CN109940382B

CN109940382B - Automatic assembly production line for throttle valve

Info

Publication number: CN109940382B
Application number: CN201910251399.3A
Authority: CN
Inventors: 范海浪; 蒋滨; 林开峰; 林川波; 许杰
Original assignee: Ningbo Intell Pneumatic Technology Co ltd
Current assignee: Ningbo Intell Pneumatic Technology Co ltd
Priority date: 2019-03-29
Filing date: 2019-03-29
Publication date: 2024-04-16
Anticipated expiration: 2039-03-29
Also published as: CN109940382A

Abstract

The invention relates to the technical field of automatic assembly equipment of throttle valves, in particular to an automatic assembly production line of throttle valves, which comprises a workbench and a valve body material moving mechanism fixedly installed on the workbench, wherein a valve body sealing ring installing mechanism is arranged beside a valve body first sealing ring installing station and a valve body second sealing ring installing station, a valve rod feeding mechanism is arranged beside a valve rod feeding station, a valve rod sealing ring installing mechanism is arranged beside a valve rod sealing ring installing station, a locking nut installing mechanism is arranged beside a locking nut installing station, a valve core installing mechanism is arranged beside a valve core installing station, a valve body lock catch riveting mechanism is arranged beside a valve body lock catch riveting station, an adjusting screw automatic dispensing installing mechanism is arranged beside an adjusting screw automatic dispensing installing station, and a tightness checking mechanism is arranged beside a tightness detecting station.

Description

Automatic assembly production line for throttle valve

Technical Field

The invention relates to the technical field of automatic assembly equipment of throttle valves, in particular to an automatic assembly production line of throttle valves.

Background

The throttle valve is a valve which controls the flow of fluid by changing the throttle section or the throttle length, and the throttle valve and the one-way valve are connected in parallel to form the one-way throttle valve, and the throttle valve and the one-way throttle valve are simple flow control valves.

The pneumatic flow control valve is used for adjusting the speed of the pneumatic actuating element, and compared with the hydraulic flow control valve, the pneumatic actuating element is more difficult to adjust the speed and has compressibility. The following points should be paid attention to the speed regulation by the pneumatic flow control valve to prevent creeping:

1. the air leakage phenomenon cannot occur on the pipeline;

2. the lubrication state between the cylinder and the piston is good;

3. the flow control valve is arranged around the cylinder or the air motor as much as possible;

4. as much as possible, adopting an outlet throttling speed regulation mode;

5. the applied load should be stable. If the external load changes greatly, the speed change caused by the load change should be compensated by hydraulic or mechanical devices (such as gas-liquid linkage).

At present, the throttle valve assembly machine in use has complex working procedures, inconvenient operation and unreasonable design in detail, and products can be damaged in the assembly process, so that manpower and material resources are wasted, and popularization and use are not facilitated.

Chinese patent CN204868077U discloses a throttle valve automatic assembly machine, which comprises a frame, be equipped with the conveyer belt in the frame, be equipped with artifical bin outlet mechanism, feed mechanism one, oiling mechanism, feed mechanism two, press mechanism, zinc sleeve assembly mechanism, button assembly mechanism, detection mechanism, unloading mechanism and touch-sensitive screen on the conveyer belt in proper order.

The device disclosed in this patent is only suitable for simple throttle valves consisting of valve housing, valve body, zinc housing, etc., but not for complex throttle valves in the prior art.

The throttle valve in the prior art comprises a valve body, a valve rod and a valve core, wherein two sealing rings are sleeved on the valve body, a sealing ring is sleeved on the valve rod, a sealing ring is sleeved on the valve core, a locking nut is installed at the bottom end of the valve rod, an adjusting screw is installed at the bottom end of the valve body, and after the valve rod and the valve core are installed inside the valve body, the valve body is locked and riveted, and finally air tightness inspection is carried out.

For the complex throttle valves in the prior art, an automatic assembly line is required for automatic assembly production.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an automatic assembly production line for the throttle valve, which can automatically assemble the throttle valve with a complex structure and can automatically classify the closed throttle valve and the unqualified throttle valve.

The invention discloses an automatic assembly production line of a throttle valve, which comprises a workbench and a valve body material moving mechanism fixedly arranged on the workbench, wherein thirteen stations which are arranged in a straight line from one end of the workbench to the other end of the workbench are respectively a valve body material feeding station, a valve body first sealing ring mounting station, a valve body second sealing ring mounting station, a valve rod lubricating station, a first transfer station, a lock nut mounting station, a valve core mounting station, a valve body lock catch riveting station, a second transfer station, an adjusting screw automatic dispensing mounting station, a tightness detection station and a discharging station, wherein a valve rod material feeding station and a valve rod sealing ring mounting station are arranged beside the valve rod mounting station.

Preferably, the valve body material loading station, valve body first sealing washer installation station, valve body second sealing washer installation station, lock nut installation station, case installation station, adjusting screw is from moving the point to glue installation station, valve rod material loading station, valve rod sealing washer installation station side all is provided with a feed mechanism, valve body first sealing washer installation station, valve body second sealing washer installation station side is provided with valve body sealing washer installation mechanism, valve rod sealing washer installation station side is provided with valve rod sealing washer installation mechanism, lock nut installation station side is provided with lock nut installation mechanism, case installation station side is provided with case installation mechanism, valve body hasp riveting station side is provided with valve body hasp riveting mechanism, adjusting screw is from moving the point to glue installation mechanism, the leakproofness detects the station side and is provided with leakproofness inspection mechanism.

Preferably, the workbench is further provided with a controller, and the controller is electrically connected with the valve body moving mechanism, the valve body sealing ring mounting mechanism, the valve rod feeding mechanism, the valve rod sealing ring mounting mechanism, the locking nut mounting mechanism, the valve core mounting mechanism, the valve body lock catch riveting mechanism, the adjusting screw automatic dispensing mounting mechanism, the tightness checking mechanism and the feeding mechanism.

Preferably, the valve body moving mechanism comprises a valve body feeding mechanism, a first mechanical claw moving mechanism, a second mechanical claw moving mechanism, mechanical clamping jaws and a valve body unloading mechanism, wherein one mechanical clamping jaw is arranged on the first twelve stations, a plurality of mechanical clamping jaws are arranged at equal intervals to form a straight line, the first mechanical claw moving mechanism is fixedly connected with the first six mechanical clamping jaws, the second mechanical claw moving mechanism is fixedly connected with the last six mechanical clamping jaws, the first mechanical claw moving mechanism and the second mechanical claw moving mechanism are of the same structure, the valve body feeding mechanism is arranged beside the valve body feeding station, and the valve body unloading mechanism is arranged beside the unloading station.

Preferably, the first mechanical claw moving mechanism comprises a vertical movable plate, a telescopic upright post, a first linear driving device, a horizontal sliding plate, a first sliding rail and a second linear driving device, wherein the first sliding rail and the second linear driving device are arranged side by side and fixedly installed on the workbench, the horizontal sliding plate is fixedly installed at the working end of the first sliding rail, the output end of the second linear driving device is fixedly connected with the horizontal sliding plate, the first linear driving device is fixedly installed at the middle end of the horizontal sliding plate, the output end of the first linear driving device is vertically upwards arranged, the telescopic upright post is fixedly installed at the two ends of the horizontal sliding plate and vertically upwards arranged in the telescopic direction of the telescopic upright post, the vertical movable plate is horizontally arranged above the horizontal sliding plate, the middle end of the vertical movable plate is fixedly connected with the working end of the first linear driving device, the two ends of the vertical movable plate are fixedly connected with the telescopic end of the telescopic upright post, and the mechanical clamping jaw is fixedly installed on the vertical movable plate.

Preferably, the lock nut mounting mechanism comprises a valve rod lubricating mechanism, a lock nut mounting manipulator and a valve rod rotating mechanism, wherein the valve rod lubricating mechanism is arranged above the valve rod lubricating station, the lock nut mounting manipulator is arranged below the lock nut mounting station, and the valve rod rotating mechanism is arranged above the lock nut mounting station.

Preferably, the valve rod lubricating mechanism comprises a twelfth linear driving device and an oil injector fixedly arranged at the working end of the twelfth linear driving device, and the output direction of the twelfth linear driving device is vertically downwards.

Preferably, the lock nut mounting manipulator comprises a thirteenth linear driving device, a lock nut feeding table, a second finger cylinder and lock nut clamping jaws, wherein the thirteenth linear driving device is fixedly mounted on the workbench, the output direction of the thirteenth linear driving device is vertically upwards arranged, the lock nut feeding table is fixedly mounted at the working end of the thirteenth linear driving device, the lock nut feeding table is abutted to the discharge port of the feeding mechanism, the second finger cylinder is fixedly mounted on the lock nut feeding table, the lock nut clamping jaws are fixedly mounted at the working end of the second finger cylinder, the lock nut clamping jaws are located at two sides of the discharge port of the feeding mechanism, and the bottom surfaces of the lock nut clamping jaws are in clearance fit with the top surface of the lock nut feeding table.

Preferably, the valve rod rotating mechanism comprises a fourteenth linear driving device and an electric wrench fixedly arranged at the working end of the fourteenth linear driving device, and the output direction of the fourteenth linear driving device is vertically downwards.

Preferably, the output end of the electric wrench is provided with a damping block which is in curved fit with the top end of the valve rod.

The beneficial effects are that:

the valve body moves through the valve body moving mechanism under the control of the controller, and simultaneously sequentially passes through the valve body sealing ring mounting mechanism, the valve rod feeding mechanism, the valve rod sealing ring mounting mechanism, the lock nut mounting mechanism, the valve core mounting mechanism, the valve body lock catch riveting mechanism and the automatic dispensing mounting mechanism of the adjusting screw to be processed, then the tightness detection is carried out through the tightness detection mechanism, and after the detection is finished, the valve body moving mechanism moves to the position of the unloading station to wait for unloading;

when the detection is qualified, the valve body unloading mechanism grabs the valve bodies on the unloading station by the mechanical arm and then places the valve bodies into deep holes on the stacking tray one by one, and when one row of deep holes on the stacking tray are all provided with the valve bodies, the belt conveyor works to drive the stacking tray to move forwards, so that the mechanical arm can place the valve bodies into the next row of deep holes;

when the detection is unqualified, the valve body unloading mechanism moves to the upper part of the waste bucket after grabbing the valve body on the unloading station through the mechanical arm, and throws the valve body into the waste bucket.

1. The production line can automatically assemble a throttle valve with a complex structure;

2. the production line can automatically classify qualified and unqualified throttle valves.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

FIG. 1 is a perspective view of an embodiment;

FIG. 2 is a top view of an embodiment;

FIG. 3 is a perspective view of a workbench and valve body transfer mechanism of an embodiment;

FIG. 4 is a second perspective view of the table and valve body transfer mechanism of the embodiment;

FIG. 5 is a perspective view of a valve body seal ring mounting mechanism of an embodiment;

FIG. 6 is a partial enlarged view of embodiment A of FIG. 5;

FIG. 7 is an exploded perspective view of a valve body seal ring mounting robot of an embodiment;

FIG. 8 is a perspective view I of a valve stem charging mechanism and valve stem seal ring mounting mechanism of an embodiment;

FIG. 9 is a second perspective view of the valve stem charging mechanism and valve stem seal ring mounting mechanism of the embodiment;

FIG. 10 is a partial perspective view of a valve stem charging mechanism and a valve stem seal ring mounting mechanism of an embodiment;

FIG. 11 is a partially exploded view of the valve stem charging mechanism and valve stem seal mounting mechanism of the embodiment;

FIG. 12 is a side cross-sectional view of a valve stem seal mounting robot of an embodiment;

FIG. 13 is a perspective view of a cage nut mounting mechanism of the embodiment;

FIG. 14 is a partial perspective view of a cage nut mounting mechanism of the embodiment;

FIG. 15 is a perspective view I of the valve core mounting mechanism and valve body latch riveting mechanism of the embodiment;

FIG. 16 is a perspective view of a valve cartridge loading table of an embodiment;

FIG. 17 is a second perspective view of the valve core mounting mechanism and valve body latch riveting mechanism of the embodiment;

FIG. 18 is a partial enlarged view at B of the embodiment of FIG. 17;

FIG. 19 is a perspective view of an automatic adjusting screw dispensing mounting mechanism according to an embodiment;

FIG. 20 is an exploded perspective view of an embodiment of an automatic adjusting screw dispensing mounting mechanism;

FIG. 21 is a partial enlarged view at C of the embodiment of FIG. 20;

FIG. 22 is a perspective view of the air tightness inspection mechanism of the embodiment;

FIG. 23 is a partially exploded view of the air-tightness inspection mechanism of the embodiment;

FIG. 24 is a perspective view of a valve body discharge mechanism;

fig. 25 is a partial enlarged view of embodiment D of fig. 24.

Reference numerals illustrate:

a workbench 1, a valve body feeding station 1a, a valve body first seal ring mounting station 1b, a valve body second seal ring mounting station 1c, a valve rod mounting station 1d, a valve rod lubrication station 1e, a first transfer station 1f, a lock nut mounting station 1g, a valve core mounting station 1h, a valve body lock riveting station 1j, a second transfer station 1k, an adjusting screw automatic dispensing mounting station 1l, a tightness detection station 1m, a discharging station 1n, a valve rod feeding station 1o, a valve rod seal ring mounting station 1p, a valve body moving mechanism 2, a valve body feeding mechanism 2a, a first mechanical claw moving mechanism 2b, a vertical movable plate 2b1, a telescopic column 2b2, a first linear driving device 2b3, a horizontal sliding plate 2b4, a first sliding rail 2b5, a second linear driving device 2b6, a second mechanical claw moving mechanism 2c, a mechanical clamping jaw 2d, a valve body discharging mechanism 2e, a discharging mechanical arm 2e1, a fourth sliding table 2e11, a twenty-third linear driving device 2e12, a finger cylinder 2e13, a valve body clamping jaw 2e14, a belt conveyor 2e2, a code tray 2e3, a waste bucket 2e4, a fourth sensor 2e5, a valve body seal ring mounting mechanism 3, a first seal ring feeding table 3a, a movable feeding table 3a1, a third linear driving device 3a2, a retainer ring 3a3, a first sensor 3a4, a fourth linear driving device 3a5, a first movable cover plate 3a6, a second seal ring feeding table 3b, a first seal ring mounting manipulator 3c, a fifth linear driving device 3c1, an upper cross fixing frame 3c2, a guide post 3c3, a guide sleeve 3c4, a lower cross fixing frame 3c5, a four-jaw chuck 3c6, a jaw 3c7, a sixth linear driving device 3c8, a guide rod 3c9, a second seal ring mounting manipulator 3d, a manipulator fixing bracket 3e, a bracket moving mechanism 3f, a valve rod feeding mechanism 4, a vibration tray 4a, a feeding tube 4b, an opening stopper mechanism 4c, a valve rod 4c, a bracket 4c1, a seventh linear driving device 4c2, a first stop rod 4c3, an eighth linear driving device 4c4, a second stop rod 4c5, a valve rod table 4d, a valve rod clamping jaw 4d1, a first finger cylinder 4d2, a table sliding table 4e, a first sliding block 4e1, a second sliding rail 4e2, a ninth linear driving device 4e3, a manipulator 4f, a valve rod seal ring mounting mechanism 5, a third seal ring mounting table 5a, a seal ring positioning table 5a1, a feed port 5a11, a counter bore 5a12, a deep hole 5a13, a first sensor probe hole 5a14, a second sliding block 5a2, a pin 5a3, a resetting device 5a4, a second movable cover plate 5a5, a tenth linear driving device 5a6, a second sensor 5a7, a third seal ring mounting manipulator 5b, a first sliding table 5b1, a second sliding table 5b2, eleventh linear driving device 5b3, an outer sleeve 5b4, an inner sleeve 5b5, a positioning rod 5b 6c, a locking mechanism 6c, a nut moving mechanism 6, a valve stem lubrication mechanism 6a, a twelfth linear driving device 6a1, an oil injector 6a2, a lock nut mounting robot 6b, a thirteenth linear driving device 6b1, a lock nut loading table 6b2, a second finger cylinder 6b3, a lock nut claw 6b4, a valve stem rotation mechanism 6c, a fourteenth linear driving device 6c1, an electric wrench 6c2, a valve core mounting mechanism 7, a valve core loading table 7a, a valve core positioning table 7a1, a feed port 7a11, a chute 7a12, a valve core moving slider 7a2, a valve core positioning groove 7a21, a fifteenth linear driving device 7a3, a valve core shutter 7a4, a valve core mounting robot 7b, a third slide table 7b1, a sixteenth linear driving device 7b2, a valve core robot holder 7b3, a rotating finger cylinder 7b4, a valve core 7b5, a seventeenth linear driving device 7b6, a plunger 7b7, a valve body lock riveting mechanism 8, a riveting work holder 8a, an eighteenth linear driving device 8b, a third slider 8c, a third slide rail 8d, a riveting head 8e, a stop rod 8f, a threaded rod 8f1, a push rod 8f2, a riveting workbench 8g, an adjusting screw automatic dispensing installation mechanism 9, an adjusting screw feeding table 9a, an adjusting screw sliding groove 9a1, a sensor installation groove 9a2, a second sensor probe hole 9a3, an adjusting screw moving mechanism 9b, a fourth slide block 9b1, a nineteenth linear driving device 9b2, a long push rod 9b3, a third sensor 9b4, an adjusting screw dispensing mechanism 9c, a glue storage tank 9c1, a twenty-first linear driving device 9c2, a glue injector bracket 9c3, the electric glue injector 9c4, the adjusting screw mounting mechanism 9d, the twenty-first linear driving device 9d1, the second electric wrench 9d2, the valve body positioning ring 9d3, the bearing 9d4, the bearing fixing plate 9d5, the tightness checking mechanism 10, the air injection pressure maintaining mechanism 10a, the air injection rod 10a1, the twenty-second linear driving device 10a2, the air hole plug 10b, the semicircular hole 10b1, the fixing piece 10b2, the mounting hole 10b3, the plug opposite moving mechanism 10c, the open finger cylinder 10c1, the clamping jaw 10c2, the square groove 10c3, the threaded hole 10c4 and the detection table 10d.

Detailed Description

Various embodiments of the invention are disclosed in the following drawings, in which details of the practice are set forth in the following description for the purpose of clarity. However, it should be understood that these practical details are not to be taken as limiting the invention. That is, in some embodiments of the invention, these practical details are unnecessary. Moreover, for the purpose of simplifying the drawings, some conventional structures and components are shown in the drawings in a simplified schematic manner.

In addition, the descriptions of the "first," "second," and the like, herein are for descriptive purposes only and are not intended to be specifically construed as order or sequence, nor are they intended to limit the invention solely for distinguishing between components or operations described in the same technical term, but are not to be construed as indicating or implying any relative importance or order of such features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

Referring to fig. 1 to 25, an automatic assembly production line of a throttle valve comprises a workbench 1 and a valve body moving mechanism 2 fixedly installed on the workbench 1, wherein thirteen stations which are arranged in a straight line from one end of the workbench 1 to the other end of the workbench 1 are respectively a valve body feeding station 1a, a valve body first sealing ring installation station 1b, a valve body second sealing ring installation station 1c, a valve rod installation station 1d, a valve rod lubrication station 1e, a first transfer station 1f, a locking nut installation station 1g, a valve core installation station 1h, a valve body lock catch riveting station 1j, a second transfer station 1k, an adjusting screw automatic dispensing installation station 1l, a tightness detection station 1m and a discharging station 1n, wherein a valve rod feeding station 1o and a valve rod sealing ring installation station 1p are arranged beside the valve rod installation station 1 d;

the valve body feeding station 1a, the valve body first sealing ring mounting station 1b, the valve body second sealing ring mounting station 1c, the locking nut mounting station 1g, the valve core mounting station 1h, the automatic dispensing mounting station 1l of the adjusting screw, the valve rod feeding station 1o and the valve rod sealing ring mounting station 1p are respectively provided with a feeding mechanism, the valve body sealing ring mounting mechanism 3 is arranged beside the valve body first sealing ring mounting station 1b and the valve body second sealing ring mounting station 1c, the valve rod feeding mechanism 4 is arranged beside the valve rod feeding station 1o, the valve rod sealing ring mounting mechanism 5 is arranged beside the valve rod sealing ring mounting station 1p, the locking nut mounting mechanism 6 is arranged beside the locking nut mounting station 1g, the valve core mounting mechanism 7 is arranged beside the valve core mounting station 1h, the valve body lock catch riveting mechanism 8 is arranged beside the valve body lock catch riveting station 1j, the adjusting screw automatic dispensing mounting mechanism 9 is arranged beside the adjusting screw automatic dispensing mounting station 1l, the tightness checking mechanism 10 is arranged beside the tightness detecting station 1m, the workbench 1 is also provided with a controller, and the controller is electrically connected with the valve body moving mechanism 2, the valve body sealing ring mounting mechanism 3, the valve rod feeding mechanism 4, the valve rod sealing ring mounting mechanism 5, the locking nut mounting mechanism 6, the valve core mounting mechanism 7, the valve body lock catch riveting mechanism 8, the adjusting screw automatic dispensing mounting mechanism 9, the tightness checking mechanism 10 and the feeding mechanism;

The valve body material moving mechanism 2 comprises a valve body feeding mechanism 2a, a first mechanical claw moving mechanism 2b, a second mechanical claw moving mechanism 2c, mechanical clamping claws 2d and a valve body unloading mechanism 2e, wherein one mechanical clamping claw 2d is arranged on the first twelve stations, the mechanical clamping claws 2d are equidistantly and alternately arranged into a straight line, the first mechanical claw moving mechanism 2b is fixedly connected with the first six mechanical clamping claws 2d, the second mechanical claw moving mechanism 2c is fixedly connected with the last six mechanical clamping claws 2d, the first mechanical claw moving mechanism 2b and the second mechanical claw moving mechanism 2c are of the same structure, the valve body feeding mechanism 2a is arranged beside the valve body feeding station 1a, and the valve body unloading mechanism 2e is arranged beside the unloading station 1 n;

the first mechanical gripper moving mechanism 2b comprises a vertical movable plate 2b1, a telescopic upright post 2b2, a first linear driving device 2b3, a horizontal sliding plate 2b4, a first sliding rail 2b5 and a second linear driving device 2b6, wherein the first sliding rail 2b5 and the second linear driving device 2b6 are arranged side by side and fixedly installed on the workbench 1, the horizontal sliding plate 2b4 is fixedly installed at the working end of the first sliding rail 2b5, the output end of the second linear driving device 2b6 is fixedly connected with the horizontal sliding plate 2b4, the first linear driving device 2b3 is fixedly installed at the middle end of the horizontal sliding plate 2b4 and the output end of the first linear driving device 2b3 is vertically upwards arranged, the telescopic upright post 2b2 is fixedly installed at two ends of the horizontal sliding plate 2b4 and the telescopic direction of the telescopic upright post 2b2 is vertically upwards arranged, the vertical movable plate 2b1 is horizontally arranged above the horizontal sliding plate 2b4, the middle end of the vertical movable plate 2b1 is fixedly connected with the working end of the first linear driving device 2b3, and the two ends of the vertical movable plate 2b2 are fixedly connected with the two ends of the telescopic upright posts 2b 2.

The first linear driving device 2b3 and the second linear driving device 2b6 are all single-shaft cylinders, the second linear driving device 2b6 drives the horizontal sliding plate 2b4 to horizontally and linearly reciprocate on the first sliding rail 2b5, the first linear driving device 2b3 drives the vertical movable plate 2b1 to vertically reciprocate, the telescopic upright post 2b2 is an upright post provided with a guide post and a guide sleeve, and the guide post is fixedly connected with the bottom end of the vertical movable plate 2b1, so that the telescopic upright post 2b2 can play a role in supporting the weight of the vertical movable plate 2b1 and guiding the moving direction of the vertical movable plate 2b 1;

the valve body feeding mechanism 2a comprises a manipulator, and during feeding, the valve body is continuously moved to the side of the valve body feeding station 1a by the feeding mechanism, and then is grabbed and placed on the valve body feeding station 1a by the valve body feeding mechanism 2 a;

subsequently, the mechanical clamping jaw 2d clamps the valve body, and then the first linear driving device 2b3 drives the vertical movable plate 2b1 to move upwards, so that the mechanical clamping jaw 2d clamps the valve body to leave the station and hang in the air; then the second linear driving device 2b6 drives the horizontal sliding plate 2b4 to drive the vertical movable plate 2b1 to move sideways, so that the mechanical clamping jaw 2d moves the valve body to the position above the next station, and then the first linear driving device 2b3 drives the vertical movable plate 2b1 to move downwards and the mechanical clamping jaw 2d is loosened, so that the valve body naturally falls into the position of the next station; the first mechanical claw moving mechanism 2b and the second mechanical claw moving mechanism 2c work together to move a plurality of valve bodies to the next station at one time;

The valve body moves through valve body material moving mechanism 2 under the control of the controller, simultaneously sequentially passes through valve body sealing ring mounting mechanism 3, valve rod feeding mechanism 4, valve rod sealing ring mounting mechanism 5, lock nut mounting mechanism 6, valve core mounting mechanism 7, valve body lock catch riveting mechanism 8 and automatic processing of dispensing mounting mechanism 9 of adjusting screw, and the tightness is detected by tightness checking mechanism 10, and the position of unloading station 1n is unloaded through valve body unloading mechanism 2e through valve body material moving mechanism 2 after detection.

The valve body sealing ring mounting mechanism 3 comprises a first sealing ring feeding table 3a, a second sealing ring feeding table 3b, a first sealing ring mounting manipulator 3c, a second sealing ring mounting manipulator 3d and a manipulator fixing support 3e, wherein working ends of the first sealing ring feeding table 3a and the second sealing ring feeding table 3b are abutted to output ends of the feeding mechanism, the first sealing ring mounting manipulator 3c is arranged above the first sealing ring feeding table 3a, the working ends of the first sealing ring mounting manipulator 3c are vertically downwards arranged, the second sealing ring mounting manipulator 3d is arranged above the second sealing ring feeding table 3b, the working ends of the second sealing ring mounting manipulator 3d are vertically downwards arranged, the first sealing ring mounting manipulator 3c and the second sealing ring mounting manipulator 3d are mounted on the manipulator fixing support 3e side by side, the manipulator fixing support 3e is fixedly mounted on the working ends of the support moving mechanism 3f, the first sealing ring feeding table 3a and the second sealing ring mounting manipulator 3b are identical in structure, and the first sealing ring mounting manipulator 3c and the second sealing ring mounting manipulator 3d are identical in structure, and the working ends of the first sealing ring mounting manipulator 3d are higher than the working ends of the second sealing ring mounting manipulator 3d are identical in structure.

The feeding mechanism transmits the valve body sealing rings to the table boards of the first sealing ring feeding table 3a and the second sealing ring feeding table 3b, then the first sealing ring installation manipulator 3c and the second sealing ring installation manipulator 3d clamp the sealing rings on the first sealing ring feeding table 3a and the second sealing ring feeding table 3b respectively, then the sealing rings are moved to the upper parts of the two valve bodies through the support moving mechanism 3f, the sealing rings are sleeved on the valve bodies, and because the second sealing ring installation manipulator 3d is higher than the first sealing ring installation manipulator 3c, the second sealing ring installation manipulator 3d installs the sealing rings at the top end of the valve body, the first sealing ring installation manipulator 3c installs the sealing rings at the middle end of the valve body, and then the manipulator fixing support 3e resets.

The first sealing ring feeding table 3a comprises a movable feeding table 3a1 and a third linear driving device 3a2, the movable feeding table 3a1 is abutted against a discharge hole of the feeding mechanism, the top surface of the movable feeding table 3a1 is lower than the discharge hole of the feeding mechanism in a non-working state, the third linear driving device 3a2 is arranged below the movable feeding table 3a1, and the working end of the third linear driving device 3a2 is vertically upwards arranged and fixedly connected with the movable feeding table 3a 1.

The third linear driving device 3a2 is a double-shaft double-rod cylinder sliding table, the third linear driving device 3a2 drives the movable feeding table 3a1 to vertically reciprocate, the side surface of the movable feeding table 3a1 stops the discharge hole of the feeding mechanism when the movable feeding table is lifted, discharging is interrupted, and the third linear driving device 3a2 moves below the discharge hole of the discharging mechanism after being lowered, so that a sealing ring is connected to the top surface of the sealing ring.

The top of movable feed table 3a1 is provided with keeps off material ring 3a3, keeps off the annular shape that material ring 3a3 is vertical upwards extends, keeps off the inner wall of material ring 3a3 and the outline clearance fit of sealing washer, keeps off material ring 3a3 and is provided with the opening that can supply the sealing washer to get into towards one side of feed mechanism, and the height of movable feed table 3a1 equals the thickness of sealing washer.

The sealing ring enters the inside of the material blocking ring 3a3 through the opening of the material blocking ring 3a3, so that the movement of the sealing ring is limited by the material blocking ring 3a3, and the sealing ring can be accurately clamped by the first sealing ring mounting manipulator 3 c.

The movable feeding table 3a1 is provided with a first sensor 3a4 on two sides, the first sensors 3a4 are symmetrically arranged in opposite directions, the working end of the first sensor 3a4 is flush with the movable feeding table 3a1 in height, semicircular holes for the laser of the first sensor 3a4 to penetrate through are formed on two sides of the movable feeding table 3a1, and the first sensor 3a4 is electrically connected with the controller.

The first sensors 3a4 are correlation photoelectric sensors, when the sealing ring enters the material blocking ring 3a3, the sealing ring shields optical signal transmission between the first sensors 3a4, the first sensors 3a4 send signals to the controller, and then the controller sends signals to the feeding mechanism to enable the feeding mechanism to stop working.

The first seal ring feeding table 3a further comprises a fourth linear driving device 3a5 and a first movable cover plate 3a6, the first movable cover plate 3a6 is fixedly arranged at the working end of the fourth linear driving device 3a5, the fourth linear driving device 3a5 is arranged at the side of the movable feeding table 3a1 and fixedly connected with the working end of the third linear driving device 3a2, the output direction of the fourth linear driving device 3a5 is arranged towards the material blocking ring 3a3, and the first movable cover plate 3a6 is a flat plate with the bottom surface in clearance fit with the top surface of the material blocking ring 3a 3.

The fourth linear driving device 3a5 is a double-shaft double-rod cylinder, the fourth linear driving device 3a5 drives the first movable cover plate 3a6 to horizontally reciprocate, so that the first movable cover plate 3a6 can move above the material blocking ring 3a3 or separate from the material blocking ring, when the sealing ring is fed and moved, the first movable cover plate 3a6 covers above the material blocking ring 3a3, the sealing ring enters the material blocking ring 3a3 from a gap between the movable feeding table 3a1 and the first movable cover plate 3a6, when the first sealing ring mounting manipulator 3c needs to clamp the sealing ring, the fourth linear driving device 3a5 drives the first movable cover plate 3a6 to separate from the upper part of the material blocking ring 3a, the first movable cover plate 3a6 and the movable feeding table 3a1 limit the movement of the sealing ring in the vertical direction, and the sealing ring is prevented from falling to the outer side of the material feeding table 3a on the first sealing ring when the feeding or upward moving.

The first sealing ring mounting manipulator 3c comprises a fifth linear driving device 3c1, an upper cross fixing frame 3c2, a lower cross fixing frame 3c5, four-jaw chucks 3c6 and jaws 3c7, wherein the upper cross fixing frame 3c2 and the lower cross fixing frame 3c5 are cross-shaped brackets respectively arranged on the upper side and the lower side of the manipulator fixing frame 3e, the upper cross fixing frame 3c2 and the lower cross fixing frame 3c5 are identical in structure and are horizontally arranged, guide posts 3c3 which vertically penetrate through the manipulator fixing frame 3e and are fixedly connected with the four corners of the lower cross fixing frame 3c5 are arranged at four corners of the upper cross fixing frame 3c2, guide sleeves 3c4 fixedly arranged on the manipulator fixing frame 3e are sleeved on each guide post 3c3, the fifth linear driving device 3c1 is fixedly arranged on the upper cross fixing frame 3c2, and the fixed end of the fifth linear driving device 3c1 is fixedly connected with the upper cross fixing frame 3c2, and the output end of the fifth linear driving device 3c1 is vertically arranged downwards and is fixedly connected with the manipulator fixing frame 3 e;

the four-jaw chuck 3c6 is fixedly arranged at the bottom end of the manipulator fixing support 3e, the four-jaw chuck 3c6 is positioned between the bottom surface of the manipulator fixing support 3e and the top surface of the lower cross fixing support 3c5, the working end of the four-jaw chuck 3c6 is provided with the clamping jaw 3c7, the clamping jaw 3c7 is four L-shaped clamping jaws which are arranged around the central angle of the axis of the four-jaw chuck 3c6, and the working end of the clamping jaw 3c7 is vertically arranged downwards;

The lower cross fixing frame 3c5 is provided with a through hole for the claw 3c7 to pass through, the bottom end of the claw 3c7 is positioned below the bottom surface of the lower cross fixing frame 3c5 in a non-working state, the working end of the claw 3c7 is abutted on the inner wall of the middle round hole of the lower cross fixing frame 3c5 in a working state, and meanwhile, the working end of the claw 3c7 is positioned above the bottom surface of the lower cross fixing frame 3c 5.

The fifth linear driving device 3c1 is a single-shaft single-rod cylinder, the upper cross fixing frame 3c2, the guide post 3c3, the guide sleeve 3c4 and the lower cross fixing frame 3c5 form a double-plane workbench capable of vertically and reciprocally sliding, when the fifth linear driving device 3c1 works, the double-plane workbench moves upwards, and when the fifth linear driving device 3c1 resets, the double-plane workbench moves downwards;

the four-jaw chuck 3c6 is a hollow four-jaw finger cylinder, the four-jaw chuck 3c6 in a non-working state drives the jaws 3c7 to draw close towards the middle, the four jaws 3c7 are inserted into the sealing ring after being drawn close, then the four-jaw chuck 3c6 drives the jaws 3c7 to open, the four jaws 3c7 support the sealing ring and then are sleeved on the outer side of the valve body, then the fifth linear driving device 3c1 works and drives the cross fixing frame 3c5 to move downwards, the lower cross fixing frame 3c5 pushes the sealing ring down from the jaws 3c7, and the sealing ring naturally contracts and is sleeved on the valve body;

The support moving mechanism 3f comprises a double-shaft double-rod cylinder sliding table and a horizontally arranged magnetic coupling rodless cylinder sliding table, and the manipulator fixing support 3e drives the first sealing ring installation manipulator 3c and the second sealing ring installation manipulator 3d to vertically reciprocate and horizontally reciprocate towards the valve body through the support moving mechanism 3 f.

The valve body sealing ring mounting mechanism 3 further comprises a sixth linear driving device 3c8 and a guide rod 3c9, the guide rod 3c9 is fixedly mounted at the working end of the sixth linear driving device 3c8, the sixth linear driving device 3c8 is fixedly mounted below the manipulator fixing support 3e and located inside the four-jaw chuck 3c6, the working end of the sixth linear driving device 3c8 is vertically downwards arranged, a groove attached to the outer wall of the guide rod 3c9 is formed in one side, facing the guide rod 3c9, of the jaw 3c7, the bottom end of the guide rod 3c9 is higher than the bottom end of the jaw 3c7 in a non-working state, and the bottom end of the guide rod 3c9 is lower than the bottom end of the jaw 3c7 in a working state.

The sixth linear driving device 3c8 is a single-shaft single-rod cylinder installed at the hollow part of the four-jaw chuck 3c6, the sixth linear driving device 3c8 drives the guide rod 3c9 to move below the bottom end of the jaw 3c7 in the working state, meanwhile, the four-jaw chuck 3c6 drives the jaw 3c7 to move inwards and enables the inner wall of the jaw 3c7 to abut against the guide rod 3c9, and accordingly the jaw 3c7 and the guide rod 3c9 form a cone body and can be extruded into the sealing ring more accurately.

The automatic valve rod sealing ring mounting device comprises a valve rod feeding mechanism 4 and a valve rod sealing ring mounting mechanism 5;

the valve rod feeding mechanism 4 comprises a vibration disc 4a, a feeding pipe 4b, a valve rod stop mechanism 4c, a valve rod workbench 4d, a workbench sliding table 4e and a manipulator 4f, one end of the feeding pipe 4b is horizontally arranged and installed at a discharge port of the vibration disc 4a, the other end of the feeding pipe 4b is vertically arranged and installed at a feed port of the valve rod stop mechanism 4c, the valve rod workbench 4d is arranged at a discharge port of the valve rod stop mechanism 4c, and the workbench sliding table 4e for driving the valve rod workbench 4d to move towards the valve rod sealing ring installation mechanism 5 is installed below the valve rod workbench 4 d;

the valve rod sealing ring installation mechanism 5 comprises a third sealing ring feeding table 5a and a third sealing ring installation manipulator 5b, the third sealing ring feeding table 5a is arranged at the side of the valve rod workbench 4d, the third sealing ring installation manipulator 5b is arranged right above the third sealing ring feeding table 5a, and a manipulator moving mechanism 5c for driving the third sealing ring installation manipulator 5b to move towards the valve rod workbench 4d is arranged on the third sealing ring installation manipulator 5 b.

The vibration disk 4a continuously transmits the valve rods into the feeding pipe 4b, the valve rods slide into the feeding pipe 4b to the feeding hole of the valve rod stopping mechanism 4c and are stopped by the valve rod stopping mechanism 4c, so that the valve rods can only intermittently move onto the valve rod workbench 4d one by one, when the first valve rod falls into the valve rod workbench 4d, the valve rod stopping mechanism 4c prevents the valve rod in the feeding pipe 4b from continuously descending, and then the workbench sliding table 4e drives the valve rod workbench 4d to move to the side of the third sealing ring feeding table 5 a;

The third seal ring feeding table 5a moves the valve rod seal ring to the position right below the third seal ring installation manipulator 5b, the third seal ring installation manipulator 5b picks up the valve rod seal ring, then the manipulator moving mechanism 5c drives the third seal ring installation manipulator 5b to move to the position right above the valve rod workbench 4d, and then the third seal ring installation manipulator 5b installs the seal ring on the valve rod in the valve rod workbench 4 d;

after the valve rod is provided with the sealing ring, the manipulator 4f picks up the valve rod from the valve rod workbench 4d and moves the valve rod to the position of the valve rod installation station 1d, so that the valve rod is installed inside the valve body, then the workbench sliding table 4e drives the valve rod workbench 4d to return to the lower part of the valve rod stopping mechanism 4c, and the valve rod stopping mechanism 4c releases the limit so that the next valve rod falls into the valve rod workbench 4 d.

The valve rod stopping mechanism 4c comprises a bracket 4c1, a seventh linear driving device 4c2, a first stopping rod 4c3, an eighth linear driving device 4c4 and a second stopping rod 4c5, wherein the feeding pipe 4b, the seventh linear driving device 4c2 and the eighth linear driving device 4c4 are fixedly arranged on the bracket 4c1, the output direction of the seventh linear driving device 4c2 and the eighth linear driving device 4c4 is arranged towards the axis of the feeding pipe 4b, the first stopping rod 4c3 is fixedly arranged at the output end of the seventh linear driving device 4c2, the second stopping rod 4c5 is fixedly arranged at the output end of the eighth linear driving device 4c4, an opening 4b1 for the first stopping rod 4c3 and the second stopping rod 4c5 to pass through is arranged on the feeding pipe 4b, the first stopping rod 4c3 is made of elastic material, the suspension end of the first stopping rod 4c3 is made of cylindrical by rigid material, the second stopping rod 4c5 is made of valve rod surface, and the distance between the first stopping rod 4c3 and the second stopping rod 4c5 is longer than the length of a valve rod and is longer than the length of a valve rod;

In the working state, the second stop rod 4c5 penetrates through the whole feeding pipe 4b, and the first stop rod 4c3 penetrates through the opening 4b1 to be in contact with the surface of the valve rod.

The seventh linear driving device 4c2 and the eighth linear driving device 4c4 are single-shaft single-rod cylinders, the valve rod moves to the position of the opening 4b1 through the feeding pipe 4b, the eighth linear driving device 4c4 drives the second stop rod 4c5 to penetrate through the whole feeding pipe 4b through the opening 4b1, the first valve rod falls above the second stop rod 4c5, the second valve rod falls above the first valve rod, when the valve rod workbench 4d moves below the valve rod stop mechanism 4c, the seventh linear driving device 4c2 drives the first stop rod 4c3 to penetrate through the opening 4b1 and abut against the surface of the second valve rod, then the eighth linear driving device 4c4 drives the second stop rod 4c5 to be separated from the feeding pipe 4b, the first valve rod falls into the valve rod workbench 4d, and the second valve rod stops sliding downwards under the action of the first stop rod 4c 3; then the eighth linear driving device 4c4 drives the second stop rod 4c5 to pass through the opening 4b1 again and penetrate through the whole feeding pipe 4b, and then the seventh linear driving device 4c2 drives the first stop rod 4c3 to be separated from the feeding pipe 4b, so that the second valve rod falls above the second stop rod 4c5 and the third valve rod falls above the second valve rod; the intermittent feeding of the valve rod can be realized by circulating and reciprocating in this way.

The valve rod workbench 4d comprises a valve rod clamping jaw 4d1 and a first finger cylinder 4d2, the valve rod clamping jaw 4d1 is fixedly arranged at the working end of the first finger cylinder 4d2, a groove capable of containing a valve rod is formed in the valve rod clamping jaw 4d1, the workbench sliding table 4e comprises a first sliding block 4e1, a second sliding rail 4e2 and a ninth linear driving device 4e3 for driving the first sliding block 4e1 to horizontally and linearly move on the second sliding rail 4e2, and the first finger cylinder 4d2 is fixedly arranged on the first sliding block 4e 1.

The second slide rail 4e2 is fixedly arranged on the workbench 1 through a bracket, the ninth linear driving device 4e3 is a single-shaft single-rod cylinder, a valve rod falls onto the first slide block 4e1 through a valve rod stopping mechanism 4c, then the first finger cylinder 4d2 drives a valve rod clamping jaw 4d1 to clamp the valve rod, and then the ninth linear driving device 4e3 drives the first slide block 4e1 to slide to the side of the third seal ring feeding table 5a along the second slide rail 4e 2.

The third sealing ring feeding table 5a comprises a sealing ring positioning table 5a1 and a second sliding block 5a2, the sealing ring positioning table 5a1 is formed by combining two bilateral symmetry sealing ring positioning blocks, the two sealing ring positioning blocks are respectively and fixedly arranged on the two second sliding blocks 5a2, the second sliding block 5a2 is slidably arranged on a second sliding rail 4e2, one side of the second sliding block 5a2 is fixedly provided with a pin 5a3, and a suspension end of the pin 5a3 is provided with a reset device 5a4 for driving the two pins 5a3 to move oppositely.

The reset device 5a4 is a gas spring, the reset device 5a4 is fixedly arranged on the workbench 1 through a support, the feeding mechanism continuously transmits the valve rod sealing ring to the sealing ring positioning table 5a1, the third sealing ring installation manipulator 5b stretches into the sealing ring positioning table 5a1 and stretches the sealing ring, the sealing ring positioning table 5a1 is also stretched when the sealing ring is stretched, the two sealing ring positioning blocks are mutually far away, then the third sealing ring installation manipulator 5b carries the stretched sealing ring to separate from the sealing ring positioning table 5a1, one end of the reset device 5a4 is fixed, the other end of the reset device 5a4 is fixedly connected with the pin 5a3, the reset device 5a4 drives the pin 5a3 to drive the second sliding block 5a2 to reset, and the sealing ring positioning table 5a1 is reset.

The sealing ring positioning table 5a1 is provided with a feed inlet 5a11 for a sealing ring to enter towards one side of the feeding mechanism, one side, away from the feed inlet 5a11, of the sealing ring positioning table 5a1 is provided with a tenth linear driving device 5a6 with the output direction towards the sealing ring positioning table 5a1, the working end of the tenth linear driving device 5a6 is fixedly provided with a second movable cover plate 5a5, the second movable cover plate 5a5 is horizontally arranged, and the bottom surface of the second movable cover plate 5a is in clearance fit with the top surface of the sealing ring positioning table 5a 1.

When the feeding mechanism is used for feeding, the tenth linear driving device 5a6 drives the second movable cover plate 5a5 to cover the upper portion of the sealing ring positioning table 5a1, the sealing ring enters the sealing ring positioning table 5a1 through the feeding hole 5a11, at this time, the second movable cover plate 5a5 covers the upper portion of the sealing ring positioning table 5a1 to prevent the sealing ring from falling to the outer side of the sealing ring positioning table 5a1, and when the third sealing ring installation manipulator 5b grabs the sealing ring, the tenth linear driving device 5a6 drives the second movable cover plate 5a5 to leave the upper portion of the sealing ring positioning table 5a 1.

The third sealing ring mounting manipulator 5b comprises a first sliding table 5b1, a second sliding table 5b2, an eleventh linear driving device 5b3, an outer sleeve 5b4, an inner sleeve 5b5 and a positioning rod 5b6, wherein the second sliding table 5b2 and the eleventh linear driving device 5b3 are fixedly arranged above the movable end of the first sliding table 5b1, the outer sleeve 5b4 is fixedly arranged below the movable end of the second sliding table 5b2, the inner sleeve 5b5 is fixedly arranged below the movable end of the first sliding table 5b1, the positioning rod 5b6 is fixedly arranged at the movable end of the eleventh linear driving device 5b3, the output directions of the first sliding table 5b1, the second sliding table 5b2 and the eleventh linear driving device 5b3 are all vertically downwards, the inner sleeve 5b5 is sleeved outside the positioning rod 5b6, the outer sleeve 5b4 is sleeved outside the inner sleeve 5b5, the outer sleeve 5b4, the inner sleeve 5b5 and the positioning rod 5b6 can slide relatively, and the inner diameter of the inner sleeve 5b5 is larger than the outer diameter of the valve rod;

In the non-working state, the bottom end of the inner sleeve 5b5 is positioned below the bottom end of the outer sleeve 5b4, and the bottom end of the positioning rod 5b6 is positioned below the bottom end of the inner sleeve 5b 5;

the top end of the sealing ring positioning table 5a1 is provided with a vertically downward extending counter bore 5a12, a deep hole 5a13 vertically downward extending along the axis of the counter bore 5a12 is arranged in the counter bore 5a12, the inner diameter of the deep hole 5a13 is larger than the outer diameter of the positioning rod 5b6 and smaller than the outer diameter of the inner sleeve 5b5, and the inner diameter of the counter bore 5a12 is larger than the outer diameter of the inner sleeve 5b5 and smaller than the outer diameter of the outer sleeve 5b 4.

The first sliding table 5b1 and the second sliding table 5b2 are both sliding tables powered by a single-shaft single-rod air cylinder, the eleventh linear driving device 5b3 is a single-shaft single-rod air cylinder, the first sliding table 5b1 is used for driving the second sliding table 5b2, the eleventh linear driving device 5b3, the outer sleeve 5b4, the inner sleeve 5b5 and the positioning rod 5b6 to vertically reciprocate at the same time, the second sliding table 5b2 is used for driving the outer sleeve 5b4 to vertically reciprocate independently, and the eleventh linear driving device 5b3 is used for driving the positioning rod 5b6 to vertically reciprocate independently;

the outer sleeve 5b4 is slidable relative to the inner sleeve 5b5 with its bottom end located above or below the bottom end of the inner sleeve 5b5, and the positioning rod 5b6 is slidable relative to the inner sleeve 5b5 with its bottom end located below or above the bottom end of the inner sleeve 5b 5;

The valve rod sealing ring enters the sealing ring positioning table 5a1 through the feeding hole 5a11, the sealing ring falls on the counter bore 5a12, when the valve rod sealing ring is grabbed, the first sliding table 5b1 drives the working end of the valve rod sealing ring to move downwards, so that the outer sleeve 5b4, the inner sleeve 5b5 and the positioning rod 5b6 move downwards together, the positioning rod 5b6 is firstly inserted into the sealing ring and moves downwards to the deep hole 5a13, the sealing ring is positioned by the positioning rod 5b6, the inner sleeve 5b5 moves into the counter bore 5a12 and is abutted downwards on the sealing ring, and then the first sliding table 5b1 drives the inner sleeve 5b5 to move downwards continuously, so that the sealing ring is propped up and sleeved on the inner sleeve 5b5, and the grabbing work of the sealing ring is completed;

the manipulator moving mechanism 5c is a double-shaft double-rod cylinder sliding table, when a sealing ring is installed, the manipulator moving mechanism 5c drives the third sealing ring installation manipulator 5b to move to the upper side of the valve rod workbench 4d, the eleventh linear driving device 5b3 drives the positioning rod 5b6 to move upwards and retract into the inner sleeve 5b5, the first sliding table 5b1 drives the outer sleeve 5b4, the inner sleeve 5b5 and the positioning rod 5b6 to move downwards simultaneously, so that the inner sleeve 5b5 is sleeved on the outer side of the valve rod, at the moment, the bottom end of the inner sleeve 5b5 faces the position where the sealing ring is installed on the valve rod, then the second sliding table 5b2 drives the outer sleeve 5b4 to move downwards, and the sealing ring is pushed down from the inner sleeve 5b4 and naturally tightens and is fixed on the valve rod.

Second sensors 5a7 are installed on two sides of the sealing ring positioning table 5a1, a first sensor probe hole 5a14 through which light output by the second sensors 5a7 passes is arranged on the sealing ring positioning table 5a1, the first sensor probe hole 5a14 is flush with the counter bore 5a12, and the second sensors 5a7 are electrically connected with the controller.

The second sensor 5a7 is a correlation photoelectric sensor, the feeding mechanism transmits the sealing ring to the inside of the sealing ring positioning table 5a1, when the sealing ring falls onto the counter bore 5a12, the sealing ring blocks photoelectric signals between the second sensor 5a7, the second sensor 5a7 sends out signals to the controller, and the controller sends out signals to the feeding mechanism again to enable the feeding mechanism to stop working, so that the feeding mechanism can intermittently feed materials.

The lock nut mounting mechanism 6 comprises a valve rod lubricating mechanism 6a, a lock nut mounting manipulator 6b and a valve rod rotating mechanism 6c, wherein the valve rod lubricating mechanism 6a is arranged above the valve rod lubricating station 1e, the lock nut mounting manipulator 6b is arranged below the lock nut mounting station 1g, and the valve rod rotating mechanism 6c is arranged above the lock nut mounting station 1 g;

the valve rod lubricating mechanism 6a comprises a twelfth linear driving device 6a1 and an oil injector 6a2 fixedly arranged at the working end of the twelfth linear driving device 6a1, and the output direction of the twelfth linear driving device 6a1 is vertically downwards;

The lock nut mounting manipulator 6b comprises a thirteenth linear driving device 6b1, a lock nut feeding table 6b2, a second finger cylinder 6b3 and lock nut clamping jaws 6b4, wherein the thirteenth linear driving device 6b1 is fixedly mounted on the workbench 1, the output direction of the thirteenth linear driving device 6b1 is vertically upwards arranged, the lock nut feeding table 6b2 is fixedly mounted at the working end of the thirteenth linear driving device 6b1, the lock nut feeding table 6b2 is abutted to a discharge hole of a feeding mechanism, the second finger cylinder 6b3 is fixedly mounted on the lock nut feeding table 6b2, the lock nut clamping jaws 6b4 are fixedly mounted at the working end of the second finger cylinder 6b3, the lock nut clamping jaws 6b4 are positioned at two sides of the discharge hole of the feeding mechanism, and the bottom surface of the lock nut clamping jaws 6b4 is in clearance fit with the top surface of the lock nut feeding table 6b 2;

the valve rod rotating mechanism 6c comprises a fourteenth linear driving device 6c1 and an electric wrench 6c2 fixedly arranged at the working end of the fourteenth linear driving device 6c1, and the output direction of the fourteenth linear driving device 6c1 is vertically downwards.

The twelfth linear driving device 6a1 and the thirteenth linear driving device 6b1 are double-shaft double-rod air cylinder sliding tables, the valve body with the valve rod mounted thereon moves to the valve rod lubrication station 1e, then the twelfth linear driving device 6a1 drives the oil injector 6a2 to move downwards and inject oil into the valve rod, then the valve body moves to the lock nut mounting station 1g, the feeding mechanism moves the lock nut onto the lock nut feeding table 6b2, the second finger air cylinder 6b3 drives the lock nut clamping jaw 6b4 to clamp the lock nut, then the thirteenth linear driving device 6b1 drives the lock nut feeding table 6b2 to move upwards, so that the lock nut is sleeved at the bottom end of the valve rod, meanwhile, the fourteenth linear driving device 6c1 drives the electric wrench 6c2 to move downwards and sleeve at the top end of the valve rod, and the electric wrench 6c2 drives the valve rod to rotate, so that the lock nut is rotatably mounted on the valve rod and in threaded connection with the valve rod.

The output end of the electric spanner 6c2 is provided with a damping ring which is in curved fit with the top end of the valve rod.

The top end of the valve rod is not in a hexagonal structure, but in a cylindrical structure, the electric wrench 6c2 cannot drive the valve rod to rotate, and a damping ring is needed to provide friction between the valve rod and the electric wrench 6c2, and the damping ring can be a rubber ring.

The valve body lock catch riveting device comprises a valve core mounting mechanism 7 and a valve body lock catch riveting mechanism 8, wherein the valve core mounting mechanism 7 comprises a valve core feeding table 7a and a valve core mounting manipulator 7b, the valve core feeding table 7a is mounted at a discharge hole of the feeding mechanism, the valve body lock catch riveting mechanism 8 comprises a riveting work support 8a, an eighteenth linear driving device 8b, a riveting head 8e and a riveting work table 8g, the eighteenth linear driving device 8b is fixedly mounted at the top end of the riveting work support 8a, the output direction of the eighteenth linear driving device 8b is vertically downwards arranged, the riveting head 8e is fixedly mounted at the working end of the eighteenth linear driving device 8b, and the riveting work table 8g is arranged under the riveting head 8 e.

The riveting work support 8a and the riveting work table 8g are fixedly arranged on the work table 1, the eighteenth linear driving device 8b is a hydraulic cylinder, the valve core is moved to a feeding port of the valve core feeding table 7a by the feeding mechanism, the valve core is moved to the lower part of the working end of the valve core installation manipulator 7b by the valve core feeding table 7a, the valve core is grabbed by the valve core installation manipulator 7b and then placed in the valve body, then the valve body is moved to the riveting work table 8g through the valve body material moving mechanism 2 and fixed, and then the valve core is riveted in the valve body by the valve core installation manipulator 7b by the eighteenth linear driving device 8b by driving the riveting head 8e to move downwards.

The valve core feeding table 7a comprises a valve core positioning table 7a1, a valve core moving slide block 7a2 and a fifteenth linear driving device 7a3, the valve core positioning table 7a1 is horizontally arranged beside a discharge hole of the feeding mechanism, a feed inlet 7a11 communicated with the discharge hole of the feeding mechanism is arranged on the side surface of the valve core positioning table 7a1, a sliding groove 7a12 in sliding fit with the valve core moving slide block 7a2 is further arranged on the valve core positioning table 7a1, the sliding groove 7a12 horizontally extends from one end of the valve core positioning table 7a1 to the other end of the valve core positioning table 7a1, the output end of the fifteenth linear driving device 7a3 penetrates through the valve core positioning table 7a1 and is fixedly connected with one end of the valve core moving slide block 7a2, the output direction of the fifteenth linear driving device 7a3 is parallel to the sliding direction of the valve core moving slide block 7a2, and the top end of the sliding groove 7a12 and one end facing the fifteenth linear driving device 7a3 are both open.

The fifteenth linear driving device 7a3 is a single-shaft single-rod cylinder, the valve core is moved onto the valve core moving slide block 7a2 through the feed opening 7a11 by the feeding mechanism, then the fifteenth linear driving device 7a3 drives the valve core moving slide block 7a2 to slide along the sliding groove 7a12, so that the valve core is moved from the position of the feed opening 7a11 to the position below the working end of the valve core mounting manipulator 7b, at the moment, the discharge opening of the feeding mechanism is blocked by the valve core moving slide block 7a2, and then the valve core mounting manipulator 7b grabs the valve core and mounts the valve core in the valve body.

The valve core moving slide block 7a2 is provided with a valve core positioning groove 7a21 which vertically and downwardly extends from the top end of the valve core moving slide block 7a2, the valve core positioning groove 7a21 is communicated with a discharge hole of a feeding mechanism in a feeding state, the inner wall of the sliding groove 7a12 is in clearance fit with the valve core, and the inner wall of the valve core positioning groove 7a21 is in clearance fit with the valve core.

The valve core moves to the inner part of the valve core positioning groove 7a21 through the feeding mechanism, and when the valve core moving sliding block 7a2 slides, the valve core is limited in the middle by the valve core positioning groove 7a21 and the inner wall of the sliding groove 7a12, so that the valve core is accurately positioned.

The depth of the spool positioning groove 7a21 is equal to half the spool height.

The upper half of the spool is exposed to the outside so that the spool mounting robot 7b can grasp the spool.

The valve core positioning table 7a1 is fixedly provided with a valve core baffle 7a4, the valve core baffle 7a4 is in a strip shape, the valve core baffle 7a4 is fixedly arranged at the side of the chute 7a12, the side surface of the valve core baffle 7a4 is flush with the inner wall of the chute 7a12, one end of the valve core baffle 7a4 is positioned at one side of the feed inlet 7a11, which is close to the fifteenth linear driving device 7a3, and a distance for the working end of the valve core installation manipulator 7b to enter is reserved between the other end of the valve core baffle 7a4 and the terminal of the chute 7a 12.

The valve core baffle 7a4 is used for guiding the movement of the valve core, and preventing the valve core from falling off when moving from the feed inlet 7a11 to the position below the working end of the valve core installation manipulator 7 b.

The valve element mounting manipulator 7b comprises a third sliding table 7b1, a sixteenth linear driving device 7b2, a valve element manipulator support 7b3, a rotating finger cylinder 7b4 and valve element clamping jaws 7b5, wherein the third sliding table 7b1 is horizontally arranged, the sixteenth linear driving device 7b2 is fixedly arranged at the working end of the third sliding table 7b1, the output direction of the sixteenth linear driving device 7b2 is vertically downwards arranged, the valve element manipulator support 7b3 is fixedly arranged at the working end of the sixteenth linear driving device 7b2, the rotating finger cylinder 7b4 is fixedly arranged at the bottom end of the valve element manipulator support 7b3, the rotating finger cylinder 7b4 is horizontally arranged, and the valve element clamping jaws 7b5 are fixedly arranged at the working end of the rotating finger cylinder 7b 4.

The tip is upward during valve core feeding, so that feeding is facilitated, and the tip is required to be inserted into the valve body downward during valve core installation; the third sliding table 7b1 is a magnetically coupled rodless cylinder sliding table, the sixteenth linear driving device 7b2 is a biaxial double-rod cylinder sliding table, the third sliding table 7b1 straddles between the valve core mounting station 1h and the valve core positioning table 7a1, the rotating finger cylinder 7b4 is arranged towards the valve core mounting station 1h, the valve core tip is upwards moved to one end of the valve core positioning table 7a1 through the valve core moving sliding block 7a2, at this time, the valve core is located right below the valve core clamping jaw 7b5, the sixteenth linear driving device 7b2 drives the valve core manipulator support 7b3 to downwards move, so that the rotating finger cylinder 7b4 can drive the valve core clamping jaw 7b5 to clamp the valve core, then the rotating finger cylinder 7b4 drives the valve core clamping jaw 7b5 to rotate 180 degrees, so that the valve core tip is downwards, then the third sliding table 7b1 drives the sixteenth linear driving device 7b2 to move to the upper side of the valve core mounting station 1h, and then the sixteenth linear driving device 7b2 drives the rotating finger cylinder 7b4 to descend, so that the valve core tip is downwards plugged into the valve body.

The valve core installation manipulator 7b further comprises a seventeenth linear driving device 7b6 and a plunger 7b7, the seventeenth linear driving device 7b6 is fixedly installed at the top end of the valve core manipulator support 7b3, the output end of the seventeenth linear driving device 7b6 is vertically downwards arranged, the plunger 7b7 is fixedly installed at the working end of the seventeenth linear driving device 7b6, and the plunger 7b7 is located right above the valve core clamping jaw 7b 5.

After the spool is put into the valve body by the spool gripping claw 7b5, the seventeenth linear driving device 7b6 drives the plunger 7b7 to move downward, so that the plunger 7b7 enters from the opening at the top end of the valve body and abuts on the spool, and then the plunger 7b7 presses the spool downward to the spool mounting position in the valve body.

The valve body lock catch riveting mechanism 8 further comprises a third sliding block 8c and a third sliding rail 8d, the third sliding rail 8d is vertically arranged and fixedly installed on the riveting work support 8a, the third sliding block 8c is slidably installed on the third sliding rail 8d, and the middle end of the riveting head 8e is fixedly installed on the third sliding block 8 c.

The third sliding block 8c and the third sliding rail 8d are used for guiding the vertical reciprocating motion of the riveting head 8e, the third sliding block 8c is sleeved on the outer side of the riveting head 8e to play a role in reinforcing the riveting head 8e, the riveting head 8e is prevented from bending after a large amount of use, and the service life of the riveting head 8e is prolonged.

The valve body lock catch riveting mechanism 8 further comprises two stop rods 8f, and the stop rods 8f are fixedly arranged on the third sliding block 8c and are respectively positioned at two sides of the riveting head 8 e.

The stop rod 8f is fixedly arranged on the third sliding block 8c, and the stop rod 8f is used for limiting the maximum displacement of the downward movement of the third sliding block 8c and avoiding the excessive downward movement of the riveting head 8e from crushing the valve body.

The stop rod 8f comprises a threaded rod 8f1 and a push rod 8f2, the push rod 8f2 is arranged at the bottom end of the threaded rod 8f1, the threaded rod 8f1 penetrates through the third sliding block 8c, two nuts are sleeved on the threaded rod 8f1 and are in threaded fit with the threaded rod 8f1, and the two nuts are respectively abutted to the top surface and the bottom surface of the third sliding block 8 c.

The stop rod 8f is fixedly arranged on the third sliding block 8c through the threaded rod 8f1 and the nut, the upper and lower positions of the threaded rod 8f1 can be adjusted after the nut is loosened, so that the upper and lower positions of the stop rod 8f can be adjusted, a worker can adjust the stop rod 8f to a proper height through an adjusting screw, and the riveting head 8e can rivet the valve body and cannot crush the valve body.

The automatic adjusting screw dispensing and mounting mechanism 9 comprises an adjusting screw feeding table 9a, an adjusting screw dispensing mechanism 9c and an adjusting screw mounting mechanism 9d, wherein a feeding hole of the adjusting screw feeding table 9a is communicated with a discharging hole of the feeding mechanism, one end of the adjusting screw feeding table 9a is arranged right below the adjusting screw dispensing mechanism 9c, the other end of the adjusting screw feeding table 9a is arranged right below the adjusting screw mounting mechanism 9d, one side of the adjusting screw feeding table 9a is provided with an adjusting screw moving mechanism 9b for driving an adjusting screw to move from the lower part of the adjusting screw dispensing mechanism 9c to the lower part of the adjusting screw mounting mechanism 9d, and the adjusting screw mounting mechanism 9d comprises a twenty-first straight line driving device 9d1 and a second electric wrench 9d2 fixedly mounted at the working end of the twenty-first straight line driving device 9d1, and the output direction of the twenty-first straight line driving device 9d1 is vertically downward.

The feeding mechanism moves the adjusting screw to the adjusting screw feeding table 9a, then the adjusting screw dispensing mechanism 9c is used for injecting glue to the internal screw threads of the adjusting screw, then the adjusting screw moving mechanism 9b is used for driving the adjusting screw to move to the lower side of the adjusting screw mounting mechanism 9d, the twenty-first linear driving device 9d1 is used for driving the second electric wrench 9d2 to move downwards and abut against the valve body, and the second electric wrench 9d2 is used for starting to drive the valve body to rotate, so that the adjusting screw is connected to the bottom end of the valve body in a threaded mode.

The adjusting screw feeding table 9a is provided with an adjusting screw chute 9a1 in sliding fit with the adjusting screw, the adjusting screw feeding mechanism 9b comprises a fourth sliding block 9b1 and a nineteenth linear driving device 9b2, the fourth sliding block 9b1 is fixedly connected with the output end of the nineteenth linear driving device 9b2, the fourth sliding block 9b1 is arranged in the adjusting screw chute 9a1, the output direction of the nineteenth linear driving device 9b2 is parallel to the adjusting screw chute 9a1, and the fourth sliding block 9b1 is in sliding fit with two side surfaces of the inner wall of the adjusting screw chute 9a 1.

The nineteenth linear driving device 9b2 is a single-shaft single-rod cylinder, the feeding mechanism moves the adjusting screw into the adjusting screw sliding groove 9a1, the adjusting screw is located under the adjusting screw dispensing mechanism 9c at the moment, and the nineteenth linear driving device 9b2 drives the fourth sliding block 9b1 to push the adjusting screw to slide under the adjusting screw mounting mechanism 9d along the adjusting screw sliding groove 9a1 after dispensing.

The fourth slide block 9b1 and the nineteenth linear driving device 9b2 are connected through a long push rod 9b3, and the length of the long push rod 9b3 is longer than that of the adjusting screw chute 9a 1.

The long push rod 9b3 solves the problem that the output shaft of the nineteenth linear driving device 9b2 may be larger than the adjusting screw chute 9a1, so that the clearance between the selection of the nineteenth linear driving device 9b2 and the inner wall of the adjusting screw chute 9a1 has no influence.

A third sensor 9b4 arranged towards a discharge hole of the feeding mechanism is arranged on one side of the adjusting screw feeding table 9a, a sensor mounting groove 9a2 used for mounting the third sensor 9b4 is arranged on the other side of the feeding hole of the adjusting screw feeding table 9a, and a second sensor probe hole 9a3 penetrating through the side wall of the adjusting screw feeding table 9a and communicated with the adjusting screw sliding groove 9a1 is arranged in the sensor mounting groove 9a 2.

The third sensor 9b4 is a diffuse reflection photoelectric switch, when the adjusting screw falls into the adjusting screw sliding groove 9a1 from the feeding mechanism, the adjusting screw falls on the bottom surface of the adjusting screw sliding groove 9a1, so that the adjusting screw is sensed by the third sensor 9b4, the third sensor 9b4 sends a signal to the controller, the controller sends a signal to the feeding mechanism, the feeding mechanism stops feeding, and then the nineteenth linear driving device 9b2 drives the long push rod 9b3 to drive the fourth sliding block 9b1 to push the adjusting screw away.

The circular arc of the second sensor probe hole 9a3 is tangent to the bottom surface of the adjusting screw chute 9a1, the distance between the fourth sliding block 9b1 and the long push rod 9b3 and the bottom surface of the adjusting screw chute 9a1 is larger than the diameter of the second sensor probe hole 9a3, and the third sensor 9b4 is electrically connected with the controller.

Since the fourth slider 9b1 and the long push rod 9b3 are spaced from the bottom surface of the adjusting screw sliding groove 9a1 by a distance greater than the diameter of the second sensor probe hole 9a3, the third sensor 9b4 does not sense the fourth slider 9b1 and the long push rod 9b3, so that the third sensor 9b4 sends a signal to the controller only when the adjusting screw falls into the adjusting screw sliding groove 9a 1.

The adjusting screw dispensing mechanism 9c comprises a twenty-first linear driving device 9c2, a glue injector support 9c3 and an electric glue injector 9c4, wherein the glue injector support 9c3 is fixedly arranged at the working end of the twenty-first linear driving device 9c2, the electric glue injector 9c4 is fixedly arranged on the glue injector support 9c3, and the output direction of the twenty-first linear driving device 9c2 is vertically downwards arranged.

The twenty-first linear driving device 9c2 is fixedly arranged on the workbench 1 through a bracket, the twenty-first linear driving device 9c2 is a double-shaft double-rod cylinder sliding table, the twenty-first linear driving device 9c2 drives the glue injector bracket 9c3 to drive the electric glue injector 9c4 to move downwards, the electric glue injector 9c4 is used for dispensing the adjusting screw, the glue is dispensed on the thread of the adjusting screw, the adjusting screw is arranged on the valve body through the adjusting screw mounting mechanism 9d, after the adjusting screw is solidified, the adjusting screw can be firmly fixed on the valve body.

The adjusting screw dispensing mechanism 9c further comprises a glue storage tank 9c1, and a discharge hole of the glue storage tank 9c1 is connected with a feed hole of the electric glue injector 9c4 through a conduit.

The glue storage tank 9c1 is fixedly arranged on the workbench 1 through a bracket, and the glue in the glue storage tank 9c1 is continuously transmitted into the electric glue injector 9c4 through a guide pipe.

The output end of the electric glue injector 9c4 is obliquely arranged downwards, and the output end of the electric glue injector 9c4 faces to the internal thread of the adjusting screw in the working state.

The electric glue injector 9c4 points the glue on the internal thread of the adjusting screw, so that the adjusting screw is installed at the bottom end of the valve body through the thread, and the glue can be dried to prevent the adjusting screw from loosening.

The adjusting screw mounting mechanism 9d further comprises a valve body positioning ring 9d3, a bearing 9d4 and a bearing fixing plate 9d5, wherein the bearing fixing plate 9d5 is arranged right below the second electric wrench 9d2, the valve body positioning ring 9d3 and the bearing 9d4 are arranged below the bearing fixing plate 9d5, the outer ring of the bearing 9d4 is fixedly connected with the bearing fixing plate 9d5, and the inner ring of the bearing 9d4 is fixedly connected with the valve body positioning ring 9d 3.

The bearing fixing plate 9d5 is fixedly mounted on the workbench 1 through the support, the valve body passes through a hole in the middle of the valve body locating ring 9d3 and is placed on the valve body locating ring 9d3, the bottom end of the valve body passes through the valve body locating ring 9d3 and the bearing 9d4, stretches into the adjusting screw chute 9a1 and is inserted into an adjusting screw, and when the second electric wrench 9d2 drives the valve body to rotate, the valve body rotates in an auxiliary mode through the bearing 9d4, so that the friction force of the rotation of the valve body is reduced.

The tightness checking mechanism 10 comprises an air injection pressure maintaining mechanism 10a, an air hole plug 10b, a plug opposite moving mechanism 10c and a detection table 10d, wherein the air injection pressure maintaining mechanism 10a is arranged above the detection table 10d, the plug opposite moving mechanism 10c is fixedly arranged below the detection table 10d through a bracket, the working ends of the plug opposite moving mechanism 10c extend upwards to the upper side of the detection table 10d and are respectively positioned at two sides of the detection table 10d, the air hole plug 10b is fixedly arranged at the working ends of the plug opposite moving mechanism 10c, the air hole plug 10b is attached to the side surface of the valve body, which is provided with an air hole, the air injection pressure maintaining mechanism 10a comprises an air injection rod 10a1 and a twenty-second linear driving device 10a2, the air injection rod 10a1 is fixedly arranged at the working end of the twenty-second linear driving device 10a2, and the output direction of the twenty-second linear driving device 10a2 is vertically downwards.

The gas injection pressure maintaining mechanism 10a further comprises an air compressor, the valve body is placed on the detection table 10d, the twenty-second linear driving device 10a2 is a single-shaft single-rod cylinder, the twenty-second linear driving device 10a2 drives the gas injection rod 10a1 to move downwards so that the gas injection rod 10a1 is covered at the top end of the valve body, meanwhile, the plug opposite moving mechanism 10c drives the gas hole plug 10b to move towards the direction of the valve body, so that the gas hole plug 10b clamps the valve body from two sides of the valve body and plugs the position, provided with the gas hole, of the valve body, and then the air compressor injects gas into the valve body through the gas injection rod 10a1 and maintains the pressure for a period of time.

The gas injection pressure maintaining mechanism 10a further comprises a gas pressure sensor, wherein the gas pressure sensor is arranged inside the gas injection rod 10a1 and is electrically connected with the controller.

When gas is injected into the valve body and the pressure is maintained, the gas pressure sensor detects the gas pressure, if the gas pressure is lower than a standard value, a signal is sent to the controller, the controller sends a signal to the valve body unloading mechanism 2e, and the valve body unloading mechanism 2e places the valve body into a waste box.

The air hole plug 10b is square made of elastic materials, and a semicircular hole 10b1 tightly matched with the circumferential surface of the valve body is formed in one side, facing the valve body, of the air hole plug 10 b.

The plug opposite moving mechanism 10c drives the air hole plug 10b to move in opposite directions, so that the air hole plug 10b clamps the valve body through the semicircular hole 10b1, and the inner wall of the semicircular hole 10b1 can tightly seal the vent hole on the side surface of the valve body through the elastic structure of the air hole plug 10 b.

The top end of the air hole plug 10b is provided with a fixing piece 10b2 extending towards the direction far away from the valve body, the fixing piece 10b2 is in a flat plate shape which is horizontally arranged, and the fixing piece 10b2 is provided with two mounting holes 10b3 which vertically penetrate through the fixing piece 10b 2; the plug opposite moving mechanism 10c comprises an open finger cylinder 10c1 and clamping jaws 10c2 arranged at the working end of the open finger cylinder 10c1, wherein square grooves 10c3 in clearance fit with the air hole plugs 10b and threaded holes 10c4 in one-to-one correspondence with the two mounting holes 10b3 are formed in the working end of the clamping jaws 10c 2.

The fixing piece 10b2 is made of rigid materials, the air hole plug 10b is fixedly connected with the fixing piece 10b2 through glue, the fixing piece 10b2 passes through the mounting hole 10b3 through a screw to be fixedly mounted on the threaded hole 10c4, so that the fixing piece 10b2 can be fixed in the square groove 10c3, and the air hole plug 10b can be replaced when the air tightness is poor after long-term use due to the detachable design.

The inner diameter of the gas injection rod 10a1 is larger than the outer diameter of the circular ring at the top end of the valve body, and the bottom end of the gas injection rod 10a1 is provided with a sealing ring, and the inner diameter of the sealing ring is smaller than the inner diameter of the circular ring at the top end of the valve body.

When the gas injection rod 10a1 is sleeved on the circular ring at the top end of the valve body, the gas injection rod 10a1 is connected with the top end line of the valve body through a sealing ring, so that gas is ensured not to escape through a gap between the gas injection rod 10a1 and the valve body when the pressure in the valve body is maintained.

The valve body unloading mechanism 2e comprises an unloading manipulator 2e1, a belt conveyor 2e2, a code tray 2e3 and a waste barrel 2e4, wherein the code tray 2e3 is placed on a conveying belt of the belt conveyor 2e 2.

When the detection is qualified, the valve body on the unloading station 1n is grabbed by the unloading manipulator 2e1 and then placed on the stacking tray, and when the detection is unqualified, the valve body on the unloading station 1n is grabbed by the unloading manipulator 2e1 and then moved into the waste barrel.

Blind holes for loading the valve bodies are fully distributed on the code material tray 2e 3.

The discharging mechanical arm 2e1 grabs the valve bodies on the discharging station 1n and then places the valve bodies into each blind hole one by one.

The discharging manipulator 2e1 comprises a fourth sliding table 2e11, a twenty-third linear driving device 2e12, a finger cylinder 2e13 and a valve body clamping jaw 2e14, wherein the fourth sliding table 2e11 is ridden between a detection table (10 d) and the belt conveyor 2e2 through a bracket, the twenty-third linear driving device 2e12 is fixedly arranged at the working end of the fourth sliding table 2e11, the output direction of the twenty-third linear driving device 2e12 is vertically downwards arranged, the finger cylinder 2e13 is fixedly arranged at the working end of the twenty-third linear driving device 2e12, and the valve body clamping jaw 2e14 is fixedly arranged at the working end of the finger cylinder 2e 13.

The twenty-third linear driving device 2e12 is a double-shaft double-rod cylinder sliding table, the fourth sliding table 2e11 drives the twenty-third linear driving device 2e12 and the finger cylinder 2e13 to horizontally reciprocate, so that the finger cylinder 2e13 clamps the valve body through the valve body clamping jaw 2e14 to horizontally move, and the twenty-third linear driving device 2e12 is used for driving the finger cylinder 2e13 to vertically reciprocate, so that the finger cylinder 2e13 clamps or puts down the valve body through the valve body clamping jaw 2e 14.

The valve body unloading mechanism 2e further comprises a fourth sensor 2e5 fixedly installed beside the fixed end of the twenty-third linear driving device 2e12, the working direction of the fourth sensor 2e5 is vertically downward, and the unloading manipulator 2e1 and the fourth sensor 2e5 are electrically connected with the controller.

The fourth sensor 2e5 is a diffuse reflection photoelectric switch, the fourth sensor 2e5 is used for detecting whether a throttle valve is placed in a blind hole in the code tray 2e3, when the fourth sensor 2e5 detects that the throttle valve is not placed in the blind hole, the fourth sensor 2e5 sends a signal to the controller, the controller sends a signal to the discharging manipulator 2e1, and the discharging manipulator 2e1 places the throttle valve in the empty blind hole.

Working principle:

the valve body moves through the valve body moving mechanism 2 under the control of the controller, and simultaneously sequentially passes through the valve body sealing ring mounting mechanism 3, the valve rod feeding mechanism 4, the valve rod sealing ring mounting mechanism 5, the lock nut mounting mechanism 6, the valve core mounting mechanism 7, the valve body lock catch riveting mechanism 8 and the adjusting screw automatic dispensing mounting mechanism 9 for processing, then the tightness detection is carried out through the tightness detection mechanism 10, and after the detection is finished, the valve body moving mechanism 2 moves to the position of the unloading station 1n for waiting to unload;

When the detection is qualified, the discharging manipulator 2e1 grabs the valve bodies on the discharging station 1n and then places the valve bodies into each blind hole on the stacking tray 2e3 one by one.

When the detection is unqualified, the discharging manipulator 2e1 grabs the valve body on the discharging station 1n and throws the valve body into the waste barrel 2e4.

The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of the present invention, should be included in the scope of the claims of the present invention.

Claims

1. The utility model provides a choke valve automatic assembly production line which characterized in that: the valve body feeding mechanism comprises a workbench (1) and a valve body moving mechanism (2) fixedly mounted on the workbench (1), wherein thirteen stations which are arranged in a straight line from one end of the workbench (1) to the other end of the workbench (1) are respectively a valve body feeding station (1 a), a valve body first sealing ring mounting station (1 b), a valve body second sealing ring mounting station (1 c), a valve rod mounting station (1 d), a valve rod lubricating station (1 e), a first transferring station (1 f), a locking nut mounting station (1 g), a valve core mounting station (1 h), a valve body lock riveting station (1 j), a second transferring station (1 k), an adjusting screw automatic dispensing mounting station (1 l), a tightness detecting station (1 m) and a discharging station (1 n), and a valve rod feeding station (1 o) and a valve rod sealing ring mounting station (1 p) are arranged beside the valve rod mounting station (1 d);

The valve body feeding station (1 a), the valve body first sealing ring mounting station (1 b), the valve body second sealing ring mounting station (1 c), the locking nut mounting station (1 g), the valve core mounting station (1 h), the adjusting screw automatic dispensing mounting station (1 l), the valve rod feeding station (1 o) and the valve rod sealing ring mounting station (1 p) are all provided with a feeding mechanism by side, the valve body first sealing ring mounting station (1 b), the valve body second sealing ring mounting station (1 c) is provided with the valve body sealing ring mounting mechanism (3) by side, the valve rod feeding station (1 o) is provided with the valve rod feeding mechanism (4) by side, the valve rod sealing ring mounting station (1 p) is provided with the valve rod sealing ring mounting mechanism (5) by side, the locking nut mounting station (1 g) is provided with the locking nut mounting mechanism (6), the valve core mounting mechanism (7) by side, the valve body locking riveting station (1 j) is provided with the valve body locking riveting mechanism (8) by side, the adjusting screw automatic dispensing mounting station (1 l) is provided with the adjusting screw automatic dispensing mechanism (9) by side, and the sealing property checking mechanism (10) by side is provided with the sealing property checking mechanism (10 by side;

The valve body moving mechanism (2) comprises a valve body feeding mechanism (2 a), a first mechanical claw moving mechanism (2 b), a second mechanical claw moving mechanism (2 c), mechanical clamping claws (2 d) and a valve body unloading mechanism (2 e), wherein one mechanical clamping claw (2 d) is arranged on the first twelve stations, the mechanical clamping claws (2 d) are equidistantly arranged to form a straight line, the first mechanical claw moving mechanism (2 b) is fixedly connected with the first six mechanical clamping claws (2 d), the second mechanical claw moving mechanism (2 c) is fixedly connected with the last six mechanical clamping claws (2 d), the first mechanical claw moving mechanism (2 b) and the second mechanical claw moving mechanism (2 c) are of the same structure, the valve body feeding mechanism (2 a) is arranged beside a valve body feeding station (1 a), and the valve body unloading mechanism (2 e) is arranged beside an unloading station (1 n);

the first mechanical gripper moving mechanism (2 b) comprises a vertical movable plate (2 b 1), a telescopic upright post (2 b 2), a first linear driving device (2 b 3), a horizontal sliding plate (2 b 4), a first sliding rail (2 b 5) and a second linear driving device (2 b 6), wherein the first sliding rail (2 b 5) and the second linear driving device (2 b 6) are arranged side by side and fixedly installed on the workbench (1), the horizontal sliding plate (2 b 4) is fixedly installed at the working end of the first sliding rail (2 b 5), the output end of the second linear driving device (2 b 6) is fixedly connected with the horizontal sliding plate (2 b 4), the first linear driving device (2 b 3) is fixedly installed at the middle end of the horizontal sliding plate (2 b 4) and the output end of the first linear driving device (2 b 3) is vertically upwards, the telescopic upright post (2 b 2) is fixedly installed at the two ends of the horizontal sliding plate (2 b 4) and vertically upwards arranged in the telescopic direction of the telescopic upright post (2 b 2), the vertical movable plate (2 b 1) is fixedly installed at the two ends of the horizontal sliding plate (2 b 4) and fixedly connected with the first linear driving device (2 b 2d, and the vertical movable plate (2 b 1) is fixedly connected with the upper end of the vertical movable plate (2 b).

2. The automatic throttle assembly line according to claim 1, wherein: the workbench (1) is further provided with a controller, and the controller is electrically connected with the valve body material moving mechanism (2), the valve body sealing ring mounting mechanism (3), the valve rod feeding mechanism (4), the valve rod sealing ring mounting mechanism (5), the locking nut mounting mechanism (6), the valve core mounting mechanism (7), the valve body lock catch riveting mechanism (8), the adjusting screw automatic dispensing mounting mechanism (9), the tightness checking mechanism (10) and the feeding mechanism.

3. The automatic throttle assembly line according to claim 1, wherein: lock nut installation mechanism (6) are including valve rod lubrication mechanism (6 a), lock nut installation manipulator (6 b) and valve rod rotary mechanism (6 c), and valve rod lubrication mechanism (6 a) set up in the top of valve rod lubrication station (1 e), and lock nut installation manipulator (6 b) set up in the below of lock nut installation station (1 g), and valve rod rotary mechanism (6 c) set up in the top of lock nut installation station (1 g).

4. A throttle valve automatic assembly line according to claim 3, characterized in that: the valve rod lubricating mechanism (6 a) comprises a twelfth linear driving device (6 a 1) and an oiling device (6 a 2) fixedly arranged at the working end of the twelfth linear driving device (6 a 1), and the output direction of the twelfth linear driving device (6 a 1) is vertically downwards.

5. The automatic throttle assembly line according to claim 4, wherein: the locking nut mounting manipulator (6 b) comprises a thirteenth linear driving device (6 b 1), a locking nut feeding table (6 b 2), a second finger cylinder (6 b 3) and locking nut clamping jaws (6 b 4), wherein the thirteenth linear driving device (6 b 1) is fixedly mounted on the workbench (1) and the output direction of the thirteenth linear driving device (6 b 1) is vertically upwards arranged, the locking nut feeding table (6 b 2) is fixedly mounted at the working end of the thirteenth linear driving device (6 b 1), the locking nut feeding table (6 b 2) is abutted to the discharge hole of the feeding mechanism, the second finger cylinder (6 b 3) is fixedly mounted on the locking nut feeding table (6 b 2), the locking nut clamping jaws (6 b 4) are fixedly mounted at the working end of the second finger cylinder (6 b 3), the locking nut (6 b 4) are located on two sides of the discharge hole of the feeding mechanism, and the bottom surface of the locking nut clamping jaws (6 b 4) is in clearance fit with the top surface of the locking nut feeding table (6 b 2).

6. The automatic throttle assembly line according to claim 4, wherein: the valve rod rotating mechanism (6 c) comprises a fourteenth linear driving device (6 c 1) and an electric wrench (6 c 2) fixedly arranged at the working end of the fourteenth linear driving device (6 c 1), and the output direction of the fourteenth linear driving device (6 c 1) is vertically downwards.

7. The automatic throttle assembly line according to claim 6, wherein: the output end of the electric spanner (6 c 2) is provided with a damping block which is attached to the curved surface of the top end of the valve rod.