ring sleeving device to be in a vertical state and move to be right above the seal ring expansion sleeve rod 39, the axis of the pushing hole 352 coincides with the axis of the seal ring expansion sleeve rod 39, the seal assembly mechanical arm 32 drives the seal ring expansion sleeve rod 39 to descend, when the seal ring expansion sleeve rod 39 is inserted into the pushing hole 352 and descends continuously, the pushing block 355 pushes the seal ring 101 to move towards the bottom of the seal ring expansion sleeve rod 39, when the seal ring expansion sleeve rod 39 moves to a proper position, the finger cylinder 363 is started, the sleeve rod clamping jaw 361 clamps the top of the seal ring expansion sleeve rod 39 in the V-shaped groove 362, then the seal assembly mechanical arm 32 drives the seal ring expansion sleeve rod 39 to lift and separate from the sleeve rod groove and move to be right above the plug 102 on the integrated plate 41, the axis of the seal ring expansion sleeve rod 39 coincides with the axis of the plug 102, and the seal assembly mechanical arm 32 drives the seal ring expansion sleeve rod 39 to move to the top of the plug 102 and be tightly pressed on the top of the plug 102; the sealing assembly mechanical arm 32 drives the pushing plate 351 to vertically descend, the pushing block 355 pushes the sealing ring 101 to the sealing groove of the plug 102, and the sealing ring 101 is sleeved on the sealing groove under the action of elastic force; the seal assembly robot 32 drives the seal ring sleeving device to lift and move to the initial position of the seal ring expansion sleeve rod 39 to put down the seal ring expansion sleeve rod 39.
As shown in fig. 12 to 16, the plug riveting device 5 includes a riveting machine 51, a riveting head fixing device, a hollow rod 54, a riveting rod, a plug adsorbing device, a riveting positioning device, a riveting mechanical arm 59, a riveting grip 57 and a riveting tool holder 55; the riveting head fixing device and the plug adsorbing device are both arranged on a riveting lifting plate 511 of the riveting machine 51, the riveting head fixing device is positioned at the center of the riveting lifting plate 511, the plug adsorbing device is positioned at one side of the riveting head fixing device, the riveting lifting plate 511 is arranged on a lifting shaft of the riveting machine 51, the center line of the riveting lifting plate 511 is coaxial with the lifting shaft, the riveting positioning device is arranged on a riveting table surface 512 of the riveting machine 51, the riveting mechanical arm 59 and the riveting tool frame 55 are both positioned at one side of the riveting machine 51, and the riveting handle 57 is fixed on the riveting mechanical arm 59; the riveting head fixing device is used for fixing a riveting rod or a hollow rod 54; the hollow rod 54 is arranged on the riveting head fixing device and is connected with the plug adsorbing device, and the hollow rod 54 adsorbs the riveting plug 103 through the plug adsorbing device; the riveting rod is arranged on the riveting head fixing device and used for riveting the riveting plug 103 in the plug hole of the valve body 100; the riveting tool rack 55 is used for placing the hollow rod 54 and the riveting rod, and an integrated board positioning device is also arranged on the riveting tool rack 55; the riveting positioning device is used for moving the valve body 100, so that the plug hole of the valve body 100 and the riveting head are on the same axis; the riveting gripper 57 is used for gripping the integrated board 41, the hollow rod 54 and the riveting rod; the riveting robot arm 59 is used to move the valve body 100, the riveting lever, the integrated plate 41, and the hollow lever 54 to the set positions.
As shown in fig. 13 and 14, the riveting head fixing device includes a riveting fixing base 531, a riveting finger cylinder 532, and a riveting jaw 533; the riveting fixing seat 531 is fixed at the center of the lifting plate, a riveting clamping groove 5311 is formed in the riveting fixing seat 531, and a through hole A is formed in one side of the riveting clamping groove 5311; the riveting finger cylinder 532 is fixed on one side of the riveting fixing seat 531, the riveting clamping jaw 533 is arranged on the riveting finger cylinder 532, the riveting clamping jaw 533 is provided with a circular arc-shaped riveting clamping jaw groove A534, the riveting clamping jaw groove A534 is matched with the riveting rod and the hollow rod 54, and the central line of the riveting clamping jaw 533 is overlapped with the axis of the lifting shaft; the bottom of the hollow rod 54 is provided with a plug suction hole 541, the side surface of the hollow rod 54 is provided with a communication hole 542, and the through hole A and the communication hole 542 are on the same axis when the hollow rod 54 is inserted into the riveting claw groove A534; the plug adsorption device comprises a plug suction rod 536, a sealing gasket 535, a vacuum generator and an adsorption moving cylinder 538, wherein the end part of the plug suction rod 536 is provided with a suction hole which is communicated with a straight-through quick connector 537 arranged on the plug suction rod 536, the straight-through quick connector 537 is connected with the vacuum generator, the sealing gasket 535 is fixed at the end part of the plug suction rod 536, and the sealing gasket 535 is provided with a through hole; the plug suction rod 536 is mounted on the suction moving cylinder 538, the plug suction rod 536 is movably inserted into the through hole a, and the suction moving cylinder 538 is fixed on the lifting plate.
The two sides of the riveting clamping groove 5311 are provided with pressing rod tables 5312, the two sides of the top of the hollow rod 54 and the riveting pressing rod are provided with riveting positioning grooves 543, the riveting positioning grooves 543 are matched with the pressing rod tables 5312, the through holes A are positioned on the pressing rod tables 5312 on one side, and the communication holes 542 on the hollow rod 54 are positioned in the riveting positioning grooves 543; the riveting tool rack 55 is provided with a tool hanging rack 551, the tool hanging rack 551 is provided with a tool groove 552, the tool groove 552 is consistent with the riveting clamping groove 5311, and the riveting rod and the hollow rod 54 are clamped in the tool groove 552.
The riveting positioning device comprises a transverse positioning cylinder 523, a transverse electric cylinder 521, a longitudinal positioning cylinder 524 and a longitudinal electric cylinder 522 which are all fixed on the riveting table top 512; the lateral positioning cylinder 523 is disposed opposite to the lateral electric cylinder 521, and the lateral positioning cylinder 523 and the lateral electric cylinder 521 are respectively located at opposite sides of the valve body 100; the longitudinal positioning cylinder 524 is disposed opposite to the longitudinal electric cylinder 522, and the longitudinal positioning cylinder 524 and the longitudinal electric cylinder 522 are respectively located at two other opposite sides of the valve body 100.
The longitudinal electric cylinder 522 and the transverse electric cylinder 521 are respectively provided with a pressing positioning plate, when the longitudinal electric cylinder 522 and the transverse electric cylinder 521 are respectively extended to the maximum positions, the ends of the two pressing positioning plates are close, and when the two pressing positioning plates are not contacted, the two pressing positioning plates are perpendicular to each other.
When the valve body 100 is placed on the riveting table surface 512, the longitudinal electric cylinder 522 and the transverse electric cylinder 521 are sequentially started to move the pressing positioning plate to the set position, then the transverse positioning cylinder 523 and the longitudinal positioning cylinder 524 are started, and the transverse positioning cylinder 523 and the longitudinal positioning cylinder 524 are started to press the valve body 100 on the pressing positioning plate of the transverse electric cylinder 521 and the longitudinal electric cylinder 522, so that the axis of the plug hole of the valve body 100 coincides with the axis of the lifting shaft, and the position of the valve body 100 is fixed. When one plug Kong Mao is pressed, the transverse positioning cylinder 523 and the longitudinal positioning cylinder 524 are started to release the valve body 100, the longitudinal electric cylinder 522 and the transverse electric cylinder 521 are started in sequence to move the pressing positioning plate to the set position, then the transverse positioning cylinder 523 and the longitudinal positioning cylinder 524 are started, and the transverse positioning cylinder 523 and the longitudinal positioning cylinder 524 are started to press the valve body 100 on the pressing positioning plate of the transverse electric cylinder 521 and the longitudinal electric cylinder 522, so that the axis of the plug hole of the valve body 100 coincides with the axis of the lifting shaft, and the position of the valve body 100 is fixed.
As shown in fig. 16, the riveting grip 57 includes an integrated plate finger cylinder 576, an integrated plate grip 574, a press bar finger cylinder 571, and a press bar jaw 572; the integrated plate finger cylinder 576 and the compression bar finger cylinder 571 are both fixed on the connecting plate 576, and the connecting plate 576 is fixed on the riveting mechanical arm 59; an integrated board gripper 574 is arranged on the integrated board finger cylinder 576, an integrated board gripper groove 575 is arranged on the integrated board gripper 574, a press rod clamping jaw 572 is arranged on the press rod finger cylinder 571, a circular arc-shaped press rod groove 573 is arranged on the press rod clamping jaw 572, and the press rod groove 573 is matched with the riveting rod and the hollow rod 54; the integrated board catching groove 575 can catch the integrated board 41, preventing the integrated board 41 from tilting when the integrated board catching hand 574 catches the integrated board 41.
When the plug riveting device 5 works, the riveting mechanical arm 59 drives the pressing rod finger cylinder 571 to grasp the hollow rod 54, the hollow rod 54 is mounted on the riveting fixing seat 531, then the plug suction rod 536 is extended by the adsorption moving cylinder 538, the sealing gasket 535 is pressed on the communication hole 542 of the hollow rod 54, and the communication hole 542 is communicated with the suction hole of the plug suction rod 536.
Then the clamping device 11 on the riveting mechanical arm 59 clamps the valve body 100, and the riveting mechanical arm 59 moves the valve body 100 to the riveting positioning device;
when the valve body 100 is placed on the riveting table surface 512, the longitudinal electric cylinder 522 and the transverse electric cylinder 521 are sequentially started to move the pressing positioning plate to the set position, then the transverse positioning cylinder 523 and the longitudinal positioning cylinder 524 are started, and the transverse positioning cylinder 523 and the longitudinal positioning cylinder 524 are started to press the valve body 100 on the pressing positioning plate of the transverse electric cylinder 521 and the longitudinal electric cylinder 522, so that the axis of the plug hole of the valve body 100 coincides with the axis of the lifting shaft, and the position of the valve body 100 is fixed. When one plug Kong Mao is pressed, the transverse positioning cylinder 523 and the longitudinal positioning cylinder 524 are started to loosen the valve body 100, the longitudinal electric cylinder 522 and the transverse electric cylinder 521 are sequentially started to move the pressing positioning plate to a set position, then the transverse positioning cylinder 523 and the longitudinal positioning cylinder 524 are started, and the transverse positioning cylinder 523 and the longitudinal positioning cylinder 524 are started to press the valve body 100 on the pressing positioning plate of the transverse electric cylinder 521 and the longitudinal electric cylinder 522, so that the axis of a plug hole of the valve body 100 coincides with the axis of the lifting shaft, and the position of the valve body 100 is fixed;
Then the riveting mechanical arm 59 drives the integrated board finger air cylinder 576 to clamp the integrated board 41, and moves the integrated board 41 to the lower part of the hollow rod 54, so that the axis of the hollow rod 54 coincides with the axis of the corresponding riveting plug 103 on the integrated board, then the riveting mechanical arm 59 lifts the integrated board 41 upwards along the vertical direction, the riveting plug 103 approaches the hollow rod 54, and simultaneously the vacuum generator is started, the riveting plug 103 is adsorbed by the hollow rod 54, and the riveting mechanical arm 59 returns the integrated board 41 to the integrated board positioning device on the tool table 56;
the lifting shaft of the riveting machine 51 descends, the riveting plug 103 is pressed to the plug hole of the valve body 100, then the lifting shaft ascends, the adsorption moving cylinder 538 retracts the plug suction rod 536, the riveting mechanical arm 59 drives the pressing rod finger cylinder 571 to take off the hollow rod 54, the hollow rod 54 is placed on the riveting tool frame 55, then the corresponding riveting rod is grabbed, the riveting rod is installed on the riveting fixing seat 531, the lifting shaft descends, the riveting plug 103 is riveted in the plug hole by the riveting rod, the riveting of the riveting plug 103 is completed, and finally the clamping device 11 of the riveting mechanical arm 59 grabs the valve body 100 on the integrated plate 41 and is located in the rectangular frame of the valve body positioning block 45.
As shown in fig. 17 and 18, the plug tightening device 6 includes a tightening robot arm 65, a tightening grip 66, an electric screw driver 62, a tool positioning device 63, a lifting table 61, a tightening lifting cylinder 64, a tightening positioning device, a tightening rod 69, and a tightening tool holder 68; the tightening gripper 66 is fixed on the tightening mechanical arm 65, the tightening gripper 66 is used for grabbing the threaded plug 102 and the tightening rod 69, the tightening mechanical arm 65 is fixed on the top of the tightening frame 612, and the tightening mechanical arm 65 is used for moving the threaded plug 102 and the tightening rod 69 to the set positions; the electric screw gun 62 is fixed on the lifting platform 61, the lifting platform 61 is fixed on the lifting frame 611 through a linear guide rail pair, the lifting frame 611 is fixed on the top of the tightening frame 612, the lifting frame 611 is provided with a tightening lifting cylinder 64, and the tightening lifting cylinder 64 is connected with the lifting platform 61; the tool positioning device 63 is fixed on the lifting table 61 and is positioned below the electric screw driver 62, and the tool positioning device 63 is used for fixing the tightening rod 69 so that the tightening rod 69 is combined with the electric screw driver 62; one end of the tightening rod 69 is provided with a connecting column, the connecting column is matched with the electric screw gun 62, the other end of the tightening rod 69 is a tool end, and the tool end is matched with the groove type of the threaded plug 102; the tightening rod 69 is placed on the tightening tool holder 68, and the tightening tool holder 68 is placed on top of the tightening tool holder 612; the tightening and positioning device is fixed on the top of the tightening frame 612 and is located below the electric screw driver 62, and the tightening and positioning device is used for fixing the valve body 100 and moving the valve body 100 below the electric screw driver 62, so that the axis of the plug hole of the valve body 100 coincides with the axis of the electric screw driver 62.
The tightening grip 66 comprises a tightening finger cylinder 661 and a tightening jaw 662, the tightening finger cylinder 661 is fixed on the tightening mechanical arm 65, the tightening jaw 662 is fixed on the tightening finger cylinder 661, a tightening groove is formed in the tightening jaw 662, and the tightening groove is a V-shaped groove; the tool positioning device 63 comprises a tool positioning finger cylinder 631 and a tool positioning clamping jaw 632, the tool positioning clamping jaw 632 is fixed on the tool positioning finger cylinder 631, the tool positioning clamping jaw 632 is provided with a circular arc-shaped tool positioning groove 633, the tool positioning groove 633 is matched with the tightening rod 69, and the central line of the tool positioning groove 633 is coincident with the axis of the electric screw driver 62; the tightening and positioning device comprises a transverse linear module 671, a longitudinal linear module 672, a tightening and positioning plate 674, a tightening and positioning cylinder 673 and a tightening and positioning column 675; the transverse linear module 671 is fixed at the top of the tightening frame 612, the longitudinal linear module 672 is fixed on a sliding table of the transverse linear module 671, a tightening positioning plate 674 is arranged on the sliding table of the longitudinal linear module 672, a tightening positioning cylinder 673 and a tightening positioning column 675 are arranged on the tightening positioning plate 674, the tightening positioning cylinder 673 and the tightening positioning column 675 are respectively provided with two, the tightening positioning column 675 and the tightening positioning cylinder 673 are respectively arranged perpendicular to each other, and the tightening positioning cylinder 673 and the tightening positioning column 675 clamp the valve body 100.
The top of the screw-down rack 612 is provided with an integrated board positioning device.
The clamping device 11 of the feeding mechanical arm 10 grabs the valve body 100, the feeding mechanical arm 10 sends the valve body 100 to a tightening positioning plate 674 of a tightening positioning device, then a tightening positioning cylinder 673 stretches out to press the valve body 100 on a tightening positioning column 675, a transverse linear module 671 and a longitudinal linear module 672 are started, the valve body 100 is moved below an electric bolt gun, and the axis of a plug hole of the valve body 100 coincides with the axis of the electric bolt gun 62; then the tightening mechanical arm 65 grabs the tightening rod 69, the tightening rod 69 is sent between the positioning clamping jaws of the tool positioning device 63, the tightening finger cylinder 661 starts to clamp the tightening rod 69, then the electric bolt gun starts, and the electric screw gun 62 fixes the tightening rod 69 on the fixing clamp of the electric screw gun 62; the tightening mechanical arm 65 drives the tightening gripper 66 to grasp the threaded plug 102, and moves the threaded plug 102 to a plug hole of the valve body 100, so that the tightening mechanical arm 65 returns to the initial position; the tightening lifting cylinder 64 is started, the lifting table 61 drives the electric bolt gun to move downwards, the tightening rod 69 is pressed on the threaded plug 102, and the electric bolt gun 62 rotates the threaded plug 102 through the tightening rod 69, so that the installation of the threaded plug 102 is completed.
The feeding and discharging device 7 comprises a discharging device and a feeding device; the discharging device comprises a rodless cylinder 71 and a discharging plate 72, wherein the rodless cylinder 71 is fixed at the top of a feeding and discharging frame 78, the discharging plate 72 is arranged on a sliding table of the rodless cylinder 71, and discharging positioning blocks 73 are arranged on four corners of the discharging plate 72; the feeding device comprises a feeding linear module 74, a feeding plate 75 and a checking camera 77; the feeding linear module 74 is fixed at the top of the feeding and discharging frame 78, a feeding plate 75 is arranged on a sliding table of the feeding linear module 74, feeding positioning blocks 76 are arranged at four corners of the feeding plate 75, a checking camera 77 is fixed above the feeding linear module 74, and the checking camera 77 is used for detecting a valve body 100, a sealing ring 101, a riveting plug 103 and a threaded plug 102 on the integrated plate 41.
The feeding and discharging device 7 is arranged at the inlet and outlet of the fence, one half of the feeding and discharging device is positioned at the outer side of the fence, and the other half of the feeding and discharging device is positioned at the inner side of the fence. One side of the feeding and discharging frame 78 is provided with a transfer plate, on which a transfer positioning block is mounted, and the transfer plate can place two integrated boards 41.
In operation, the valve body 100, the sealing ring 101, the riveting plug 103 and the threaded plug 102 are placed at the corresponding positions of the integrated plate 41, and steel balls are placed in the steel ball holes of the valve body 100.
Then placing the integrated board 41 on the feeding plate 75, driving the integrated board 41 to move below the detection camera 77 by the feeding linear module 74, confirming the types and the numbers of the sealing rings 101, the riveting plugs 103 and the threaded plugs 102 by the detection camera 77, and if wrong parts exist, retracting the integrated board 41 by the feeding linear module 74, and manually replacing the parts by an operator; the detection result is correct, and the feeding mechanical arm 10 drives the mechanical gripper 13 to grip the grip handle 411 of the integrated board 41.
The mechanical gripper 13 of the feeding mechanical arm 10 firstly grabs the valve body 100 on the integrated plate 41 and places the valve body 100 on the steel ball riveting device 20 for riveting, when the steel ball riveting device 20 is in riveting, the feeding mechanical arm 10 grabs the integrated plate 41 and sends the integrated plate 41 to the integrated plate positioning device at the top of the seal assembly frame 31, then the feeding mechanical arm 10 returns to one side of the steel ball riveting device 20, sequentially places the valve body 100 on different steel ball riveting devices 20 for riveting steel balls at different positions on the valve body 100, the automatic sealing ring assembly device 3 carries out sleeving of the sealing ring 101 while the steel ball riveting device 20 works, and after the sealing ring 101 is in sleeving, the feeding mechanical arm 10 moves the integrated plate 41 on the automatic sealing ring assembly device 3 to the integrated plate positioning device on the riveting tool frame 55 of the plug riveting device 5;
after the steel ball riveting is completed, the feeding mechanical arm 10 moves the valve body 100 to the integrated plate 41 positioned on the plug riveting device 5, and then performs riveting of the riveting plug 103;
after riveting the riveting plug 103, the clamping device 11 of the feeding mechanical arm 10 grabs the integrated plate 41 on the tool table 56, the integrated plate 41 is moved to an integrated plate positioning device at the top of a tightening frame 612 of the plug tightening device 6, the clamping device 11 of the feeding mechanical arm 10 grabs the valve body 100, the feeding mechanical arm 10 sends the valve body 100 to a tightening positioning plate 674 of the tightening positioning device, then the tightening positioning cylinder 673 stretches out to press the valve body 100 on a tightening positioning column 675, the transverse linear module 671 and the longitudinal linear module 672 are started, the valve body 100 is moved to the lower side of the electric screw gun 62, and the axis of a plug hole of the valve body 100 coincides with the axis of the electric screw gun 62;
Then the tightening mechanical arm 65 grabs the tightening rod 69, the tightening rod 69 is sent to the tool positioning clamping jaw 632 of the tool positioning device 63, the tightening finger cylinder 661 starts to clamp the tightening rod 69, then the electric screw driver 62 starts, and the electric screw driver 62 fixes the tightening rod 69 on the fixing clamp of the electric screw driver 62;
the tightening mechanical arm 65 drives the tightening gripper 66 to grasp the threaded plug 102, and moves the threaded plug 102 to a plug hole of the valve body 100, so that the tightening mechanical arm 65 returns to the initial position; the lifting cylinder 64 is screwed down, the lifting table 61 drives the electric screw gun 62 to move downwards, the screwing rod 69 is pressed on the threaded plug 102, the electric screw gun 62 rotates the threaded plug 102 through the screwing rod 69 to complete the installation of the threaded plug 102, the clamping device 11 of the feeding mechanical arm 10 grabs the valve body 100, and the feeding mechanical arm 10 places the valve body 100 on the integrated plate 41;
finally, the feeding device of the feeding mechanical arm 10 grabs the integrated plate 41, and moves the integrated plate 41 onto the discharging plate 72, and the discharging plate 72 drives the integrated plate 41 to move out of the fence.

Claims (14)

1. The automatic valve body assembly line comprises a steel ball riveting device (20) and a feeding mechanical arm (10), wherein the steel ball riveting device (20) is used for performing steel ball riveting sealing on a valve body (100);
The automatic sealing ring assembling device is characterized by further comprising a clamping device (11), an integrated plate (41), an automatic sealing ring assembling device (3), a feeding and moving device (2), a plug riveting device (5), a plug tightening device (6) and a feeding and discharging device (7);
the clamping device (11) is arranged on the feeding mechanical arm (10), the feeding mechanical arm (10) is arranged on the feeding mobile device (2), and the feeding and discharging device (7), the steel ball riveting device (20), the sealing ring automatic assembly device (3), the plug riveting device (5) and the plug tightening device (6) are sequentially arranged on the periphery or two sides of the feeding mobile device (2);
the clamping device (11) is used for grabbing the integrated plate (41) and the valve body (100);
the integrated plate is provided with a valve body (100), a sealing ring (101), a riveting plug (103) and a threaded plug (102);
the feeding moving device (2) is used for driving the feeding mechanical arm (10) to move between stations;
the feeding mechanical arm (10) is used for conveying the valve body (100) or the integrated plate (41) to each station, namely to the sealing ring automatic assembly device (3), the feeding moving device (2), the plug riveting device (5), the plug tightening device (6) and the feeding and discharging device (7);
The feeding and discharging device (7) is used for feeding the integrated plate (41) into or out of a working area;
the plug riveting device (5) is used for riveting the riveting plug (103) on the valve body (100);
the plug tightening device (6) is used for tightening the threaded plug (102) on the valve body (100);
the clamping device (11) comprises a clamping seat (12) and a mechanical gripper (13); the material clamping seat (12) is fixed on the feeding mechanical arm (10), the mechanical gripper (13) is fixed on the material clamping seat (12), the mechanical gripper (13) is provided with a material clamping block (14), and the material clamping block (14) is provided with a material clamping groove (141);
the feeding mobile device (2) comprises a feeding seat (21), a feeding plate (24), a feeding guide rail (22), a feeding sliding block (23), a feeding motor (25), a feeding gear (26) and a feeding rack (27);
the top of the feeding seat (21) is provided with a feeding guide rail (22), the feeding guide rail (22) is provided with a feeding sliding block (23) in a sliding way, the feeding sliding block (23) is arranged at the bottom of a feeding plate (24), and the top of the feeding plate (24) is provided with a feeding mechanical arm (10);
the feeding motor (25) is fixed on one side of the feeding plate (24), the feeding motor (25) is provided with a feeding gear (26), the feeding gear (26) is meshed with a feeding rack (27), and the feeding rack (27) is fixed on one side of the feeding seat (21);
The integrated plate (41) is provided with a valve body positioning block (45), a sealing ring fixing table (42), a sealing ring fixing column (43), a plug fixing hole and a grabbing handle (411), and a plurality of sealing ring fixing tables (42), sealing ring fixing columns (43) and plug fixing holes are formed;
the sealing ring fixing table (42) is a cylinder, the top of the sealing ring fixing table (42) is provided with a grabbing groove A (421), the grabbing groove A (421) extends from the top of the sealing ring fixing table (42) to the integrated plate (41),
the number of the grabbing grooves A (421) is not less than two, and the grabbing grooves A (421) are annularly arranged around the axis of the sealing ring fixing table (42);
the sealing ring fixing table (42) and the sealing ring fixing column (43) are used for fixing and positioning the sealing ring (101);
the riveting plug (103) or the threaded plug (102) is movably arranged on the plug fixing hole, and the plug fixing hole is used for positioning the riveting plug (103) or the threaded plug (102);
the grabbing handle (411) is positioned at one end of the integrated plate (41), and grabbing grooves B (412) are formed in two sides of the grabbing handle (411);
four valve body positioning blocks (45) are arranged, and the valve body positioning blocks (45) form a rectangular frame;
The automatic sealing ring assembling device (3) comprises a sealing assembling mechanical arm (32), a sealing ring expanding sleeve rod (39), a sealing ring grabbing device (34) and a sealing ring sleeving device; the seal ring grabbing device (34) and the seal ring sleeving device are both fixed on the seal assembly mechanical arm (32);
the sealing ring expansion sleeve rod (39) is a reducing round rod, the diameter of the top of the sealing ring expansion sleeve rod (39) is smaller than the inner diameter of the sealing ring (101), and the diameter of the bottom of the sealing ring expansion sleeve rod is not smaller than the outer diameter of the threaded plug (102);
the sealing ring grabbing device (34) is used for grabbing or loosening the sealing ring (101), and when the sealing ring grabbing device (34) loosens the sealing ring (101), the sealing ring (101) is sleeved on the sealing ring expansion sleeve rod (39);
the sealing ring sleeving device is used for grabbing the sealing ring expansion sleeve rod (39) and pushing the sealing ring (101) from the sealing ring expansion sleeve rod (39) to a sealing groove on the threaded plug (102);
the seal assembly mechanical arm (32) is used for moving the seal ring grabbing device (34) and the seal ring sleeving device to a set position.
2. The automatic valve body assembly line according to claim 1, wherein the sealing ring grabbing device (34) comprises a sealing ring gripper (342) and a sealing ring grabbing driving device, the sealing ring gripper (342) is installed on the sealing ring grabbing driving device, the sealing ring grabbing driving device is fixed on the sealing assembly mechanical arm (32), and the sealing ring grabbing driving device is used for driving the sealing ring gripper (342) to grab or loosen the sealing ring (101);
The sealing ring sleeving device comprises a sealing ring pushing device (35) and a loop bar grabbing device (36), wherein the sealing ring pushing device (35) is fixed on a sealing assembly mechanical arm (32), and the sealing ring pushing device (35) is used for pushing a sealing ring (101) from a sealing ring expansion loop bar (39) to a sealing groove of a threaded plug (102);
the sleeve rod grabbing device (36) is slidably mounted on the seal assembly mechanical arm (32) and coaxial with the seal ring pushing device (35), and the sleeve rod grabbing device (36) is used for grabbing the seal ring expansion sleeve rod (39).
3. The automatic valve body assembly line according to claim 2, wherein a sealing ring grabbing piece (343) is arranged at the top of the sealing ring grabbing hand (342), an inner grabbing arc surface (345) is arranged at the inner side of the sealing ring grabbing piece (343), and an outer grabbing arc surface (344) is arranged at the outer side of the sealing ring grabbing piece (343); the sealing ring grabbing driving device is an electric clamping jaw (341), and a sealing ring gripper (342) is fixed on the electric clamping jaw (341);
the sealing ring pushing device (35) comprises a pushing plate (351), a pushing block (355) and a pushing return spring (356); the pushing plate (351) is fixed on the sealing assembly mechanical arm (32), a pushing hole (352) is formed in the pushing plate (351), the pushing hole (352) is a through hole, and the diameter of the pushing hole (352) is larger than that of the bottom of the sealing ring expansion sleeve rod (39); the pushing blocks (355) are slidably arranged on the pushing plate (351), the number of the pushing blocks (355) is not less than two, the pushing blocks (355) are annularly arranged around the axis of the pushing hole (352), the pushing blocks (355) are provided with sliding arc surfaces (359), and the sliding arc surfaces (359) are opposite to the pushing hole (352); one end of the pushing return spring (356) is pressed on the pushing plate (351), the other end of the pushing return spring is pressed on the pushing block (355), and the pushing block (355) moves back and forth along the direction perpendicular to the axis of the pushing hole (352);
The loop bar grabbing device (36) comprises a finger cylinder (363) and a loop bar clamping jaw (361), a V-shaped groove (362) is formed in the loop bar clamping jaw (361), the loop bar clamping jaw (361) is fixed on the finger cylinder (363), and the central line of the V-shaped groove (362) is arranged on the axis of the pushing hole (352); the finger cylinder (363) is fixed on a sliding block, the sliding block is slidably mounted on a linear guide rail, and the linear guide rail is fixedly and hermetically assembled on the mechanical arm (32); the tail end of the finger cylinder (363) is provided with a lifting spring (366), the other end of the lifting spring (366) is fixed on a spring fixing plate B (365), and the spring fixing plate B (365) is fixed on the sealing assembly mechanical arm (32).
4. The automatic valve body assembly line according to claim 3, wherein the pushing plate (351) is provided with a plurality of pushing grooves (353), the pushing grooves (353) are through grooves, the pushing grooves (353) are annularly arranged around the axis of the pushing hole (352), a positioning table (354) is arranged in the pushing grooves (353), and the positioning table (354) is located at one side of the pushing hole (352);
the pushing block (355) is slidably mounted in the pushing groove (353), a spring sleeve rod A (357) is slidably mounted on the pushing block (355), one end of the spring sleeve rod A (357) is fixed on the spring fixing plate A (358), the spring fixing plate A (358) is fixed at the end of the pushing groove (353), the pushing return spring (356) is sleeved on the spring sleeve rod A (357), one end of the pushing return spring (356) is pressed on the pushing block (355), and the other end of the pushing return spring is pressed on the spring fixing plate A (358).
5. The automatic valve body assembly line according to claim 2, further comprising a pneumatic suction head (38), the pneumatic suction head (38) comprising a sealing ring adsorption table (381), a sealing ring adsorption seat (384) and a vacuum generator;
the sealing ring adsorption table (381) is fixed on a sealing ring adsorption seat (384), and the sealing ring adsorption seat (384) is fixed on the sealing assembly mechanical arm (32);
the top of the sealing ring adsorption table (381) is provided with sealing ring adsorption grooves (382), the sealing ring adsorption grooves (382) are annular grooves, the sealing ring adsorption grooves (382) are matched with the sealing rings (101), the bottoms of the sealing ring adsorption grooves (382) are provided with sealing ring adsorption holes (383), the number of the sealing ring adsorption holes (383) is not less than two, and the sealing ring adsorption holes (383) are arranged in the sealing ring adsorption grooves (382) at equal intervals;
the sealing ring adsorption seat (384) is provided with an air suction hole which is communicated with the sealing ring adsorption hole (383), the sealing ring adsorption seat (384) is provided with an air pipe quick connector (385), and the air pipe quick connector (385) is communicated with the air suction hole;
the vacuum generator is connected with an air pipe quick connector (385) through an air pipe.
6. The automatic valve body assembly line according to claim 1, wherein the plug riveting device (5) comprises a riveting press (51), a riveting head fixing device, a hollow rod (54), a riveting rod, a plug adsorbing device, a riveting positioning device, a riveting mechanical arm (59), a riveting grip (57) and a riveting tool rack (55);
the riveting press head fixing device and the plug adsorbing device are both arranged on a riveting lifting plate (511) of the riveting press (51), the riveting press head fixing device is positioned at the center of the riveting lifting plate (511), the plug adsorbing device is positioned at one side of the riveting press head fixing device, the riveting lifting plate (511) is arranged on a lifting shaft of the riveting press (51), the central line of the riveting lifting plate (511) coincides with the axis of the lifting shaft, the riveting positioning device is arranged on a riveting table top (512) of the riveting press (51), the riveting press mechanical arm (59) and the riveting tool frame (55) are both positioned at one side of the riveting press (51), and the riveting press gripper (57) is fixed on the riveting press mechanical arm (59);
the riveting head fixing device is used for fixing a riveting rod or a hollow rod (54);
the hollow rod (54) is arranged on the riveting head fixing device and is connected with the plug adsorbing device, and the hollow rod (54) adsorbs the riveting plug (103) through the plug adsorbing device;
The riveting rod is arranged on the riveting head fixing device and used for riveting the riveting plug (103) in the plug hole of the valve body (100);
the riveting tool rack (55) is used for placing the hollow rod (54) and the riveting rod;
the riveting positioning device is used for moving the valve body (100) to enable the axis of the plug hole of the valve body (100) to coincide with the axis of the riveting head;
the riveting gripper (57) is used for gripping the integrated plate (41), the hollow rod (54) and the riveting rod;
the riveting mechanical arm (59) is used for moving the valve body (100), the riveting rod, the integrated plate (41) and the hollow rod (54) to a set position.
7. The automatic valve body assembly line according to claim 6, wherein the riveting head fixing device comprises a riveting fixing seat (531), a riveting finger cylinder (532) and a riveting clamping jaw (533);
the riveting fixing seat (531) is fixed at the center of the riveting lifting plate (511), a riveting clamping groove (5311) is formed in the riveting fixing seat (531), and a through hole A is formed in one side of the riveting clamping groove (5311);
the riveting finger cylinder (532) is fixed on one side of the riveting fixing seat (531), the riveting clamping jaw (533) is arranged on the riveting finger cylinder (532), the riveting clamping jaw (533) is provided with a circular arc-shaped riveting clamping jaw groove A (534), the riveting clamping jaw groove A (534) is matched with the riveting rod and the hollow rod (54), and the central line of the riveting clamping jaw (533) coincides with the axis of the lifting shaft;
The bottom of the hollow rod (54) is provided with a plug suction hole (541), the side surface of the hollow rod is provided with a communication hole (542), and the through hole A and the communication hole (542) are on the same axis when the hollow rod (54) is inserted into the riveting claw groove A (534);
the plug adsorption device comprises a plug suction rod (536), a sealing gasket (535), a vacuum generator and an adsorption moving air cylinder (538), wherein an air suction hole is formed in the end part of the plug suction rod (536), the air suction hole is communicated with a through quick plug (537) arranged on the plug suction rod (536), the through quick plug (537) is connected with the vacuum generator, the sealing gasket (535) is fixed at the end part of the plug suction rod (536), and a through hole is formed in the sealing gasket (535);
the plug suction rod (536) is arranged on the adsorption moving air cylinder (538), the plug suction rod (536) is movably inserted into the through hole A, and the adsorption moving air cylinder (538) is fixed on the riveting lifting plate (511).
8. The automatic valve body assembly line according to claim 7, wherein two sides of the riveting clamping groove (5311) are provided with pressing rod tables (5312), two sides of the top of the hollow rod (54) and the riveting rod are provided with riveting positioning grooves (543), the riveting positioning grooves (543) are matched with the pressing rod tables (5312), and the through hole a is positioned on the pressing rod table (5312) on one side;
The riveting tool rack (55) is provided with a tool hanging rack (551), the tool hanging rack (551) is provided with a tool groove (552), the tool groove (552) is consistent with the riveting clamping groove (5311), and the riveting rod and the hollow rod (54) are clamped in the tool groove (552).
9. The automatic valve body assembly line according to claim 6, wherein the riveting positioning device comprises a transverse positioning cylinder (523), a transverse electric cylinder (521), a longitudinal positioning cylinder (524) and a longitudinal electric cylinder (522), all fixed on the riveting table surface (512);
the transverse positioning cylinder (523) is arranged opposite to the transverse electric cylinder (521), and the transverse positioning cylinder (523) and the transverse electric cylinder (521) are respectively positioned at two opposite sides of the valve body (100);
the longitudinal positioning air cylinder (524) is arranged opposite to the longitudinal electric cylinder (522), and the longitudinal positioning air cylinder (524) and the longitudinal electric cylinder (522) are respectively positioned on the two other opposite sides of the valve body (100).
10. The automatic valve body assembly line of claim 6, wherein the riveting grip (57) comprises an integrated plate finger cylinder (576), an integrated plate grip (574), a compression bar finger cylinder (571), and a compression bar jaw (572);
The integrated plate finger cylinder (576) and the compression bar finger cylinder (571) are both fixed on the riveting mechanical arm (59);
the integrated plate clamping device is characterized in that an integrated plate gripper (574) is arranged on the integrated plate finger cylinder (576), an integrated plate gripping groove (575) is formed in the integrated plate gripper (574), a pressing rod clamping jaw (572) is arranged on the pressing rod finger cylinder (571), a circular arc-shaped pressing rod groove (573) is formed in the pressing rod clamping jaw (572), and the pressing rod groove (573) is matched with the riveting rod and the hollow rod (54).
11. The automatic valve body assembly line according to claim 1, wherein the plug tightening device (6) comprises a tightening mechanical arm (65), a tightening grip (66), a power screw gun (62), a tool positioning device (63), a lifting table (61), a tightening lifting cylinder (64), a tightening positioning device, a tightening rod (69) and a tightening tool holder (68);
the tightening manipulator (66) is fixed on the tightening manipulator (65), the tightening manipulator (66) is used for grabbing the threaded plug (102) and the tightening rod (69), the tightening manipulator (65) is fixed on the top of the tightening frame (612), and the tightening manipulator (65) is used for moving the threaded plug (102) and the tightening rod (69) to a set position;
The electric screw gun (62) is fixed on the lifting table (61), the lifting table (61) is fixed on the lifting frame (611) through the linear guide rail pair, the lifting frame (611) is fixed at the top of the tightening frame (612), the tightening lifting cylinder (64) is arranged on the lifting frame (611), and the tightening lifting cylinder (64) is connected with the lifting table (61);
the tool positioning device (63) is fixed on the lifting table (61) and is positioned below the electric screw gun (62), and the tool positioning device (63) is used for fixing the tightening rod (69) so that the tightening rod (69) is combined with the electric screw gun (62);
one end of the tightening rod (69) is provided with a connecting column, the connecting column is matched with the electric screw gun (62), the other end of the tightening rod (69) is a tool end, and the tool end is matched with the groove type of the threaded plug (102);
the tightening rod (69) is placed on the tightening tool rack (68), and the tightening tool rack (68) is placed on the top of the tightening rack (612);
the tightening and positioning device is fixed at the top of the tightening frame (612) and is positioned below the electric screw gun (62), and is used for fixing the valve body (100) and moving the valve body (100) to the lower side of the electric screw gun (62) so that the axis of the plug hole of the valve body (100) coincides with the axis of the electric screw gun (62).
12. The automatic valve body assembly line according to claim 11, wherein the tightening grip (66) comprises a tightening finger cylinder (661) and a tightening grip jaw (662), the tightening finger cylinder (661) is fixed on the tightening mechanical arm (65), the tightening grip jaw (662) is fixed on the tightening finger cylinder (661), a tightening groove is formed in the tightening grip jaw (662), and the tightening groove is a V-shaped groove;
the tool positioning device (63) comprises a tool positioning finger cylinder (631) and a tool positioning clamping jaw (632), the tool positioning clamping jaw (632) is fixed on the tool positioning finger cylinder (631), the tool positioning clamping jaw (632) is provided with a circular arc-shaped tool positioning groove (633), the tool positioning groove (633) is matched with the tightening rod (69), and the central line of the tool positioning groove (633) is coincident with the axis of the electric screw driver (62);
the tightening and positioning device comprises a transverse linear module (671), a longitudinal linear module (672), a tightening and positioning plate (674), a tightening and positioning cylinder (673) and a tightening and positioning column (675);
the horizontal straight line module (671) is fixed at the top of tightening frame (612), and vertical straight line module (672) is fixed on the slip table of horizontal straight line module (671), is equipped with on the slip table of vertical straight line module (672) and screws up locating plate (674), screws up locating cylinder (673) and screw up reference column (675) on screwing up locating plate (674), screws up locating cylinder (673) and screw up reference column (675) and all be equipped with two, screws up reference column (675) and screws up locating cylinder (673) and set up mutually perpendicular respectively, screws up locating cylinder (673) and screws up reference column (675) and presss from both sides tight valve body (100).
13. The automatic valve body assembly line according to claim 1, characterized in that the feeding and discharging device (7) comprises a discharging device and a feeding device;
the discharging device comprises a rodless cylinder (71) and a discharging plate (72), wherein the rodless cylinder (71) is fixed at the top of a feeding and discharging frame (78), the discharging plate (72) is arranged on a sliding table of the rodless cylinder (71), and discharging positioning blocks (73) are arranged on four corners of the discharging plate (72);
the feeding device comprises a feeding linear module (74), a feeding plate (75) and a checking camera (77);
the feeding straight line module (74) is fixed at the top of feeding and discharging frame (78), feeding plate (75) is equipped with on the slip table of feeding straight line module (74), four angles of feeding plate (75) are equipped with feeding locating piece (76), inspection camera (77) are fixed in the top of feeding straight line module (74), and inspection camera (77) are used for detecting valve body (100), sealing washer (101), riveting end cap (103) and screw plug (102) on integrated board (41).
14. The automatic valve body assembly line according to claim 1, further comprising an integrated plate positioning device which is respectively installed on the automatic sealing ring assembly device (3), the plug riveting device (5) and the plug tightening device (6);
The integrated board positioning device comprises an integrated board positioning plate (441), an integrated board positioning block (442), an integrated board positioning column (46), an integrated board lifting plate (47), an integrated board lifting cylinder (49) and an integrated board positioning sleeve (48);
the integrated board positioning blocks (442) are fixed on four corners of the integrated board positioning plate (441);
the top of the integrated plate positioning column (46) is conical, the integrated plate positioning column (46) is used for fixing two sides of the integrated plate lifting plate (47), and the integrated plate lifting plate (47) is fixed on the integrated plate lifting cylinder (49);
the integrated board locating sleeves (48) are fixed on two sides of the integrated board (41) and correspond to the integrated board locating columns (46).
CN201810927331.8A 2018-08-15 2018-08-15 Automatic valve body assembly line Active CN108747358B (en)

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CN110449872A (en) * 2019-07-22 2019-11-15 苏州江锦自动化科技有限公司 High-precision full-automatic screw-like workpiece erection device
CN111409090A (en) * 2020-04-30 2020-07-14 中国计量大学 Automatic plugging device for valve block fabrication hole
CN111496521A (en) * 2020-04-30 2020-08-07 杭州中久自控***有限公司 Automatic assembly equipment for water valve
CN111618585A (en) * 2020-07-02 2020-09-04 福建闽大科技有限公司 Automatic assembling device for fingertip gyroscope
CN114406739B (en) * 2021-11-11 2023-08-08 无锡晋拓材料科技有限公司 Automatic production line processing equipment for gas valve body

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