CN103878580A - Valve body assembling module for automatic assembling machine - Google Patents
Valve body assembling module for automatic assembling machine Download PDFInfo
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- CN103878580A CN103878580A CN201410092680.4A CN201410092680A CN103878580A CN 103878580 A CN103878580 A CN 103878580A CN 201410092680 A CN201410092680 A CN 201410092680A CN 103878580 A CN103878580 A CN 103878580A
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- sealing ring
- support ring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/08—Machines for placing washers, circlips, or the like on bolts or other members
- B23P19/084—Machines for placing washers, circlips, or the like on bolts or other members for placing resilient or flexible rings, e.g. O-rings, circlips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
Abstract
A valve body assembling module for an automatic assembling machine comprises a valve body feeding structure, an intermittent conveying structure, a valve body rotation positioning structure and an assembling manipulator. The intermittent conveying structure is composed of a valve body supporting plate, a second sliding platform cylinder, a first conveying cylinder, a second conveying cylinder, a second parallel pneumatic jaw and a third parallel pneumatic jaw. The valve body rotation positioning structure and the assembling manipulator comprise a third sliding platform cylinder, a rotation positioning device, a second lifting cylinder, a third lifting cylinder, a fourth parallel pneumatic jaw and a fifth parallel pneumatic jaw. The valve body assembling module further comprises an automatic sealing ring assembling structure which comprises a main jacking cylinder, a swing plate cylinder, a swing frame, a double-layer sealing ring feeding structure, a sealing ring supporting structure and a sealing ring sleeving structure. By means of the valve body assembling module, a ceramic valve body can be quickly sleeved with a sealing ring, precisely positioned and accurately clamped into an automatic machine fixture.
Description
Technical field
The invention belongs to automated assembly machine tool field, relate to a kind of spool flexible automation assembly equipment, especially a kind of valve body load module.
Background technology
The assembling work of domestic all kinds of engineering goods is all generally by completing by hand at present.But manufacturing practice shows, hand assembled is produced and is had in the ordinary course of things some open defects: 1) repeatability of product quality, uniformity are poor.Under production in enormous quantities condition, in manual assembly due to factors such as the differences of workman's mood, ambient influnence, Personal Skills and physical efficiency, therefore may there is larger difference in the product quality characteristics of different workmans, different batches, the mass property dispersion range of product will become greatly, be difficult to the quality standard that reaches higher.2) precision of product is lower.The precision of manual assembly product is owing to being subject to the restriction of workman's self-condition, is difficult to the precision level that reaches higher, and the high assembly work of part required precision is difficult to rely on and manually completes.3) labor productivity is low.It is labor-intensive that manual assembly belongs to mostly, and labor productivity depends on assembler's level of skill and qualification to a great extent, and the installation time of product is occupied quite high ratio in the time of production chief engineer.Show according to interrelated data data, the installation time of some typical products accounts for 53% left and right while producing chief engineer, completes if whole assemblings is all Artificial Control, and productivity ratio may be reduced to 40% left and right.If along with the raising of assembly automation level, productivity ratio can rise to 85%-97%, but the average automatization level of Product Assembly is only 10%-15% at present.4) assembly cost is higher.Along with the increase of cost of labor, constantly increase take craft as the ratio that main assembling work accounts for production totle drilling cost, portioned product arrived 35%-50% even more than.Assembly fee becomes one of maximum part of many manufacturing enterprises cost.While is along with development and the application of advanced manufacturing technology, the particularly development of flexible manufacturing system and computer technology, machine-building process automation level has obtained significantly improving, assembly technology and technology are led over to a great extent, both have formed obvious contrast, make traditional hand assembled technique be faced with stern challenge.
Investigate discovery according to the author, there are family more than 300 in warm Tai Area industrial pipeline, plumbing valve class enterprise, and the output value exceedes 20,000,000,000 yuan, and wherein Taizhou Prefecture is take hot-water heating class ceramic cartridge manufacturing enterprise as main.Reach more than 100,000,000 enterprise as example take annual value of production, the production of its spool parts has substantially realized automation and has manufactured with semi-automatic, and the 80% even above direct labor of enterprise completes the assembly work of hot-water heating spool, assembling cost of labor drops into and has accounted for the more than 30% of mass customization; And manual assembly efficiency and product assembly quality can not guarantee, assemble the fast beat that is difficult to catch up with manufacture; Add " recruitment waste " that continue to bring out in recent years and China and enter the rapid growth of cost of labor after middle income country, lacking corresponding efficient automatic flexible assembly equipment has become restriction enterprise and has improved the important bottleneck of product yield, quality.
The spool automatic assembling machine that the present invention forms, the object of assembly work is mainly ceramic cartridge.Ceramic cartridge is a kind of sanitaryware of controlling current break-make and flow by rotary valve rod, its long service life, and sealing property is superior, is widely used in faucet outlet place.It comprises the valve body being arranged in tap, is plugged with valve rod in valve body, and valve rod lower end is connected on ceramic moving plate by anechoic sheet, and ceramic moving plate and ceramic still are fitted mutually, and ceramic still is fixedly mounted in valve body, and below is also provided with compressing tablet and sealing gasket.Pottery has two relative water inlet through holes on still, ceramic moving plate with on valve body, also have the water outlet through hole corresponding with the through hole of intaking.In the time of rotary valve rod, the anechoic sheet of its lower end drives ceramic moving plate to rotate, and water inlet through hole on water outlet through hole and the still on moving plate and the delivery port on valve body is connected mutually, thereby realize water from turning core outflow.
The valve body load module that the present invention proposes, propose based on a kind of ceramic cartridge automation assembly technology, mainly realize cover sealing ring, assembling and positioning and the material loading assembling process of valve body, form a kind of spool automatic assembly equipment, certainly, the related process technology that this module is related, also possesses certain versatility, especially sealing ring automatic assembling technique.
Summary of the invention
In order to overcome Traditional Man valve body fitting tight circle inefficiency, assembly quality is unstable, the non-accurate deficiency in valve body location, the present invention proposes a kind of simple and reliable for structure, sealing ring efficiency of assembling is higher, valve body can be realized accurate location material loading valve body load module.
The technical solution adopted for the present invention to solve the technical problems is:
For a valve body load module for automatic assembling machine, by valve body feeding structure, intermittently pass material structure, valve body rotary positioning structure and assembly manipulator form, and described valve body feeding structure comprises valve body vibrating disc, straight-line oscillation device, limiting plate, the first slide unit cylinder, the first lift cylinder and the first parallel air gripper form, and pass material structure described intermittence and support stock supporting plate by valve body, the second slide unit cylinder, first passs material cylinder, second passs material cylinder and the second parallel air gripper, the 3rd parallel air gripper forms, and described valve body supports on stock supporting plate and is provided with valve body pan feeding transition position, sealing ring assembling position, valve body is treated transposition, and described valve body rotary positioning structure and assembly manipulator comprise the 3rd slide unit cylinder, rotary positioning apparatus, the second lift cylinder, the 3rd lift cylinder, the 4th parallel air gripper, the 5th parallel air gripper, described the second lift cylinder, the 3rd lift cylinder is fixed on the 3rd slide unit cylinder by connecting plate, described the second parallel air gripper is fixed on the second lift cylinder by optical axis guide rail and connecting plate, described the 5th parallel air gripper is fixed on link by adjustable apparatus, described link is fixed on the 3rd lift cylinder by optical axis guide rail, and described rotary positioning apparatus comprises rotation location stepper motor, support is shored, the 6th parallel air gripper and correlation sensor, described valve body load module also comprises sealing ring automatic mounting distribution structure, described sealing ring automatic mounting distribution structure is by main jacking cylinder, balance cylinder, swing span, the double-deck feeding structure of sealing ring, sealing ring support ring structure and ring set structure form, described main jacking cylinder is fixed in frame, described balance cylinder is fixed on main jacking cylinder, described swing span is fixed in the swing seat of described balance cylinder, ring set structure has been symmetrically arranged on described swing span, in the time that described balance cylinder 180 is spent reciprocally swinging, ring set structure is back and forth positioned at sealing ring support ring structure and valve body supports directly over the sealing ring assembling position of stock supporting plate.
Further, in described sealing ring automatic mounting distribution structure, described swing span is fixed in the swing seat of described balance cylinder, described swing span is " work " font support, by swing seat connecting plate, base plate, top board, column fagging forms, be bolted adjustable being fixed together, described ring set symmetrical configuration is arranged in " work " font support both sides, described ring set structure is by material toggling cylinder, the material toggling collar, the collar is strengthened button, support ring sleeve and sleeve connecting plate form, described support ring sleeve is that hollow and annular connects, described support ring sleeve is fixed on sleeve connecting plate, described sleeve connecting plate is fixed by screws in the side of base plate, the size of described support ring sleeve centre bore is slightly larger than the size of ceramic valve body external diameter, uniformly on described support ring sleeve have four " word " breach, described material toggling cylinder is fixed on top board, the output shaft of described material toggling cylinder is fixed with the material toggling collar, the described material toggling collar is thin-walled annular structural member, the internal diameter of the described material toggling collar is greater than the external diameter of described support ring sleeve, the two intermittently coordinates, the described material toggling collar can slide on support ring sleeve, on the described material toggling collar, have two " word " breach, for stepping down of sleeve connecting plate, the lower end of the described material toggling collar is strengthened tipping in row strengthening with the collar and is fixed.When the reciprocal 180 ° of swings of described balance cylinder put in place, under described ring set structure, corresponding sealing ring support ring structure and valve body support the sealing ring assembling position of stock supporting plate all the time.
Further again, described sealing ring support ring structure is one group of linkage, by support ring cylinder, support ring support, connect guide pillar, support ring plate, connecting rod plate and support ring cylinder contiguous block form, described support ring cylinder is vertical to be fixed on underframe and to pump, described support ring support is fixed on underframe by 4 connection guide pillars, described support ring carriage center is provided with through hole, through-hole diameter is greater than the external diameter of above-mentioned support ring sleeve, the center of described four support ring plates is rotatably arranged on described support ring support surrounding by pin hinge, be 90 ° of uniform being arranged symmetrically with, described support ring plate one end is designed to sealing ring hook structure, one end chain connection of the described support ring plate other end and connecting rod plate, the other end of described connecting rod plate and described support ring cylinder contiguous block chain connection, described support ring cylinder contiguous block is fixed on the output shaft of support ring cylinder, under the effect up and down of described support ring cylinder, four support ring plates can be opened under connecting rod effect, fold.The thickness of described support ring plate is less than " word " breach on above-mentioned support ring sleeve.
As preferred a kind of scheme: the double-deck feeding structure of described sealing ring is by sealing ring vibrating disc, straight-line oscillation device, sealing ring is feeding structure and double-deck feeding structure formation intermittently, described sealing ring feeding structure at intermittence is by feed cylinder at intermittence, sealing ring switch-plate forms, described sealing ring switch-plate is drawing the up-and-down motion of straight-line oscillation device feed direction under feed cylinder action at intermittence, described sealing ring switch-plate is arranged on the second scraping wings top, on described sealing ring switch-plate, have " U " type material toggling mouth, under the non-feed state of feed cylinder at intermittence, " U " type material toggling mouth faces the end outlet of straight-line oscillation device, on described sealing ring plate plate, shrouding is installed, described double-deck feeding structure is by the first pusher cylinder, the second pusher cylinder, First Line rail, the second line rail, the first scraping wings, the second scraping wings forms, described the first scraping wings is under described the first pusher cylinder drives, can draw First Line rail moves back and forth, described the second scraping wings by described the second line rail be fixed on described the first scraping wings directly over, described the second pusher cylinder is fixedly mounted on described the first scraping wings and drives described the second scraping wings front-rear reciprocation movement.
Further, described the second scraping wings by the second line rail removable be fixed on described the first scraping wings directly over, described the second scraping wings just contacts with described the first scraping wings upper surface, described the second scraping wings front end is provided with circular material-dropping hole, and described the first scraping wings front end is provided with circular material-dropping hole.
As preferred another kind of scheme: the control system of sealing ring automatic mounting distribution structure is realized by PLC, control logic is as follows: main jacking cylinder divides jacking position and the position that sinks, main jacking cylinder is in the time of jacking position, balance cylinder 180 is spent reciprocally swinging, in swing process, the double-deck feeding structure of sealing ring is supplied to sealing ring in sealing ring support ring structure, and sealing ring support ring structure is in the time that support ring cylinder moves downward, and sealing ring struts under the effect of support ring plate; After balance cylinder swings and puts in place, main jacking air cylinder sinking, enter in support ring support at the support ring sleeve of sealing ring support ring structure side, and the support ring sleeve of the other end is nested on ceramic valve body, the support ring cylinder of sealing ring support ring structure moves upward, by ring set on support ring sleeve, meanwhile, opposite side material toggling cylinder moves downward, and appears on the stage rapidly after sealing ring is pulled on ceramic valve body; Main jacking cylinder continues jacking, and balance flagpole swings successively, reciprocal successively.
As preferred a kind of scheme: in described valve body feeding structure, straight-line oscillation device end is provided with limiting plate, limiting plate side plate is provided with detection valve body and shakes the photoelectric sensor putting in place, described the first slide unit cylinder is fixed on support, described the first lift cylinder is fixed on the first slide unit cylinder by connecting plate, described the first parallel air gripper is fixed on the first lift cylinder by connecting plate is vertical, on described the first parallel air gripper, grip block is installed, pass described intermittence in material structure, described the second slide unit cylinder is fixed on support, described first passs material cylinder, second passs material cylinder is fixed on described the second slide unit cylinder by connecting plate, described first passs material cylinder, the second output shaft of passing material cylinder is realized mechanical linkage, described the second parallel air gripper is horizontal to be arranged on first and to pass on material cylinder, described the 3rd parallel air gripper is horizontal to be arranged on second and to pass on material cylinder, described valve body supports on stock supporting plate and is provided with valve body pan feeding transition position, sealing ring assembling position, valve body is treated transposition, valve body pan feeding transition position, sealing ring assembling position, valve body treats that the phase mutual edge distance between transposition equates.
As preferred another kind of scheme: in described valve body rotary positioning structure and assembly manipulator, described the 3rd slide unit cylinder is fixed on support, described the second lift cylinder and the 3rd lift cylinder are oppositely fixed on described the 3rd slide unit cylinder by connecting plate is vertical, the bottom of described the second lift cylinder and the 3rd lift cylinder is fixed with transition connecting plate by screw, the 3rd slide unit cylinder above be furnished with the 3rd line rail, on described the 3rd line rail, be slidably set with wired rail slide block, between described line rail slide block and the transition connecting plate of the second lift cylinder base plate, connect by line rail slide block connecting plate, on described line rail slide block connecting plate, be provided with kidney-shaped adjustment hole, the setting of described the 3rd line rail structure, for strengthen on described the second lift cylinder and the 3rd lift cylinder the rigidity of fixing step motion process.Described the 4th parallel air gripper is fixed on described the second lift cylinder by connecting plate, between the transition connecting plate of connecting plate and the second lift cylinder base plate, is provided with optical axis guide rail, on described the 4th parallel air gripper, grip block is installed.Described the 5th parallel air gripper is fixed on described the 3rd lift cylinder by adjustable apparatus, between the transition connecting plate on link and the 3rd lift cylinder base plate, is provided with optical axis guide rail.
Further, described valve body supports the valve body arranging on stock supporting plate and treats the ceramic valve body in transposition, through described valve body rotary positioning structure and assembly manipulator, first treats that by valve body transposition transfers on rotary positioning apparatus, complete behind accurate location, be mounted in the traffic cycle fixture of automatic assembling machine.Described rotary positioning apparatus comprises rotation location stepper motor, support is shored, the 6th parallel air gripper and correlation sensor, described rotation location stepper motor is fixed on support, described support is shored on the output shaft that is fixed on described rotation location stepper motor, described the 6th parallel air gripper is by regulating installing plate to be fixed on support, on described adjusting installing plate, be provided with and determine radius long kidney-shaped hole, install by the adjusting of determining radius long kidney-shaped hole, can realize final location to the ceramic valve body of different angles, centering is installed on described the 6th parallel air gripper and adjusts grip block, on the shape of described grip block and ceramic valve body, the symmetrical ear window shape of offering matches, realized the accurate angle orientation of ceramic valve body by centering clamping.Correlation sensor control rotation location stepper motor is realized the roughly coarse positioning of ceramic valve body, under the clamping action of the 6th parallel air gripper, realizes the location eventually of ceramic valve body.
Further again, described the 5th parallel air gripper is fixed on link by adjustable apparatus, on described the 5th parallel air gripper, is fixed with assembling grip block.Described adjustable apparatus is by the 4th line rail, L-type mounting blocks, Compress Spring, controllable register forms, described the 4th line rail is fixed on the below of link, described the 5th parallel air gripper is mobily connected on described the 4th line rail by L-type mounting blocks, the opposition side of the 5th parallel air gripper is installed at described L-type mounting blocks, be provided with a Compress Spring, described Compress Spring one end is supported on spring fastening, the other end is resisted against on L-type mounting blocks, described the 5th parallel air gripper is under described Compress Spring effect, all the time be resisted against on controllable register, on described controllable register, be provided with two screwed holes, adjusting jackscrew is installed on described screwed hole, for regulating the position of the 5th parallel air gripper.
Beneficial effect of the present invention is mainly manifested in: the present invention proposes a kind of valve body load module for automatically assembling, comprise sealing ring automatic assembling apparatus in this module, can realize sealing ring high-quality, high efficiency assembling; Meanwhile, by the flexibility design of valve body rotary positioning structure and assembly manipulator, can be to the requirement of different position locations, realize accurate location and clamping material loading with different ceramic valve bodies in gang, guarantee valve body accurately and efficiently clamping to automatic assembling machine.
Accompanying drawing explanation
Fig. 1 is the valve body load module structural representation of the present invention for automatic assembling machine
Fig. 2 passs material structural representation valve body feeding structure, the intermittence of valve body load module of the present invention
Fig. 3 is the sealing ring automatic mounting distribution structure schematic diagram of valve body load module of the present invention
Fig. 4 is the double-deck feeding structure of the sealing ring of valve body load module of the present invention and support ring structural representation
Fig. 5 is the sealing ring support ring structural representation of valve body load module of the present invention
Fig. 6 is swing span and the sealing ring ferrule arrangement schematic diagram of valve body load module of the present invention
Fig. 7 is valve body rotary positioning structure and the assembly manipulator structural representation of valve body load module of the present invention
Fig. 8 is the rotary positioning apparatus structural representation of valve body load module of the present invention
Fig. 9 is valve body rotary positioning structure and the assembly manipulator structural representation of valve body load module of the present invention
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
With reference to figure 1～Fig. 9, a kind of valve body load module for automatic assembling machine, be used to form the flexible automatic assembly equipment of a kind of ceramic cartridge, the effect of this module is mainly to realize efficient, high-quality fitting tight circle on valve body, the accurate location of simultaneously realizing ceramic valve body 4, is assembled to valve body in the built-up jig of automatic assembling machine traffic cycle exactly.This valve body load module is by valve body feeding structure 1, intermittently pass material structure, valve body rotary positioning structure and assembly manipulator 3 form, described valve body feeding structure comprises valve body vibrating disc, straight-line oscillation device, limiting plate 1-1, the first slide unit cylinder 1-3, the first lift cylinder 1-4 and the first parallel air gripper 1-5 form, pass material structure described intermittence and support stock supporting plate 1-12 by valve body, the second slide unit cylinder 1-6, first passs material cylinder 1-7, second passs material cylinder 1-8 and the second parallel air gripper 1-9, the 3rd parallel air gripper 1-10 forms, described the second parallel air gripper, V-type grip block 1-11 is installed on the 3rd parallel air gripper.Described valve body supports and on stock supporting plate 1-12, is provided with valve body pan feeding transition position, sealing ring assembling position, valve body and treats transposition.In described valve body feeding structure, straight-line oscillation device end is provided with limiting plate 1-1, limiting plate side plate is provided with detection valve body and shakes the photoelectric sensor 1-2 putting in place, described the first slide unit cylinder is fixed on support, described the first lift cylinder is fixed on the first slide unit cylinder by connecting plate, described the first parallel air gripper is fixed on the first lift cylinder by connecting plate is vertical, on described the first parallel air gripper, grip block is installed, pass described intermittence in material structure, described the second slide unit cylinder is fixed on support, described first passs material cylinder, second passs material cylinder is fixed on described the second slide unit cylinder by connecting plate, described first passs material cylinder, the second output shaft of passing material cylinder is realized mechanical linkage, described the second parallel air gripper is horizontal to be arranged on first and to pass on material cylinder, described the 3rd parallel air gripper is horizontal to be arranged on second and to pass on material cylinder, described valve body supports on stock supporting plate and is provided with valve body pan feeding transition position, sealing ring assembling position, valve body is treated transposition, valve body pan feeding transition position, sealing ring assembling position, valve body treats that the phase mutual edge distance between transposition equates.
Described valve body feeding structure is realized ceramic valve body and supports from straight-line oscillation device tail end to valve body the transfer of stock supporting plate upper valve body pan feeding transition position, realize ceramic valve body on valve body pan feeding transition position, sealing ring assembling position and treat the transfer transmission between transposition to sealing ring assembling, valve body and pass material structure described intermittence, photoelectric sensor 1-2 is for detection of the continuity of ceramic valve body feeder process.
Described valve body load module also comprises sealing ring automatic mounting distribution structure 2, described sealing ring automatic mounting distribution structure is by main jacking cylinder 2-1, balance cylinder 2-2, swing span, the double-deck feeding structure of sealing ring, sealing ring support ring structure and ring set structure form, described main jacking cylinder 2-1 is fixed in frame, described balance cylinder is fixed on main jacking cylinder, described swing span is fixed in the swing seat of described balance cylinder, ring set structure has been symmetrically arranged on described swing span, in the time that described balance cylinder 180 is spent reciprocally swinging, ring set structure is back and forth positioned at sealing ring support ring structure and valve body supports directly over the sealing ring assembling position of stock supporting plate.
In described sealing ring automatic mounting distribution structure, described swing span is fixed in the swing seat of described balance cylinder, described swing span is " work " font support, formed by swing seat connecting plate 2-17, base plate 2-18, top board 2-20, column fagging 2-19, be bolted adjustable being fixed together, the both sides of described base plate 2-18 have slot to make way, for fixedly mounting ring set structure.Described ring set symmetrical configuration is arranged in " work " font support both sides, described ring set structure is by material toggling cylinder 2-24, material toggling collar 2-25, the collar is strengthened button 2-26, support ring sleeve 2-21 and sleeve connecting plate 2-22 form, described support ring sleeve 2-21 is that hollow and annular connects, described support ring sleeve is fixed on sleeve connecting plate 2-22, described sleeve connecting plate is fixed by screws in the side of base plate, the size of described support ring sleeve centre bore is slightly larger than the size of ceramic valve body external diameter, uniformly on described support ring sleeve have four " word " breach 2-23, described material toggling cylinder 2-24 is fixed on top board, the output shaft of described material toggling cylinder is fixed with material toggling collar 2-25, the described material toggling collar is thin-walled annular structural member, the internal diameter of the described material toggling collar is greater than the external diameter of described support ring sleeve, the two intermittently coordinates, intermittently amount is 0.05 left and right, the described material toggling collar can slide on support ring sleeve, on the described material toggling collar, have two " word " breach, for stepping down of sleeve connecting plate, the lower end of the described material toggling collar is strengthened button 2-26 with the collar and is strengthened fixing.When the reciprocal 180 ° of swings of described balance cylinder put in place, under described ring set structure, corresponding sealing ring support ring structure and valve body support the sealing ring assembling position of stock supporting plate all the time.The structural design of described ring set structure, for the needs of assembling, assemble sequence is as follows: support ring sleeve is fixed on to the side of base plate by sleeve connecting plate, the material toggling collar is encased in from above in support ring sleeve, strengthen button 2-26 with the collar and be fixed, strengthening integral rigidity.
Described sealing ring support ring structure is one group of linkage, by support ring cylinder 2-11, support ring support 2-12, connect guide pillar 2-13, support ring plate 2-14, connecting rod plate 2-15 and support ring cylinder contiguous block 2-16 form, described support ring cylinder is vertical to be fixed on underframe and to pump, described support ring support is fixed on underframe by 4 connection guide pillars, described support ring carriage center is provided with through hole, through-hole diameter is greater than the external diameter of above-mentioned support ring sleeve, the center of described four support ring plates is rotatably arranged on described support ring support surrounding by pin hinge, be 90 ° of uniform being arranged symmetrically with, described support ring plate one end is designed to sealing ring hook structure, one end chain connection of the described support ring plate other end and connecting rod plate, the other end of described connecting rod plate and described support ring cylinder contiguous block chain connection, described support ring cylinder contiguous block is fixed on the output shaft of support ring cylinder, under the effect up and down of described support ring cylinder, four support ring plates can be opened under connecting rod effect, fold.The thickness of described support ring plate is less than " word " breach on above-mentioned support ring sleeve.Before support ring sleeve 2-21 enters into the central through hole of support ring support 2-12, under support ring cylinder 2-11 effect, support ring plate 2-14 motion is opened, sealing ring struts, support ring sleeve 2-21 enters into the central through hole of support ring support 2-12, support ring cylinder 2-11 rises, and support ring plate 2-14 returns to normal position, and the normal cover of sealing ring installs on support ring sleeve 2-21.
The double-deck feeding structure of described sealing ring is by sealing ring vibrating disc, straight-line oscillation device, sealing ring is feeding structure and double-deck feeding structure formation intermittently, described sealing ring feeding structure at intermittence is by feed cylinder 2-10 at intermittence, sealing ring switch-plate 2-8-1 forms, described sealing ring switch-plate is drawing the up-and-down motion of straight-line oscillation device feed direction under feed cylinder action at intermittence, described sealing ring switch-plate is arranged on the top of the second scraping wings 2-6, on described sealing ring switch-plate, have " U " type material toggling mouth, under the non-feed state of feed cylinder at intermittence, " U " type material toggling mouth faces the end outlet of straight-line oscillation device, on described sealing ring plate plate, shrouding 2-8 is installed, described double-deck feeding structure is by the first pusher cylinder 2-3, the second pusher cylinder 2-4, First Line rail 2-7, the second line rail, the first scraping wings 2-5, the second scraping wings 2-6 forms, described the first scraping wings 2-5 is under described the first pusher cylinder drives, can draw First Line rail moves back and forth, described the second scraping wings by described the second line rail be fixed on described the first scraping wings directly over, described the second pusher cylinder is fixedly mounted on described the first scraping wings and drives described the second scraping wings front-rear reciprocation movement.Described the second scraping wings by the second line rail removable be fixed on described the first scraping wings directly over, described the second scraping wings just contacts with described the first scraping wings upper surface, described the second scraping wings front end is provided with circular material-dropping hole, and described the first scraping wings front end is provided with circular material-dropping hole 2-9.
The working method of the double-deck feeding structure of described sealing ring is as follows: sealing ring is shaken " U " type material toggling mouth on sealing ring switch-plate 2-8-1 by straight-line oscillation device, at intermittence, feed cylinder 2-10 effect is set aside in the circular material-dropping hole of delivering to the second scraping wings 2-5, then, under the first pusher cylinder action, the first scraping wings 2-5 is fed into feed state, the first scraping wings front end is provided with circular material-dropping hole 2-9 just to directly over sealing ring support ring structure, thereafter under the second pusher cylinder action, will before the second scraping wings, push away, sealing ring drops in sealing ring support ring structure.
The control system of sealing ring automatic mounting distribution structure is realized by PLC, control logic is as follows: main jacking cylinder divides jacking position and the position that sinks, main jacking cylinder is in the time of jacking position, balance cylinder 180 is spent reciprocally swinging, in swing process, the double-deck feeding structure of sealing ring is supplied to sealing ring in sealing ring support ring structure, and sealing ring support ring structure is in the time that support ring cylinder moves downward, and sealing ring struts under the effect of support ring plate; After balance cylinder swings and puts in place, main jacking air cylinder sinking, enter in support ring support at the support ring sleeve of sealing ring support ring structure side, and the support ring sleeve of the other end is nested on ceramic valve body, the support ring cylinder of sealing ring support ring structure moves upward, by ring set on support ring sleeve, meanwhile, opposite side material toggling cylinder moves downward, and appears on the stage rapidly after sealing ring is pulled on ceramic valve body; Main jacking cylinder continues jacking, and balance flagpole swings successively, reciprocal successively.
Described valve body rotary positioning structure and assembly manipulator comprise the 3rd slide unit cylinder 3-1, rotary positioning apparatus, the second lift cylinder 3-8, the 3rd lift cylinder 3-6, the 4th parallel air gripper 3-10, the 5th parallel air gripper 3-19, described the second lift cylinder, the 3rd lift cylinder is fixed on the 3rd slide unit cylinder by connecting plate, described the second parallel air gripper is fixed on the second lift cylinder by optical axis guide rail and connecting plate, described the 5th parallel air gripper is fixed on link by adjustable apparatus, described link is fixed on the 3rd lift cylinder by optical axis guide rail, described rotary positioning apparatus comprises rotation location stepper motor 3-11, 3-12 is shored in support, the 6th parallel air gripper 3-14 and correlation sensor.
In described valve body rotary positioning structure and assembly manipulator, described the 3rd slide unit cylinder is fixed on support, described the second lift cylinder and the 3rd lift cylinder are oppositely fixed on described the 3rd slide unit cylinder by connecting plate is vertical, the bottom of described the second lift cylinder and the 3rd lift cylinder is fixed with transition connecting plate 3-4 by screw, the 3rd slide unit cylinder above be furnished with the 3rd line rail 3-2, on described the 3rd line rail, be slidably set with wired rail slide block 3-3, between described line rail slide block and the transition connecting plate of the second lift cylinder base plate, by line rail slide block connecting plate, 3-5 connects, on described line rail slide block connecting plate, be provided with kidney-shaped adjustment hole, the setting of described the 3rd line rail structure, for strengthen on described the second lift cylinder and the 3rd lift cylinder the rigidity of fixing step motion process.Hang two hold assemblies are installed because the 3rd slide unit cylinder 3-1 is upper, weight is larger, for the weight of balance hold assembly, strengthens the rigidity of operation, therefore the 3rd line rail is set.
It is upper that described the 4th parallel air gripper 3-10 is fixed on described the second lift cylinder 3-8 by connecting plate, is provided with primary optic axis guide rail 3-7 between the transition connecting plate 3-4 of connecting plate and the second lift cylinder base plate, on described the 4th parallel air gripper, grip block is installed.It is upper that described the 5th parallel air gripper is fixed on described the 3rd lift cylinder 3-6 by adjustable apparatus, between the transition connecting plate on link and the 3rd lift cylinder base plate, is provided with the second optical axis guide rail 3-9.
Described valve body supports the valve body arranging on stock supporting plate and treats the ceramic valve body in transposition, through described valve body rotary positioning structure and assembly manipulator, first treat that by valve body transposition transfers on rotary positioning apparatus, complete behind accurate location, be mounted in the traffic cycle fixture of automatic assembling machine.Described rotary positioning apparatus comprises rotation location stepper motor 3-11, 3-12 is shored in support, the 6th parallel air gripper 3-14 and correlation sensor, described rotation location stepper motor is fixed on support, described support is shored on the output shaft that is fixed on described rotation location stepper motor, described the 6th parallel air gripper is by regulating installing plate 3-15 to be fixed on support, on described adjusting installing plate, be provided with and determine radius long kidney-shaped hole 3-16, install by the adjusting of determining radius long kidney-shaped hole, can realize final location to the ceramic valve body of different angles, centering is installed on described the 6th parallel air gripper and adjusts grip block 3-13, on the shape of described grip block and ceramic valve body, the symmetrical ear window shape of offering matches, realized the accurate angle orientation of ceramic valve body by centering clamping.Correlation sensor control rotation location stepper motor is realized the roughly coarse positioning of ceramic valve body, under the clamping action of the 6th parallel air gripper, realizes the location eventually of ceramic valve body.On described adjusting installing plate, be provided with and determine radius long kidney-shaped hole 3-16, can gyration regulate the setting angle of the 6th parallel air gripper, for regulating different orientation angles.
Described the 5th parallel air gripper 3-19 is fixed on link by adjustable apparatus, on described the 5th parallel air gripper, is fixed with assembling grip block.Described adjustable apparatus is by the 4th line rail 3-17, L-type mounting blocks 3-18, Compress Spring 3-20, controllable register forms, described the 4th line rail is fixed on the below of link, described the 5th parallel air gripper is mobily connected on described the 4th line rail by L-type mounting blocks, the opposition side of the 5th parallel air gripper is installed at described L-type mounting blocks, be provided with a Compress Spring 3-20, described Compress Spring one end is supported on spring fastening 3-21, the other end is resisted against on L-type mounting blocks, described the 5th parallel air gripper is under described Compress Spring effect, all the time be resisted against on controllable register, on described controllable register, be provided with two screwed hole 3-22, adjusting jackscrew is installed on described screwed hole, for regulating the position of the 5th parallel air gripper.Regulating under jackscrew effect, described the 5th parallel air gripper 3-19 is adjusted to desired position.
Claims (10)
1. for the valve body load module of automatic assembling machine, by valve body feeding structure, intermittently pass material structure, valve body rotary positioning structure and assembly manipulator form, and it is characterized in that: described valve body feeding structure comprises valve body vibrating disc, straight-line oscillation device, limiting plate, the first slide unit cylinder, the first lift cylinder and the first parallel air gripper form, and pass material structure described intermittence and support stock supporting plate by valve body, the second slide unit cylinder, first passs material cylinder, second passs material cylinder and the second parallel air gripper, the 3rd parallel air gripper forms, and described valve body supports on stock supporting plate and is provided with valve body pan feeding transition position, sealing ring assembling position, valve body is treated transposition, and described valve body rotary positioning structure and assembly manipulator comprise the 3rd slide unit cylinder, rotary positioning apparatus, the second lift cylinder, the 3rd lift cylinder, the 4th parallel air gripper, the 5th parallel air gripper, described the second lift cylinder, the 3rd lift cylinder is fixed on the 3rd slide unit cylinder by connecting plate, described the second parallel air gripper is fixed on the second lift cylinder by optical axis guide rail and connecting plate, described the 5th parallel air gripper is fixed on link by adjustable apparatus, described link is fixed on the 3rd lift cylinder by optical axis guide rail, and described rotary positioning apparatus comprises rotation location stepper motor, support is shored, the 6th parallel air gripper and correlation sensor, described valve body load module also comprises sealing ring automatic mounting distribution structure, described sealing ring automatic mounting distribution structure is by main jacking cylinder, balance cylinder, swing span, the double-deck feeding structure of sealing ring, sealing ring support ring structure and ring set structure form, described main jacking cylinder is fixed in frame, described balance cylinder is fixed on main jacking cylinder, described swing span is fixed in the swing seat of described balance cylinder, ring set structure has been symmetrically arranged on described swing span, in the time that described balance cylinder 180 is spent reciprocally swinging, ring set structure is back and forth positioned at sealing ring support ring structure and valve body supports directly over the sealing ring assembling position of stock supporting plate.
2. the valve body load module for automatic assembling machine as claimed in claim 1, it is characterized in that: in described sealing ring automatic mounting distribution structure, described swing span is fixed in the swing seat of described balance cylinder, described swing span is " work " font support, by swing seat connecting plate, base plate, top board, column fagging forms, be bolted adjustable being fixed together, described ring set symmetrical configuration is arranged in " work " font support both sides, described ring set structure is by material toggling cylinder, the material toggling collar, the collar is strengthened button, support ring sleeve and sleeve connecting plate form, described support ring sleeve is that hollow and annular connects, described support ring sleeve is fixed on sleeve connecting plate, described sleeve connecting plate is fixed by screws in the side of base plate, the size of described support ring sleeve centre bore is slightly larger than the size of ceramic valve body external diameter, uniformly on described support ring sleeve have four " word " breach, described material toggling cylinder is fixed on top board, the output shaft of described material toggling cylinder is fixed with the material toggling collar, the described material toggling collar is thin-walled annular structural member, the internal diameter of the described material toggling collar is greater than the external diameter of described support ring sleeve, the two intermittently coordinates, the described material toggling collar can slide on support ring sleeve, on the described material toggling collar, have two " word " breach, for stepping down of sleeve connecting plate, the lower end of the described material toggling collar is strengthened tipping in row strengthening with the collar and is fixed.When the reciprocal 180 ° of swings of described balance cylinder put in place, under described ring set structure, corresponding sealing ring support ring structure and valve body support the sealing ring assembling position of stock supporting plate all the time.
3. the valve body load module for automatic assembling machine as claimed in claim 1, it is characterized in that: described sealing ring support ring structure is one group of linkage, by support ring cylinder, support ring support, connect guide pillar, support ring plate, connecting rod plate and support ring cylinder contiguous block form, described support ring cylinder is vertical to be fixed on underframe and to pump, described support ring support is fixed on underframe by 4 connection guide pillars, described support ring carriage center is provided with through hole, through-hole diameter is greater than the external diameter of above-mentioned support ring sleeve, the center of described four support ring plates is rotatably arranged on described support ring support surrounding by pin hinge, be 90 ° of uniform being arranged symmetrically with, described support ring plate one end is designed to sealing ring hook structure, one end chain connection of the described support ring plate other end and connecting rod plate, the other end of described connecting rod plate and described support ring cylinder contiguous block chain connection, described support ring cylinder contiguous block is fixed on the output shaft of support ring cylinder, under the effect up and down of described support ring cylinder, four support ring plates can be opened under connecting rod effect, fold.The thickness of described support ring plate is less than " word " breach on above-mentioned support ring sleeve.
4. the valve body load module for automatic assembling machine as described in claim 1 or 2 or 3, it is characterized in that: the double-deck feeding structure of described sealing ring is by sealing ring vibrating disc, straight-line oscillation device, sealing ring is feeding structure and double-deck feeding structure formation intermittently, described sealing ring feeding structure at intermittence is by feed cylinder at intermittence, sealing ring switch-plate forms, described sealing ring switch-plate is drawing the up-and-down motion of straight-line oscillation device feed direction under feed cylinder action at intermittence, described sealing ring switch-plate is arranged on the second scraping wings top, on described sealing ring switch-plate, have " U " type material toggling mouth, under the non-feed state of feed cylinder at intermittence, " U " type material toggling mouth faces the end outlet of straight-line oscillation device, on described sealing ring plate plate, shrouding is installed, described double-deck feeding structure is by the first pusher cylinder, the second pusher cylinder, First Line rail, the second line rail, the first scraping wings, the second scraping wings forms, described the first scraping wings is under described the first pusher cylinder drives, can draw First Line rail moves back and forth, described the second scraping wings by described the second line rail be fixed on described the first scraping wings directly over, described the second pusher cylinder is fixedly mounted on described the first scraping wings and drives described the second scraping wings front-rear reciprocation movement.
5. the valve body load module for automatic assembling machine as claimed in claim 4, it is characterized in that: described the second scraping wings by the second line rail removable be fixed on described the first scraping wings directly over, described the second scraping wings just contacts with described the first scraping wings upper surface, described the second scraping wings front end is provided with circular material-dropping hole, and described the first scraping wings front end is provided with circular material-dropping hole.
6. the valve body load module for automatic assembling machine as described in claim 1 or 2 or 3, it is characterized in that: the control system of sealing ring automatic mounting distribution structure is realized by PLC, control logic is as follows: main jacking cylinder divides jacking position and the position that sinks, main jacking cylinder is in the time of jacking position, balance cylinder 180 is spent reciprocally swinging, in swing process, the double-deck feeding structure of sealing ring is supplied to sealing ring in sealing ring support ring structure, sealing ring support ring structure is in the time that support ring cylinder moves downward, and sealing ring struts under the effect of support ring plate; After balance cylinder swings and puts in place, main jacking air cylinder sinking, enter in support ring support at the support ring sleeve of sealing ring support ring structure side, and the support ring sleeve of the other end is nested on ceramic valve body, the support ring cylinder of sealing ring support ring structure moves upward, by ring set on support ring sleeve, meanwhile, opposite side material toggling cylinder moves downward, and appears on the stage rapidly after sealing ring is pulled on ceramic valve body; Main jacking cylinder continues jacking, and balance flagpole swings successively, reciprocal successively.
7. the valve body load module for automatic assembling machine as described in claim 1 or 2 or 3, it is characterized in that: in described valve body feeding structure, straight-line oscillation device end is provided with limiting plate, limiting plate side plate is provided with detection valve body and shakes the photoelectric sensor putting in place, described the first slide unit cylinder is fixed on support, described the first lift cylinder is fixed on the first slide unit cylinder by connecting plate, described the first parallel air gripper is fixed on the first lift cylinder by connecting plate is vertical, on described the first parallel air gripper, grip block is installed, pass described intermittence in material structure, described the second slide unit cylinder is fixed on support, described first passs material cylinder, second passs material cylinder is fixed on described the second slide unit cylinder by connecting plate, described first passs material cylinder, the second output shaft of passing material cylinder is realized mechanical linkage, described the second parallel air gripper is horizontal to be arranged on first and to pass on material cylinder, described the 3rd parallel air gripper is horizontal to be arranged on second and to pass on material cylinder, described valve body supports on stock supporting plate and is provided with valve body pan feeding transition position, sealing ring assembling position, valve body is treated transposition, valve body pan feeding transition position, sealing ring assembling position, valve body treats that the phase mutual edge distance between transposition equates.
8. the valve body load module for automatic assembling machine as described in claim 1 or 2 or 3, it is characterized in that: in described valve body rotary positioning structure and assembly manipulator, described the 3rd slide unit cylinder is fixed on support, described the second lift cylinder and the 3rd lift cylinder are oppositely fixed on described the 3rd slide unit cylinder by connecting plate is vertical, the bottom of described the second lift cylinder and the 3rd lift cylinder is fixed with transition connecting plate by screw, the 3rd slide unit cylinder above be furnished with the 3rd line rail, on described the 3rd line rail, be slidably set with wired rail slide block, between described line rail slide block and the transition connecting plate of the second lift cylinder base plate, connect by line rail slide block connecting plate, on described line rail slide block connecting plate, be provided with kidney-shaped adjustment hole, the setting of described the 3rd line rail structure, for strengthen on described the second lift cylinder and the 3rd lift cylinder the rigidity of fixing step motion process.Described the 4th parallel air gripper is fixed on described the second lift cylinder by connecting plate, between the transition connecting plate of connecting plate and the second lift cylinder base plate, is provided with optical axis guide rail, on described the 4th parallel air gripper, grip block is installed.Described the 5th parallel air gripper is fixed on described the 3rd lift cylinder by adjustable apparatus, between the transition connecting plate on link and the 3rd lift cylinder base plate, is provided with optical axis guide rail.
9. the valve body load module for automatic assembling machine as claimed in claim 8, it is characterized in that: described valve body supports the valve body arranging on stock supporting plate and treats the ceramic valve body in transposition, through described valve body rotary positioning structure and assembly manipulator, first treat that by valve body transposition transfers on rotary positioning apparatus, complete behind accurate location, be mounted in the traffic cycle fixture of automatic assembling machine.Described rotary positioning apparatus comprises rotation location stepper motor, support is shored, the 6th parallel air gripper and correlation sensor, described rotation location stepper motor is fixed on support, described support is shored on the output shaft that is fixed on described rotation location stepper motor, described the 6th parallel air gripper is by regulating installing plate to be fixed on support, on described adjusting installing plate, be provided with and determine radius long kidney-shaped hole, install by the adjusting of determining radius long kidney-shaped hole, can realize final location to the ceramic valve body of different angles, centering is installed on described the 6th parallel air gripper and adjusts grip block, on the shape of described grip block and ceramic valve body, the symmetrical ear window shape of offering matches, realized the accurate angle orientation of ceramic valve body by centering clamping.Correlation sensor control rotation location stepper motor is realized the roughly coarse positioning of ceramic valve body, under the clamping action of the 6th parallel air gripper, realizes the location eventually of ceramic valve body.
10. the valve body load module for automatic assembling machine as claimed in claim 8, is characterized in that: described the 5th parallel air gripper is fixed on link by adjustable apparatus, on described the 5th parallel air gripper, is fixed with assembling grip block.Described adjustable apparatus is by the 4th line rail, L-type mounting blocks, Compress Spring, controllable register forms, described the 4th line rail is fixed on the below of link, described the 5th parallel air gripper is mobily connected on described the 4th line rail by L-type mounting blocks, the opposition side of the 5th parallel air gripper is installed at described L-type mounting blocks, be provided with a Compress Spring, described Compress Spring one end is supported on spring fastening, the other end is resisted against on L-type mounting blocks, described the 5th parallel air gripper is under described Compress Spring effect, all the time be resisted against on controllable register, on described controllable register, be provided with two screwed holes, adjusting jackscrew is installed on described screwed hole, for regulating the position of the 5th parallel air gripper.
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| CN201410092680.4A CN103878580B (en) | 2014-03-13 | 2014-03-13 | For the valve body load module of automatic assembling machine |
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| CN201410092680.4A CN103878580B (en) | 2014-03-13 | 2014-03-13 | For the valve body load module of automatic assembling machine |
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