CN108747358A - Valve body automatic assembly line - Google Patents

Valve body automatic assembly line Download PDF

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Publication number
CN108747358A
CN108747358A CN201810927331.8A CN201810927331A CN108747358A CN 108747358 A CN108747358 A CN 108747358A CN 201810927331 A CN201810927331 A CN 201810927331A CN 108747358 A CN108747358 A CN 108747358A
Authority
CN
China
Prior art keywords
riveting
sealing ring
plug
fixed
valve body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810927331.8A
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Chinese (zh)
Other versions
CN108747358B (en
Inventor
刘寒涛
于壮壮
郭敬
马宏波
林涛
朱振友
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Beiren Robot System Co Ltd
Original Assignee
Jiangsu Beiren Robot System Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Beiren Robot System Co Ltd filed Critical Jiangsu Beiren Robot System Co Ltd
Priority to CN201810927331.8A priority Critical patent/CN108747358B/en
Publication of CN108747358A publication Critical patent/CN108747358A/en
Application granted granted Critical
Publication of CN108747358B publication Critical patent/CN108747358B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines

Abstract

The present invention relates to valve body automatic assembly line, including steel ball riveting device and feeding mechanical arm, steel ball riveting device carries out steel ball riveting sealing for valve body；Clamping device is mounted on feeding mechanical arm, and feeding mechanical arm is mounted in feeding mobile device；Clamping device is for capturing circuit board and valve body；Valve body, sealing ring, riveting plug and screw plug are housed on circuit board；Feeding mobile device is for driving feeding mechanical arm to be moved between each station；Feeding mechanical arm is used to valve body or circuit board being sent to each station；Charging/discharging device is used to circuit board is sent into or be sent out working region；Plug riveting device is for riveting plug riveting in valve body；Plug device for screwing up is tightened in valve body for screw plug.The assembly line can realize automated production, and smart structural design, stable and reliable in work, required worker greatly reduces, work efficiency is high, effectively reduces production cost.

Description

Valve body automatic assembly line
Technical field
The present invention relates to a kind of valve bodies to assemble device, especially valve body automatic assembly line.
Background technology
The structures such as reversal valve, connection valve are similar, are required for installing a large amount of riveting plug and screw plug, on screw plug It also needs to install sealing ring additional.
Currently, riveting steel ball, rivet plug and installation screw plug are manually installed, steel ball is placed into valve body by worker It is interior, then valve body is placed into steel ball riveting device riveting steel ball, the valve body of the good steel ball of riveting is then sent to down one of plug riveting It presses process, worker that riveting plug is placed on valve body, valve body is then placed into progress plug riveting on plug riveter, so The valve body of the good plug of riveting is rotated into screw plug installation procedure afterwards, sealing ring is first sleeved on screw plug by worker, then by spiral shell Line plug is mounted on valve body, and valve body installs these attachmentes, needs multiple processes, each process that will have worker, and certainly Dynamicization degree is low, and working efficiency is low, and production cost is high, and the production cycle is long.
Invention content
To solve the above problems, the present invention provide one kind can by steel ball riveting, sealing assembly, plug riveting, screwed plug Automated production is realized in head installation, and required worker greatly reduces, work efficiency is high, the valve body of effectively reduction production cost fills automatically Wiring, specific technical solution are：
Valve body automatic assembly line, including steel ball riveting device and feeding mechanical arm, the steel ball riveting device are used for valve Body carries out steel ball riveting sealing；Further include clamping device, circuit board, sealing ring automatic assembling apparatus, feeding mobile device, plug Riveting device, plug device for screwing up and charging/discharging device；The clamping device is mounted on feeding mechanical arm, feeding mechanical hand Arm is mounted in feeding mobile device, the charging/discharging device, steel ball riveting device, sealing ring automatic assembling apparatus, plug riveting Pressure device, plug device for screwing up are sequentially arranged at surrounding or the both sides of feeding mobile device；The clamping device collects for capturing At plate and valve body；Valve body, sealing ring, riveting plug and screw plug are housed on the circuit board；The feeding mobile device is used It is moved between each station in driving feeding mechanical arm；The feeding mechanical arm is used to valve body or circuit board being sent to each work On position, that is, it is sent to sealing ring automatic assembling apparatus, feeding mobile device, plug riveting device, plug device for screwing up and input and output material On device；The charging/discharging device is used to circuit board is sent into or be sent out working region；The plug riveting device is used for riveting Plug riveting is on valve body；The plug device for screwing up is tightened in valve body for screw plug.
Preferably, the clamping device includes material folding seat and mechanical gripper；The material folding seat is fixed on feeding mechanical arm On, mechanical gripper is fixed on material folding seat, and material folding block is housed on mechanical gripper, and material folding block is equipped with material folding slot.
Preferably, the feeding mobile device include material feeding seat, delivery sheet, feeding guide, feeding sliding block, feeding motor, Feeding gear and feeding rack；The top of the material feeding seat is equipped with feeding guide, is slided on feeding guide and feeding sliding block is housed, sent Expect that sliding block is mounted on the bottom of delivery sheet, feeding mechanical arm is housed on the top of delivery sheet；The feeding motor, which is fixed on, to be sent The side of flitch is equipped with feeding gear in feeding motor, and feeding gear is engaged with feeding rack, and feeding rack is fixed on material feeding seat Side.
Preferably, the circuit board is equipped with valve body locating piece, sealing ring fixed station, sealing ring fixed column, plug and fixes Hole and crawl handle, the sealing ring fixed station, sealing ring fixed column and plug mounting hole are equipped with multiple；The sealing ring is solid It is cylinder to determine platform, and the top of sealing ring fixed station is equipped with grabbing groove, and grabbing groove extends to collection at the top of sealing ring fixed station At on plate, grabbing groove is no less than two, and grabbing groove is arranged around the axis annular array of sealing ring positioning table；The sealing ring is fixed Platform and sealing ring fixed column are for fixed and positioning seal ring；Activity is equipped with riveting plug or screwed plug on the plug mounting hole Head, plug mounting hole is for positioning riveting plug or screw plug；The crawl handle is located at one end of circuit board, captures handle Both sides be equipped with grabbing groove；There are four the valve body locating piece is set, valve body locating piece forms rectangle frame.
Preferably, the sealing ring automatic assembling apparatus includes sealing make-up machinery arm, sealing ring expansion loop bar, sealing Enclose grabbing device and ring set device；The sealing ring grabbing device and ring set device are each attached to sealing assembly On mechanical arm；The sealing ring expansion loop bar is reducing round bar, and sealing ring expands the diameter at the top of loop bar and is less than sealing ring Internal diameter, the diameter of bottom are not less than the outer diameter of screw plug；The sealing ring grabbing device is close for capturing or unclamping sealing ring Sealing ring is sleeved on sealing ring expansion loop bar when seal grabbing device unclamps sealing ring；The ring set device is for capturing Sealing ring expands loop bar, and sealing ring is shifted onto from sealing ring expansion loop bar in the seal groove on screw plug；The sealing Make-up machinery arm is moved to setting position for sealing ring grabbing device and ring set device.
Preferably, the sealing ring grabbing device includes sealing ring handgrip and sealing ring crawl driving device, and sealing ring is grabbed Hand is mounted in sealing ring crawl driving device, and sealing ring crawl driving device is fixed on sealing make-up machinery arm, sealing Circle crawl driving device is for driving sealing ring handgrip to capture or unclamp sealing ring；The ring set device includes sealing ring Pushing meanss and loop bar grabbing device, the sealing ring pushing meanss are fixed on sealing make-up machinery arm, and sealing ring pushes Device is used for sealing ring from the seal groove for shifting screw plug onto on sealing ring expansion loop bar；The loop bar grabbing device sliding On sealing make-up machinery arm, and with sealing ring pushing meanss coaxial line, loop bar grabbing device is for capturing sealing ring Expand loop bar.
Preferably, the top of the sealing ring handgrip is equipped with sealing ring pulldown, and circle is grabbed in the inside of sealing ring pulldown equipped with interior Cambered surface, the outside of sealing ring pulldown is equipped with grabs arc surface outside；The sealing ring crawl driving device is electronic clamping jaw, and sealing ring is grabbed Hand is fixed on electronic clamping jaw；The sealing ring pushing meanss include pushing plate, pushing block and promotion resetting spring；The promotion Plate is fixed on sealing make-up machinery arm, and pushing plate, which is equipped with, pushes hole, and promotion hole is through-hole, pushes the diameter in hole to be more than close The diameter of loop bar bottom is expanded in seal；The pushing block is slidably mounted in pushing plate, and pushing block is no less than two, and pushing block Around the axis annular array setting for pushing hole, pushing block is equipped with slip circle face, and slip circle face, which faces, pushes hole；It is described Resetting spring one end is pushed to be pressed in pushing plate, another side pressure is scheduled on pushing block, and pushing block is along the axis for vertically pushing hole Direction moves back and forth；The loop bar grabbing device includes finger cylinder and loop bar clamping jaw, and loop bar clamping jaw is equipped with V-shaped groove, loop bar Clamping jaw is fixed in finger cylinder, and the center line of V-shaped groove is on the axis for pushing hole；The finger cylinder is fixed on sliding block, Sliding block is slidably mounted in the linear guide, on the linear guide fixing seal make-up machinery arm；The end of the finger cylinder fills There are lifting spring, the other end of lifting spring to be fixed on spring retaining plate B, spring retaining plate B is fixed on sealing make-up machinery On arm.
Preferably, the pushing plate is equipped with multiple promotion slots, and promotion slot is straight slot, pushes slot around the axis ring for pushing hole Shape array is arranged, and positioning table is equipped in the promotion slot, and positioning table is located at the side for pushing hole；The pushing block is slidably mounted on It pushes in slot, is slided on pushing block and spring loop bar A is housed, one end of spring loop bar A is fixed on spring retaining plate A, and spring is solid Fixed board A is fixed on the end for pushing slot, and the promotion resetting spring is sleeved on spring pocket bar A, pushes a side pressure of resetting spring On pushing block, the other end is pressed on spring retaining plate A.
Preferably, further include pneumatic suction nozzle, the pneumatic suction nozzle includes sealing ring absorptive table, sealing ring adsorption site and vacuum Generator；The sealing ring absorptive table is fixed on sealing ring adsorption site, and sealing ring adsorption site is fixed on sealing assembly manipulator On arm；The top of the sealing ring absorptive table is equipped with sealing ring adsorption tank, and sealing ring adsorption tank is annular groove, sealing ring adsorption tank Match with sealing ring, the bottom of sealing ring adsorption tank is equipped with sealing ring adsorption hole, and sealing ring adsorption hole is no less than two, sealing Circle adsorption hole is set in qually spaced in sealing ring adsorption tank；The sealing ring adsorption site is equipped with aspirating hole, aspirating hole and sealing Circle adsorption hole communicates, and tracheae quick coupling is housed on sealing ring adsorption site, and tracheae quick coupling is communicated with aspirating hole；The vacuum Generator is connect by tracheae with tracheae quick coupling.
Preferably, the plug riveting device includes riveter, riveting head fixing device, hollow stem, riveting bar, plug suction Adsorption device, riveting positioning device, riveting mechanical arm, riveting handgrip and riveting tool frame；The riveting head fixing device and stifled Head adsorbent equipment is installed on the riveting lifter plate of riveter, and riveting head fixing device is located at the center of riveting lifter plate, is blocked up Head adsorbent equipment is located at the side of riveting head fixing device, and riveting lifter plate is mounted on the lifting shaft of riveter, riveting lifting The center line of plate is overlapped with the axis of lifting shaft, and the riveting positioning device is mounted on the riveting table top of riveter, riveter Tool arm and riveting tool frame are respectively positioned on the side of riveter, and the riveting handgrip is fixed on riveting mechanical arm；The riveting Pressure head fixing device is for fixing riveting bar or hollow stem；The hollow stem is mounted in riveting head fixing device, and and plug Adsorbent equipment connects, and hollow stem adsorbs riveting plug by plug adsorbent equipment；The riveting bar is mounted on riveting head and fixes dress It sets, riveting bar is used for riveting plug riveting in the plug hole of valve body；The riveting tool frame for place hollow stem and Riveting bar；The riveting positioning device is moved for valve body, and the axis in the plug hole of valve body is made to be overlapped with the axis of riveting head；Institute Riveting handgrip is stated for capturing circuit board, hollow stem and riveting bar；The riveting mechanical arm is used for valve body, riveting bar, integrates Plate and hollow stem are moved to setting position.
Preferably, the riveting head fixing device includes riveting fixed seat, riveting finger cylinder and riveting clamping jaw；The riveting Pressing reservation is fixed on the center of riveting lifter plate, and riveting fixed seat is equipped with riveting card slot, and the side of riveting card slot, which is equipped with, to be led to Hole A；The riveting finger cylinder is fixed on the side of riveting fixed seat, and riveting clamping jaw, riveting folder are housed in riveting finger cylinder Pawl is equipped with arc-shaped riveting claw slot A, and riveting claw slot A matches with riveting bar and hollow stem, the center line of riveting clamping jaw and The axis of lifting shaft overlaps；The bottom of the hollow stem is equipped with plug sucker, and side is equipped with intercommunicating pore, and hollow stem is inserted in riveting pawl Through-hole A and intercommunicating pore be on the same axis when in slot A；The plug adsorbent equipment includes plug soup stick, gasket, vacuum generation Device and absorption mobile cylinder, the end of plug soup stick are equipped with suction hole, and suction hole fast is inserted with straight-through on plug soup stick Connector communicates, and straight-through quick connector is connect with vacuum generator, and gasket is fixed on the end of plug soup stick, is set on gasket logical Hole；The plug soup stick is mounted on absorption mobile cylinder, and plug soup stick activity is inserted in through-hole A, and absorption mobile cylinder is fixed On riveting lifter plate.
Preferably, the both sides of the riveting card slot are equipped with compression bar platform, and the both sides at the top of the hollow stem and riveting bar are equipped with Riveting locating slot, riveting locating slot match with compression bar platform, and the through-hole A is located on the compression bar platform of side；The riveting tool Frame is equipped with hanger for tools, and hanger for tools is equipped with well, and well is consistent with riveting card slot, and riveting bar and hollow stem block In well.
Preferably, the riveting positioning device includes located lateral cylinder, the transverse electric being each attached on riveting table top Cylinder, longitudinal register cylinder and longitudinal electric cylinder；The located lateral cylinder is oppositely arranged with transverse electric cylinder, located lateral cylinder With the transverse electric cylinder both sides that be located at valve body opposite；The longitudinal register cylinder is oppositely arranged with longitudinal electric cylinder, longitudinal Positioning cylinder and longitudinal electric cylinder are located at other two opposite both sides of valve body.
Preferably, the riveting handgrip includes circuit board finger cylinder, circuit board handgrip, compression bar finger cylinder and compression bar folder Pawl；The circuit board finger cylinder and compression bar finger cylinder are each attached on riveting mechanical arm；The circuit board finger cylinder Upper that circuit board handgrip is housed, circuit board handgrip grabs slot equipped with circuit board, compression bar clamping jaw, pressure is housed in the compression bar finger cylinder Bar cramp pawl is equipped with arc-shaped compression bar slot, and compression bar slot matches with riveting bar and hollow stem.
Preferably, the plug device for screwing up includes tightening mechanical arm, tightening handgrip, eclectic screw gun, tool positioning Device, lifting platform tighten lifting cylinder, screwed in place device, tighten bar and tightening tool frame；It is described tighten handgrip be fixed on it is stubborn On tight mechanical arm, handgrip is tightened for capturing screw plug and tighten bar, tightens mechanical arm fixation at the top for tightening frame, Mechanical arm is tightened to be used to screw plug and tighten bar be moved to setting position；The eclectic screw gun is fixed on lifting platform, Lifting platform is fixed on by line slideway auxiliary on crane, and crane is fixed on the top for tightening frame, is equipped with and tightens on crane Lifting cylinder is tightened lifting cylinder and is connect with lifting platform；The tool positioning device is fixed on lifting platform, and is located at electronic spiral shell The lower section of silk rifle, tool positioning device tighten bar for fixation, make to tighten bar and are combined with eclectic screw gun；It is described to tighten the one of bar End is equipped with connecting pole, and connecting pole matches with eclectic screw gun, and the other end for tightening bar is tool ends end, tool ends end and screw plug Groove profile match；The bar of tightening is placed on tightening tool frame, and tightening tool frame is placed on the top for tightening frame；It is described to twist Clamping and positioning device is fixed on the top for tightening frame, and positioned at the lower section of eclectic screw gun, and screwed in place device is used for fixed valve body, And valve body is moved to the lower section of eclectic screw gun, so that the axis in plug hole of valve body is overlapped with the axis of eclectic screw gun.
Preferably, the handgrip of tightening includes tightening finger cylinder and to tighten clamping jaw, tightens finger cylinder and is fixed on and tightens It on mechanical arm, tightens clamping jaw and is fixed on and tighten in finger cylinder, tighten clamping jaw and be equipped with and tighten slot, it is V-shaped groove to tighten slot；Institute It includes tool positioning finger cylinder and tool positioning clamping jaw to state tool positioning device, and tool positioning clamping jaw is fixed on tool positioning hand Refer on cylinder, tool positions clamping jaw and is equipped with arc-shaped tool locating slot, and tool locating slot matches with bar is tightened, and tool is fixed The center line of position slot is overlapped with the axis of eclectic screw gun；The screwed in place device includes lateral straight line module, longitudinal straight line Module, screwed in place plate, screwed in place cylinder and screwed in place column；The transverse direction straight line module is fixed on the top for tightening frame, Longitudinal straight line module is fixed on the slide unit of lateral straight line module, and screwed in place plate is housed on the slide unit of longitudinal straight line module, is twisted Screwed in place cylinder and screwed in place column are housed on tight positioning plate, cylinder is tightened and there are two screwed in place column is all provided with, it is fixed to tighten Position column and screwed in place cylinder are respectively arranged in a mutually vertical manner, and screwed in place cylinder and screwed in place column clamp valve body.
Preferably, the charging/discharging device includes drawing mechanism and feeding equipment；The drawing mechanism includes rodless cylinder And reclaiming plate, the rodless cylinder are fixed on the top of disengaging rack, reclaiming plate are housed on the slide unit of rodless cylinder, reclaiming plate Equipped with discharging locating piece on four angles；The feeding equipment includes charging straight line module, feedboard and examines camera；The charging Straight line module is fixed on the top of disengaging rack, feeds and feedboard is housed on the slide unit of straight line module, and four angles of feedboard fill There are charging locating piece, the top for examining camera to be fixed on charging straight line module to examine camera for detecting on circuit board Valve body, sealing ring, riveting plug and screw plug.
Preferably, further include integrating plate positioning device, integrated plate positioning device is separately mounted to sealing ring automatic assembling dress It sets, on plug riveting device and plug device for screwing up；Integrated plate positioning device include circuit board positioning plate, circuit board locating piece, Circuit board positioning column, circuit board lifter plate, circuit board lifting cylinder and circuit board positioning sleeve；The circuit board locating piece is fixed on On four angles of circuit board positioning plate；The top of the circuit board positioning column is taper, and circuit board positioning column fixes circuit board liter The both sides of plate drop, and circuit board lifter plate is fixed on circuit board lifting cylinder；The circuit board positioning sleeve is fixed on circuit board Both sides, and it is corresponding with circuit board positioning column.
Compared with prior art the invention has the advantages that：
Valve body automatic assembly line provided by the invention can pacify steel ball riveting, sealing assembly, plug riveting, screw plug Dress realizes automated production, and smart structural design, stable and reliable in work, required worker greatly reduces, work efficiency is high, effective drop Low production cost.
Description of the drawings
Fig. 1 is the planar layout structure schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram of clamping device；
Fig. 3 is the structural schematic diagram of feeding mobile device；
Fig. 4 is the structural schematic diagram of sealing ring automatic assembling apparatus；
Fig. 5 is that sealing ring grabbing device and ring set device are mounted on the structural schematic diagram sealed on mounting bedplate；
Fig. 6 is the partial enlargement structural representation at I in Fig. 5；
Fig. 7 is the structural schematic diagram of sealing ring pushing meanss and loop bar grabbing device
Fig. 8 is the configuration schematic diagram of sealing ring pushing meanss；
Fig. 9 is the structural schematic diagram of pneumatic suction nozzle；
Figure 10 is the structural schematic diagram of integrated plate positioning device；
Figure 11 is the structural schematic diagram of sealing ring expansion loop bar；
Figure 12 is the structural schematic diagram of plug riveting device；
Figure 13 is the structural schematic diagram of riveting head fixing device and plug adsorbent equipment；
Figure 14 is the structural schematic diagram that riveting head fixing device is equipped with riveting bar；
Figure 15 is the cross-sectional view of hollow stem；
Figure 16 is the structural schematic diagram of riveting handgrip；
Figure 17 is the structural schematic diagram of plug device for screwing up；
Figure 18 is the enlarged structure schematic diagram at II in Figure 17；
Figure 19 is into and out the structural schematic diagram of material device.
Specific implementation mode
In conjunction with attached drawing, the invention will be further described.
As shown in Fig. 1 to Figure 19, valve body automatic assembly line, including feeding mobile device 2, feeding mechanical arm 10, material folding Device 11, circuit board 41, steel ball riveting device 20, sealing ring automatic assembling apparatus 3, plug riveting device 5, plug device for screwing up 6, charging/discharging device 7 and integrated plate positioning device；Clamping device 11 is mounted on feeding mechanical arm 10, feeding mechanical arm 10 In feeding mobile device 2, charging/discharging device 7, steel ball riveting device 20, sealing ring automatic assembling apparatus 3, plug riveting Device 5, plug device for screwing up 6 are sequentially arranged at the surrounding of feeding mobile device 2；Steel ball riveting device 20 for valve body 100 into Row steel ball riveting seals, and steel ball riveting device 20 is existing matured product, is not described in detail herein；Clamping device 11 is used for Capture circuit board 41 and valve body 100；Valve body 100, sealing ring 101, riveting plug 103 and screw plug are housed on circuit board 41 102；Feeding mobile device 2 is for driving feeding mechanical arm 10 to be moved between each station；Feeding mechanical arm 10 is used for will Valve body 100 or circuit board 41 are sent on each station, i.e. sealing ring automatic assembling apparatus 3, feeding mobile device 2, plug riveting dress It sets on 5, plug device for screwing up 6 and charging/discharging device 7；Charging/discharging device 7 is used to send circuit board 41 into or send out working region； Plug riveting device 5 is for 103 riveting of riveting plug in valve body 100；Plug device for screwing up 6 is tightened for screw plug 102 On valve body 100.
Valve body automatic assembly line is surrounded by fence.
Wherein, as shown in Fig. 2, clamping device 11 includes material folding seat 12 and mechanical gripper 13；Material folding seat 12 is fixed on feeding On mechanical arm 10, mechanical gripper 13 is fixed on material folding seat 12, and material folding block 14 is housed on mechanical gripper 13, is set on material folding block 14 There is material folding slot 141.
Mechanical gripper 13 can be pneumatic-finger or electronic clamping jaw.
Wherein, as shown in figure 3, feeding mobile device 2 includes material feeding seat 21, delivery sheet 24, feeding guide 22, feeding sliding block 23, feeding motor 25, feeding gear 26 and feeding rack 27；The top of material feeding seat 21 is equipped with feeding guide 22, feeding guide 22 Upper sliding is equipped with feeding sliding block 23, and feeding sliding block 23 is mounted on the bottom of delivery sheet 24, feeding is housed on the top of delivery sheet 24 Mechanical arm 10；Feeding motor 25 is fixed on the side of delivery sheet 24, and feeding gear 26, feeding gear are housed in feeding motor 25 26 engage with feeding rack 27, and feeding rack 27 is fixed on the side of material feeding seat 21.
When work, feeding motor 25 drives feeding gear 26 to rotate, and feeding gear 26 drives delivery sheet 24 to move.
Wherein, as shown in Fig. 5 to Figure 11, sealing ring automatic assembling apparatus 3, including sealing make-up machinery arm 32, sealing Extendable cycles loop bar 39, sealing ring grabbing device 34 and ring set device.
Sealing ring grabbing device 34 unclamps sealing ring 101 for capturing or unclamping sealing ring 101, sealing ring grabbing device 34 When sealing ring 101 be sleeved on sealing ring expansion loop bar 39 on；Ring set device expands loop bar 39 for capturing sealing ring, and will Sealing ring 101 is shifted onto from sealing ring expansion loop bar 39 in the seal groove on plug 102；Sealing make-up machinery arm 32 is used for will Sealing ring grabbing device 34 and ring set device are moved to setting position.
As shown in Figure 10, circuit board 41 is equipped with valve body locating piece 45, sealing ring fixed station 42,43 and of sealing ring fixed column Plug mounting hole；Sealing ring fixed station 42 is cylinder, and the top of sealing ring fixed station 42 is equipped with grabbing groove 421, grabbing groove 421 It is extended on circuit board 41 from the top of sealing ring fixed station 42, there are two grabbing groove 421 is set, grabbing groove 421 is symmetricly set on The both sides of the axis of sealing ring positioning table 354；Sealing ring fixed station 42 and sealing ring fixed column 43 are for fixed and location sealing Circle 101；Sealing ring fixed station 42 for placing the sealing ring 101 being relatively large in diameter, sealing ring fixed column 43 be used to place diameter compared with The diameter of small sealing ring 101, sealing ring fixed station 42 and sealing ring fixed column 43 is respectively less than the internal diameter of sealing ring 101.
Grabbing groove 421 or monoblock type, i.e. two grabbing grooves 421 communicate, and the length of grabbing groove 421 is more than sealing ring 101 outer diameter, width are more than the width of sealing ring pulldown 343.
Activity is equipped with plug 102 on plug mounting hole, and plug mounting hole is for positioning plug 102.
There are four valve body locating piece 45 is set, valve body locating piece 45 forms rectangle frame, and valve body locating piece 45 limits valve body 100 Position.
The required plug 102 of assembly and sealing ring 101 are placed on circuit board 41, can realize 101 He of sealing ring The positioning of plug 102, while being also that Automated assembly is ready work, convenient follow-up crawl sealing ring 101.
As shown in figure 11, sealing ring expansion loop bar 39 is reducing round bar, and the diameter at 39 top of sealing ring expansion loop bar is less than The internal diameter of sealing ring 101, the diameter of bottom are not less than the outer diameter of plug 102.It is fixed that sealing ring expansion 39 activity of loop bar is inserted in loop bar In the loop bar slot of position plate 391, loop bar positioning plate 391 is fixed on the top of sealing assembly fixture 31.
Sealing ring expansion loop bar 39, which is reducing bar, to expand the internal diameter of sealing ring 101, enable sealing ring 101 smoothly It is set on plug 102.
As shown in figure 5, sealing make-up machinery arm 32 is fixed on the top of sealing assembly fixture 31, make-up machinery arm is sealed 32 be six axis robot arm.It seals on make-up machinery arm 32 equipped with sealing mounting bedplate 33, seals and be equipped on mounting bedplate 33 Sealing ring grabbing device 34 and ring set device.Sealing ring grabbing device 34 and ring set device are mutually perpendicular to set It sets.
As shown in Fig. 5 to Fig. 8, sealing ring grabbing device 34 includes sealing ring handgrip 342 and electronic clamping jaw 341, sealing ring Handgrip 342 is mounted on electronic clamping jaw 341, and electronic clamping jaw 341 is fixed on sealing mounting bedplate 33, and electronic clamping jaw 341 is used for Sealing ring handgrip 342 is driven to capture or unclamp sealing ring 101.
As shown in fig. 6, the top of sealing ring handgrip 342 is equipped with sealing ring pulldown 343, the inside of sealing ring pulldown 343 is set Arc surface 345 is grabbed in having, the outside of sealing ring pulldown 343 is equipped with grabs arc surface 344 outside.
Electronic clamping jaw 341 is the LEHF10K2 types of SMC companies.Electronic clamping jaw 341 can be accurately controlled two sealing rings The distance of 343 opening and closing of pulldown, to realize the sealing ring 101 of crawl different-diameter.
Sealing ring 101 is captured by the outer arc surface 344 of grabbing of sealing ring pulldown 343 for the sealing ring 101 being relatively large in diameter Inner surface, sealing ring 101 is captured by grabbing arc surface 345 in sealing ring pulldown 343 compared with small sealing ring 101 for diameter Outer surface.
As shown in Fig. 5 to Fig. 8, ring set device includes sealing ring pushing meanss 35 and loop bar grabbing device 36, close Seal pushing meanss 35 are fixed on sealing mounting bedplate 33, and positioned at the end of sealing mounting bedplate 33, and sealing ring pushes dress 35 are set for shifting in the seal groove of plug 102 sealing ring onto from sealing ring expansion loop bar 39；Loop bar grabbing device 36 slides Mounted on sealing mounting bedplate 33 on, and with 35 coaxial line of sealing ring pushing meanss, loop bar grabbing device 36 for capture seal Extendable cycles loop bar 39.
As shown in Figure 7 and Figure 8, sealing ring pushing meanss 35 include pushing plate 351, pushing block 355 and promotion resetting spring 356；Pushing plate 351 is fixed on sealing mounting bedplate 33, and is set on the end of sealing mounting bedplate 33, pushing plate 351 Have and push hole 352, promotion hole 352 is through-hole, and the diameter in hole 352 is pushed to be more than the diameter of 39 bottom of sealing ring expansion loop bar；It pushes away Movable plate 351 is rectangular slab, and it is T-slot to be set in pushing plate 351 there are two slot 353, promotion slot 353 is pushed, and it is logical to push slot 353 Slot pushes slot 353 to be symmetricly set on the both sides for pushing 352 axis of hole, and the both sides of slot 353 is pushed to be equipped with positioning table 354, positioning table 354 are located at the side for pushing hole 352, that is, are located at the one end for pushing slot 353 and hole 352 being pushed to intersect.Slot 353 is pushed to facilitate installation Pushing block 355, positioning table 354 make the sliding disc of pushing block 355 be located at the side for the center line for pushing hole 352, avoid pushing The gear of block 355 makes sealing ring expansion loop bar 39 that can not be inserted into promotion hole 352 on the center line for pushing hole 352.
Pushing block 355 is T-shaped block, and pushing block 355, which is slidably mounted on, to be pushed in slot 353, and pushing block 355, which is equipped with sliding, to be justified Cambered surface 359, slip circle face 359, which faces, pushes hole 352.
Pushing block 355 is equipped with set rod aperture, and the diameter for covering rod aperture is more than spring loop bar A357, and one end of spring loop bar A357 is slided Dynamic to be located in set rod aperture, the other end of spring loop bar A357 is fixed on spring retaining plate A358, and spring retaining plate A358 is fixed End in the separate promotion hole 352 for pushing slot 353 pushes resetting spring 356 to be sleeved on spring loop bar A357, pushes and resets bullet One end of spring 356 is pressed on pushing block 355, and the other end is pressed on spring retaining plate A358.
Loop bar grabbing device 36 includes finger cylinder 363 and loop bar clamping jaw 361, and loop bar clamping jaw 361 is equipped with V-shaped groove 362, Loop bar clamping jaw 361 is fixed in finger cylinder 363, and the center line of V-shaped groove 362 is on the axis for pushing hole 352；362 side of V-shaped groove Just pinch seal Extendable cycles loop bar 39.
Finger cylinder 363 is fixed on sliding seat A364, and sliding seat A364 is equipped with through-hole, and sliding seat A364 is fixed on cunning On block, sliding block is slidably mounted in the linear guide, on the linear guide fixing seal mounting bedplate 33；Equipped with liter on sliding seat A364 Spring 366 drops, and the other end of lifting spring 366 is fixed on spring retaining plate B365, and spring retaining plate B365 is fixed on sealing On mounting bedplate 33, spring loop bar B is housed on spring retaining plate B365, the other end sliding of spring loop bar B is inserted in sliding seat In the through-hole of A364.
Lifting spring 366 makes loop bar clamping jaw 361 close to the side of pushing plate 351, and loop bar clamping jaw 361 is facilitated to capture sealing ring Expand loop bar 39.
Pushing block 355 remains closed under the action of pushing resetting spring 356, justifies since pushing block 355 is equipped with sliding Cambered surface 359, when two pushing blocks 355 are closed among there are holes, when pushing plate 351 is pressed downward, sealing ring expansion loop bar 39 is inserted into It is pushed to both sides into hole, and by pushing block 355, pushing block 355 is tightly attached to sealing ring under the action of pushing resetting spring 356 It expands on loop bar 39, to make sealing ring 101 be located at the end of pushing block 355, pushing block 355 pushes sealing ring 101 to plug 102 movements, when sealing ring 101 is moved to seal groove, sealing ring 101 snaps under the action of elastic force in seal groove.
Grabbing groove 421 is convenient to capture sealing ring 101 from the medial surface for the sealing ring 101 being relatively large in diameter.Due to being relatively large in diameter Sealing ring 101 be easily deformed, if gripped using from the lateral surface of sealing ring 101, sealed after picking up sealing ring 101 Circle 101 is easily deformed and falls, and sealing ring 101 is in elastic force when expanding outwardly crawl sealing ring 101 from the medial surface of sealing ring 101 Under the action of be pressed in sealing ring pulldown 343, sealing ring 101 is not easy to fall.And the smaller sealing ring 101 of diameter is not easy Deformation, therefore can be grabbed sealing ring 101 from sealing ring fixed column 43 by being captured from the lateral surface of sealing ring 101 It rises, since the diameter of sealing ring fixed column 43 is smaller, sealing ring 101 has certain deformation space, sealing ring 101 will not be because of change Shape and be stuck in sealing ring fixed column 43.
As shown in Figure 10, integrated plate positioning device is fixed on the top of sealing assembly fixture 31, and integrated plate positioning device includes Circuit board positioning plate 441, circuit board locating piece 442, circuit board positioning column 46, circuit board lifter plate 47, circuit board lifting cylinder 49, circuit board positioning sleeve 48 and circuit board locating rack 415；Circuit board locating rack 415 is fixed on the top of sealing assembly fixture 31, collection The top of circuit board locating rack 415 is fixed at plate positioning plate 441, circuit board locating piece 442 is fixed on circuit board positioning plate 441 Four angles on；The top of circuit board positioning column 46 is taper, and circuit board positioning column 46 fixes the both sides of circuit board lifter plate 47, Circuit board lifter plate 47 is fixed on circuit board lifting cylinder 49, and circuit board lifting cylinder 49 is fixed on circuit board locating rack 415 Bottom；Circuit board positioning sleeve 48 is fixed on the both sides of circuit board 41, and corresponding with circuit board positioning column 46.
Integrated plate positioning device makes sealing ring 101 and plug 102 be located at fixed position, facilitates sealing make-up machinery arm 32 Capture sealing ring 101 and suit sealing ring.
When circuit board 41 is placed into circuit board positioning plate 441 in the case where sealing the movement of make-up machinery arm 32 or operating personnel When upper, circuit board positioning column 46 is inserted on the circuit board positioning sleeve 48 of 41 both sides of circuit board by the rise of circuit board lifting cylinder 49, Circuit board 41 is oriented to, circuit board 41 is made to can smoothly enter into circuit board locating piece 442.When sealing make-up machinery arm 32 Or operating personnel, when taking circuit board 41 away, circuit board lifting cylinder 49 is retracted, circuit board positioning column 46 is detached from circuit board positioning sleeve 48, conveniently take circuit board 41 away.
When work, sealing ring 101 and plug 102 are placed on circuit board 41, are then placed into circuit board 41 integrated On plate positioning device, 32 rotary seal mounting bedplate 33 of sealing make-up machinery arm makes sealing ring grabbing device 34 be in vertical State, the center line of electronic clamping jaw 341 is on the axis of sealing ring 101, and sealing make-up machinery arm 32 is with dynamic seal ring handgrip 342 decline, and sealing ring pulldown 343 drops in grabbing groove 421, and sealing ring handgrip 342 is moved to the both sides of electronic clamping jaw 341, Sealing ring pulldown 343 tenses sealing ring 101, then seals make-up machinery arm 32 and rises, sealing ring 101 is detached from sealing ring and fixes On platform 42；Sealing make-up machinery arm 32 is moved to the surface that sealing ring expands loop bar 39 with dynamic seal ring grabbing device 34, Sealing ring 101 is unclamped in sealing ring pulldown 343, and sealing ring 101 is sleeved on sealing ring expansion loop bar 39；Seal make-up machinery arm 32 Rotary seal mounting bedplate 33 makes ring set device be in vertical state, and be moved to sealing ring expansion loop bar 39 just on Side pushes the axis that the axis in hole 352 expands loop bar 39 with sealing ring to overlap, and sealing make-up machinery arm 32 is filled with movable sealing sleeve Device decline, sealing ring expansion loop bar 39 be inserted into push hole 352 in, continue decline when, pushing block 355 push sealing ring 101 to Sealing ring expands the bottom movement of loop bar 39, and when being moved to suitable position, finger cylinder 363 starts, and loop bar clamping jaw 361 will be close The top of seal expansion loop bar 39 is clamped in V-shaped groove 362, then seals make-up machinery arm 32 with dynamic seal ring expanding sheath bar 39 rise and are detached from loop bar slots, and the surface for the plug 102 being moved on circuit board 41, sealing ring expand the axis of loop bar 39 with The axis of plug 102 is overlapping, and sealing make-up machinery arm 32 is moved to the top of plug 102 with dynamic seal ring expanding sheath bar 39 Portion, and it is pressed on the top of plug 102；Sealing make-up machinery arm 32 drives pushing plate 351 to be vertically lowered, and pushing block 355 will Sealing ring 101 is shifted onto on the seal groove of plug 102, and sealing ring 101 is sleeved under the action of elastic force on seal groove；Seal assembly machine Tool arm 32 drives ring set device to rise, and the initial position for being moved to sealing ring expansion loop bar 39 puts down sealing ring expansion Open loop bar 39.
Wherein, as shown in Figure 12 to Figure 16, plug riveting device 5 includes riveter 51, riveting head fixing device, hollow stem 54, riveting bar, plug adsorbent equipment, riveting positioning device, riveting mechanical arm 59, riveting handgrip 57 and riveting tool frame 55； Riveting head fixing device and plug adsorbent equipment are installed on the riveting lifter plate 511 of riveter 51, riveting head fixing device Positioned at the center of riveting lifter plate 511, plug adsorbent equipment is located at the side of riveting head fixing device, and riveting lifter plate 511 is pacified On the lifting shaft of riveter 51, center line and the lifting shaft coaxial line of riveting lifter plate 511, riveting positioning device are mounted on On the riveting table top 512 of riveter 51, riveting mechanical arm 59 and riveting tool frame 55 are respectively positioned on the side of riveter 51, riveting Handgrip 57 is fixed on riveting mechanical arm 59；Riveting head fixing device is for fixing riveting bar or hollow stem 54；Hollow stem 54 It is connect in riveting head fixing device, and with plug adsorbent equipment, hollow stem 54 adsorbs riveting by plug adsorbent equipment Plug 103；Riveting bar is mounted in riveting head fixing device, and riveting bar is used for 103 riveting of riveting plug in the stifled of valve body 100 In head bore；Riveting tool frame 55 is also equipped with circuit board positioning dress for placing hollow stem 54 and riveting bar on riveting tool frame 55 It sets；Riveting positioning device is moved for valve body 100, make the plug hole of valve body 100 with riveting head on the same axis；Riveting handgrip 57 for capturing circuit board 41, hollow stem 54 and riveting bar；Riveting mechanical arm 59 is for valve body 100, riveting bar, circuit board 41 It is moved to setting position with hollow stem 54.
As shown in Figure 13 and Figure 14, riveting head fixing device includes riveting fixed seat 531, riveting finger cylinder 532 and riveting Press clamping jaw 533；Riveting fixed seat 531 is fixed on the center of lifter plate, and riveting fixed seat 531 is equipped with riveting card slot 5311, riveting The side of card slot 5311 is pressed to be equipped with through-hole A；Riveting finger cylinder 532 is fixed on the side of riveting fixed seat 531, riveting finger gas Riveting clamping jaw 533 is housed, riveting clamping jaw 533 is equipped with arc-shaped riveting claw slot A534, riveting claw slot A534 and riveting on cylinder 532 Compression bar and hollow stem 54 match, and the center line of riveting clamping jaw 533 is overlapped with the axis of lifting shaft；The bottom of hollow stem 54 is equipped with Plug sucker 541, side are equipped with intercommunicating pore 542, and through-hole A exists with intercommunicating pore 542 when hollow stem 54 is inserted in riveting claw slot A534 On same axis；Plug adsorbent equipment includes plug soup stick 536, gasket 535, vacuum generator and adsorbs mobile cylinder 538, The end of plug soup stick 536 is equipped with suction hole, and suction hole is communicated with the straight-through quick connector 537 on plug soup stick 536, Straight-through quick connector 537 is connect with vacuum generator, and gasket 535 is fixed on the end of plug soup stick 536, on gasket 535 If through-hole；Plug soup stick 536 is mounted on absorption mobile cylinder 538, and 536 activity of plug soup stick is inserted in through-hole A, absorption movement Cylinder 538 is fixed on lifter plate.
The both sides of riveting card slot 5311 are equipped with compression bar platform 5312, and the both sides at the top of hollow stem 54 and riveting bar are fixed equipped with riveting Position slot 543, riveting locating slot 543 match with compression bar platform 5312, and through-hole A is located on the compression bar platform 5312 of side, hollow stem 54 On intercommunicating pore 542 be located in riveting locating slot 543；Riveting tool frame 55 is equipped with hanger for tools 551, on hanger for tools 551 Equipped with well 552, well 552 is consistent with riveting card slot 5311, and riveting bar and hollow stem 54 are stuck in well 552.
Riveting positioning device include the located lateral cylinder 523 being each attached on riveting table top 512, transverse electric cylinder 521, Longitudinal register cylinder 524 and longitudinal electric cylinder 522；Located lateral cylinder 523 is oppositely arranged with transverse electric cylinder 521, laterally fixed Position cylinder 523 and transverse electric cylinder 521 are located at the opposite both sides of valve body 100；Longitudinal register cylinder 524 and longitudinal electric cylinder 522 are oppositely arranged, and longitudinal register cylinder 524 is located at other two the opposite both sides of valve body 100 with longitudinal electric cylinder 522.
It is respectively arranged with compression positioning plate on longitudinal electric cylinder 522 and transverse electric cylinder 521, when longitudinal electric cylinder 522 and laterally When electric cylinder 521 reaches maximum position, the end of two compression positioning plates is close, and when not contacting, two compress positioning plates It is mutually perpendicular to.
When valve body 100 is placed on riveting table top 512, longitudinal electric cylinder 522 and transverse electric cylinder 521 start successively, Positioning plate will be compressed and be moved to setting position, then located lateral cylinder 523 and longitudinal register cylinder 524 start, located lateral Cylinder 523 and longitudinal register cylinder 524 start the compression that valve body 100 is pressed on to transverse electric cylinder 521 and longitudinal electric cylinder 522 On positioning plate, the axis in plug hole of valve body 100 is set to be overlapped with the axis of lifting shaft, and the position of valve body 100 is made to fix.When one After the completion of the riveting of a plug hole, located lateral cylinder 523 and longitudinal register cylinder 524 start release valve body 100, longitudinal electric cylinder 522 and transverse electric cylinder 521 start successively, positioning plate will be compressed and be moved to setting position, then located lateral cylinder 523 and vertical Start to positioning cylinder 524, valve body 100 is pressed on transverse electric by located lateral cylinder 523 and the startup of longitudinal register cylinder 524 On the compression positioning plate of cylinder 521 and longitudinal electric cylinder 522, the axis in plug hole of valve body 100 is made to be overlapped with the axis of lifting shaft, And the position of valve body 100 is made to fix.
As shown in figure 16, riveting handgrip 57 includes circuit board finger cylinder 576, circuit board handgrip 574, compression bar finger cylinder 571 and compression bar clamping jaw 572；Circuit board finger cylinder 576 and compression bar finger cylinder 571 are each attached on connecting plate 576, connecting plate 576 are fixed on riveting mechanical arm 59；Circuit board handgrip 574, circuit board handgrip 574 are housed in circuit board finger cylinder 576 Slot 575 is grabbed equipped with circuit board, compression bar clamping jaw 572 is housed, compression bar clamping jaw 572 is equipped with arc-shaped in compression bar finger cylinder 571 Compression bar slot 573, compression bar slot 573 matches with riveting bar and hollow stem 54；Circuit board, which grabs slot 575, can block circuit board 41, Circuit board 41 tilts when preventing circuit board handgrip 574 from capturing circuit board 41.
When plug riveting device 5 works, riveting mechanical arm 59 drives compression bar finger cylinder 571 to capture hollow stem 54, and Hollow stem 54 is installed in riveting fixed seat 531, mobile cylinder 538 is then adsorbed and stretches out plug soup stick 536, gasket 535 are pressed on the intercommunicating pore 542 of hollow stem 54, and intercommunicating pore 542 is communicated with the suction hole of plug soup stick 536.
Then the clamping device 11 on riveting mechanical arm 59 clamps valve body 100, and riveting mechanical arm 59 moves valve body 100 It moves in riveting positioning device；
When valve body 100 is placed on riveting table top 512, longitudinal electric cylinder 522 and transverse electric cylinder 521 start successively, Positioning plate will be compressed and be moved to setting position, then located lateral cylinder 523 and longitudinal register cylinder 524 start, located lateral Cylinder 523 and longitudinal register cylinder 524 start the compression that valve body 100 is pressed on to transverse electric cylinder 521 and longitudinal electric cylinder 522 On positioning plate, the axis in plug hole of valve body 100 is set to be overlapped with the axis of lifting shaft, and the position of valve body 100 is made to fix.When one After the completion of the riveting of a plug hole, located lateral cylinder 523 and longitudinal register cylinder 524 start release valve body 100, longitudinal electric cylinder 522 and transverse electric cylinder 521 start successively, positioning plate will be compressed and be moved to setting position, then located lateral cylinder 523 and vertical Start to positioning cylinder 524, valve body 100 is pressed on transverse electric by located lateral cylinder 523 and the startup of longitudinal register cylinder 524 On the compression positioning plate of cylinder 521 and longitudinal electric cylinder 522, the axis in plug hole of valve body 100 is made to be overlapped with the axis of lifting shaft, And the position of valve body 100 is made to fix；
Then riveting mechanical arm 59 drives circuit board finger cylinder 576 to clamp circuit board 41, and circuit board 41 is moved To the lower section of hollow stem 54, the axis of corresponding on the circuit board riveting plug of the axis of hollow stem 54 103 is set to overlap, then riveting Press mechanical pressing arm 59 is vertically lifted up circuit board 41, and riveting plug 103 is close to hollow stem 54, while vacuum generator Start, hollow stem 54 adsorbs riveting plug 103, and circuit board 41 is put back into integrated on tool stand 56 by riveting mechanical arm 59 On plate positioning device；
The lifting shaft of riveter 51 declines, and riveting plug 103 is pressed onto to the plug hole of valve body 100, and then lifting shaft rises, Absorption mobile cylinder 538 retracts plug soup stick 536, and riveting mechanical arm 59 drives compression bar finger cylinder 571 to remove hollow stem 54, hollow stem 54 is placed on riveting tool frame 55, corresponding riveting bar is then captured, riveting bar, which is installed to riveting, to be fixed On seat 531, lifting shaft declines, and 103 riveting of riveting plug in plug hole, is completed the riveting of riveting plug 103, most by riveting bar The clamping device 11 of riveting mechanical arm 59 grabs valve body 100 on circuit board 41 afterwards, and positioned at the square of valve body locating piece 45 In shape frame.
Wherein, as shown in Figure 17 and Figure 18, plug device for screwing up 6 includes tightening mechanical arm 65, tightening handgrip 66, is electronic Screw gun 62, lifting platform 61, tightens lifting cylinder 64, screwed in place device, tightens bar 69 and tighten work tool positioning device 63 Has frame 68；It tightens handgrip 66 and is fixed on and tighten on mechanical arm 65, tighten handgrip 66 for capturing screw plug 102 and tightening bar 69, it tightens mechanical arm 65 and is fixed on the top for tightening frame 612, tighten mechanical arm 65 for screw plug 102 and tighten bar 69 are moved to setting position；Eclectic screw gun 62 is fixed on lifting platform 61, and lifting platform 61 is fixed on liter by line slideway auxiliary It drops on frame 611, crane 611 is fixed on the top for tightening frame 612, is equipped on crane 611 and tightens lifting cylinder 64, tightens liter Sending down abnormally ascending cylinder 64 is connect with lifting platform 61；Tool positioning device 63 is fixed on lifting platform 61, and under eclectic screw gun 62 Side, tool positioning device 63 for it is fixed tighten bar 69 and make to tighten bar 69 combined with eclectic screw gun 62；Tighten one end of bar 69 Equipped with connecting pole, connecting pole matches with eclectic screw gun 62, and the other end for tightening bar 69 is tool ends end, tool ends end and screwed plug First 102 groove profile matches；It tightens bar 69 to be placed on tightening tool frame 68, tightening tool frame 68, which is placed on, tightens frame 612 Top；Screwed in place device is fixed on the top for tightening frame 612, and positioned at the lower section of eclectic screw gun 62, screwed in place device For fixed valve body 100, and valve body 100 is moved to the lower section of eclectic screw gun 62, make the axis in the plug hole of valve body 100 with The axis of eclectic screw gun 62 overlaps.
It includes tightening finger cylinder 661 and to tighten clamping jaw 662 to tighten handgrip 66, tightens finger cylinder 661 and is fixed on and tightens It on mechanical arm 65, tightens clamping jaw 662 and is fixed on and tighten in finger cylinder 661, tighten clamping jaw 662 and be equipped with and tighten slot, tighten Slot is V-shaped groove；Tool positioning device 63 includes tool positioning finger cylinder 631 and tool positions clamping jaw 632, and tool positions clamping jaw 632 are fixed in tool positioning finger cylinder 631, and tool positions clamping jaw 632 and is equipped with arc-shaped tool locating slot 633, work Tool locating slot 633 matches with bar 69 is tightened, and the center line of tool locating slot 633 is overlapped with the axis of eclectic screw gun 62；It twists Clamping and positioning device includes lateral straight line module 671, longitudinal straight line module 672, screwed in place plate 674,673 and of screwed in place cylinder Screwed in place column 675；Lateral straight line module 671 is fixed on the top for tightening frame 612, and longitudinal straight line module 672 is fixed on transverse direction On the slide unit of straight line module 671, screwed in place plate 674 is housed, on screwed in place plate 674 on the slide unit of longitudinal straight line module 672 Equipped with screwed in place cylinder 673 and screwed in place column 675, cylinder is tightened and there are two screwed in place column 675 is all provided with, screwed in place Column 675 and screwed in place cylinder 673 are respectively arranged in a mutually vertical manner, 675 pinched valve of screwed in place cylinder 673 and screwed in place column Body 100.
The top for tightening frame 612 is equipped with integrated plate positioning device.
The clamping device 11 of feeding mechanical arm 10 captures valve body 100, and valve body 100 is sent to and tightens by feeding mechanical arm 10 On the screwed in place plate 674 of positioning device, then tightens cylinder stretching and valve body 100 is pressed on screwed in place column 675, laterally Straight line module 671 and longitudinal straight line module 672 start, and valve body 100 is moved to the lower section of electronic Studgun, and valve body 100 blocks up The axis of head bore is overlapped with the axis of eclectic screw gun 62；Then it tightens the crawl of mechanical arm 65 and tightens bar 69, bar 69 will be tightened It is sent between the positioning clamping jaw of tool positioning device 63, tightens the startup clamping of finger cylinder 661 and tighten bar 69, then electronic bolt Rifle starts, and eclectic screw gun 62 is fixed on bar 69 is tightened on the fixed chuck of eclectic screw gun 62；Tighten 65 band of mechanical arm Dynamic handgrip 66 of tightening captures screw plug 102, and screw plug 102 is moved on the plug hole of valve body 100, tightens manipulator Arm 65 returns to initial position；The startup of lifting cylinder 64 is tightened, lifting platform 61 drives electronic Studgun to move down, and tightens the pressure of bar 69 Tightly on screw plug 102, eclectic screw gun 62 rotates screw plug 102 by tightening bar 69, completes the peace of screw plug 102 Dress.
Charging/discharging device 7 includes drawing mechanism and feeding equipment；Drawing mechanism includes rodless cylinder 71 and reclaiming plate 72, nothing Bar cylinder 71 is fixed on the top of disengaging rack 78, and reclaiming plate 72 is housed on the slide unit of rodless cylinder 71, four of reclaiming plate 72 Equipped with discharging locating piece 73 on angle；Feeding equipment includes charging straight line module 74, feedboard 75 and examines camera 77；Feed straight line Module 74 is fixed on the top of disengaging rack 78, feeds and feedboard 75 is housed on the slide unit of straight line module 74, and the four of feedboard 75 It examines camera 77 to be fixed on the top of charging straight line module 74 equipped with charging locating piece 76, examines camera 77 for detecting in a angle Valve body 100, sealing ring 101, riveting plug 103 on circuit board 41 and screw plug 102.
Charging/discharging device 7 is mounted on the import and export of fence, and half is located at the outside of fence, the other half is located at the interior of fence Side.The side for passing in and out rack 78 is equipped with transit plate, transfer locating piece is housed on transit plate, transit plate can place two circuit boards 41。
When work, it is corresponding that valve body 100, sealing ring 101, riveting plug 103 and screw plug 102 are placed into circuit board 41 Position on, the steel ball hole of valve body 100 places steel ball.
Then circuit board 41 is placed on feedboard 75, charging straight line module 74 drives circuit board 41 to be moved to detection phase The lower section of machine 77, detection camera 77 carry out type and quantity confirmation to sealing ring 101, riveting plug 103 and screw plug 102, If vicious part, charging straight line module 74 retracts circuit board 41, and operator substitutes part manually；Testing result is just Really, the drive of feeding mechanical arm 10 mechanical gripper 13 picks up the crawl handle 411 of circuit board 41.
The mechanical gripper 13 of feeding mechanical arm 10 first captures the valve body 100 on circuit board 41, and valve body 100 is placed into Riveting is carried out on steel ball riveting device 20, for steel ball riveting device 20 in riveting, feeding mechanical arm 10 captures circuit board 41, and Circuit board 41 is sent on the integrated plate positioning device at 31 top of sealing assembly fixture, then feeding mechanical arm 10 returns to steel ball Valve body 100 is placed on different steel ball riveting devices 20 to different location on valve body 100 by the side of riveting device 20 successively Steel ball carry out riveting, sealing ring automatic assembling apparatus 3 be sealed while steel ball riveting device 20 work enclose 101 set Dress, after the completion of the suit of sealing ring 101, feeding mechanical arm 10 moves the circuit board 41 on sealing ring automatic assembling apparatus 3 On integrated plate positioning device on to the riveting tool frame 55 of plug riveting device 5；
After the completion of steel ball riveting, valve body 100 is moved to the circuit board positioned at plug riveting device 5 by feeding mechanical arm 10 On 41, the riveting of riveting plug 103 is then carried out；
Circuit board after the completion of 103 riveting of riveting plug on the 11 gripping tool platform 56 of clamping device of feeding mechanical arm 10 41, circuit board 41 is moved on the integrated plate positioning device for tightening 612 top of frame of plug device for screwing up 6, feeding mechanical hand The clamping device 11 of arm 10 captures valve body 100, and valve body 100 is sent to the screwed in place of screwed in place device by feeding mechanical arm 10 On plate 674, then tightens cylinder stretching and valve body 100 is pressed on screwed in place column 675, lateral straight line module 671 and longitudinal direction Straight line module 672 starts, and valve body 100 is moved to the lower section of eclectic screw gun 62, the axis in the plug hole of valve body 100 with it is electronic The axis of screw gun 62 overlaps；
Then tighten mechanical arm 65 crawl tighten bar 69, by tighten bar 69 be sent to tool positioning device 63 tool position On clamping jaw 632, tightens the startup clamping of finger cylinder 661 and tighten bar 69, then eclectic screw gun 62 starts, and eclectic screw gun 62 will Bar 69 is tightened to be fixed on the fixed chuck of eclectic screw gun 62；
It tightens the drive of mechanical arm 65 and tightens the crawl screw plug 102 of handgrip 66, and screw plug 102 is moved to valve body On 100 plug hole, tightens mechanical arm 65 and return to initial position；The startup of lifting cylinder 64 is tightened, lifting platform 61 drives electronic Screw gun 62 moves down, and tightens bar 69 and is pressed on screw plug 102, and eclectic screw gun 62 rotates screw thread by tightening bar 69 Plug 102, completes the installation of screw plug 102, and the clamping device 11 of feeding mechanical arm 10 captures valve body 100, feeding mechanical Valve body 100 is placed on circuit board 41 by arm 10；
The feeding device of last feeding mechanical arm 10 captures circuit board 41, and circuit board 41 is moved on reclaiming plate 72, Reclaiming plate 72 drives circuit board 41 to remove fence.

Claims (18)

1. valve body automatic assembly line, including steel ball riveting device (20) and feeding mechanical arm (10), the steel ball riveting device (20) it is used for valve body (100) and carries out steel ball riveting sealing；
It is characterized in that, further including clamping device (11), circuit board (41), sealing ring automatic assembling apparatus (3), feeding movement dress Set (2), plug riveting device (5), plug device for screwing up (6) and charging/discharging device (7)；
The clamping device (11) is mounted on feeding mechanical arm (10), and feeding mechanical arm (10) is mounted on feeding movement dress It sets on (2), the charging/discharging device (7), steel ball riveting device (20), sealing ring automatic assembling apparatus (3), plug riveting device (5), plug device for screwing up (6) is sequentially arranged at surrounding or the both sides of feeding mobile device (2)；
The clamping device (11) is for capturing circuit board (41) and valve body (100)；
Valve body (100), sealing ring (101), riveting plug (103) and screw plug (102) are housed on the circuit board；
The feeding mobile device (2) is for driving feeding mechanical arm (10) to be moved between each station；
The feeding mechanical arm (10) is used to valve body (100) or circuit board (41) being sent to each station, that is, is sent to sealing ring Automatic assembling apparatus (3), feeding mobile device (2), plug riveting device (5), plug device for screwing up (6) and charging/discharging device (7) on；
The charging/discharging device (7) is used to circuit board (41) is sent into or be sent out working region；
The plug riveting device (5) is for riveting plug (103) riveting in valve body (100)；
The plug device for screwing up (6) is tightened in valve body (100) for screw plug (102).
2. valve body automatic assembly line according to claim 1, which is characterized in that the clamping device (11) includes material folding seat (12) and mechanical gripper (13)；The material folding seat (12) is fixed on feeding mechanical arm (10), and mechanical gripper (13) is fixed on On material folding seat (12), material folding block (14) is housed on mechanical gripper (13), material folding block (14) is equipped with material folding slot (141).
3. valve body automatic assembly line according to claim 1, which is characterized in that the feeding mobile device (2) includes sending Expect seat (21), delivery sheet (24), feeding guide (22), feeding sliding block (23), feeding motor (25), feeding gear (26) and feeding Rack (27)；
The top of the material feeding seat (21) is equipped with feeding guide (22), is slided on feeding guide (22) and feeding sliding block (23) is housed, Feeding sliding block (23) is mounted on the bottom of delivery sheet (24), and feeding mechanical arm (10) is housed on the top of delivery sheet (24)；
The feeding motor (25) is fixed on the side of delivery sheet (24), and feeding gear (26) is housed in feeding motor (25), is sent Material gear (26) is engaged with feeding rack (27), and feeding rack (27) is fixed on the side of material feeding seat (21).
4. valve body automatic assembly line according to claim 1, which is characterized in that the circuit board (41) is fixed equipped with valve body Position block (45), sealing ring fixed station (42), sealing ring fixed column (43), plug mounting hole and crawl handle (411), the sealing Circle fixed station (42), sealing ring fixed column (43) and plug mounting hole are equipped with multiple；
The sealing ring fixed station (42) is cylinder, and the top of sealing ring fixed station (42) is equipped with grabbing groove (421), grabbing groove (421) it is extended at the top of sealing ring fixed station (42) on circuit board (41),
Grabbing groove (421) is no less than two, and grabbing groove (421) is arranged around the axis annular array of sealing ring positioning table (354)；
The sealing ring fixed station (42) and sealing ring fixed column (43) are for fixed and positioning seal ring (101)；
Activity is equipped with riveting plug (103) or screw plug (102) on the plug mounting hole, and plug mounting hole is used for tacking Press plug (103) or screw plug (102)；
The crawl handle (411) is located at one end of circuit board (41), and the both sides of crawl handle (411) are equipped with grabbing groove (412)；
There are four the valve body locating piece (45) sets, valve body locating piece (45) forms rectangle frame.
5. valve body automatic assembly line according to claim 1, which is characterized in that the sealing ring automatic assembling apparatus (3) Including sealing make-up machinery arm (32), sealing ring expansion loop bar (39), sealing ring grabbing device (34) and ring set dress It sets；The sealing ring grabbing device (34) and ring set device are each attached on sealing make-up machinery arm (32)；
The sealing ring expansion loop bar (39) is reducing round bar, and sealing ring expands the diameter at the top of loop bar (39) and is less than sealing ring (101) internal diameter, the diameter of bottom are not less than the outer diameter of screw plug (102)；
The sealing ring grabbing device (34) is unclamped close for capturing or unclamping sealing ring (101), sealing ring grabbing device (34) Sealing ring (101) is sleeved on sealing ring expansion loop bar (39) when seal (101)；
The ring set device for capture sealing ring expansion loop bar (39), and by sealing ring (101) from sealing Extendable cycles It is shifted onto on loop bar (39) in the seal groove on screw plug (102)；
The sealing make-up machinery arm (32) is moved to setting for sealing ring grabbing device (34) and ring set device Position.
6. valve body automatic assembly line according to claim 5, which is characterized in that the sealing ring grabbing device (34) includes Sealing ring handgrip (342) and sealing ring capture driving device, and sealing ring handgrip (342) is mounted on sealing ring and captures driving device On, sealing ring crawl driving device is fixed on sealing make-up machinery arm (32), and sealing ring crawl driving device is for driving Sealing ring handgrip (342) captures or unclamps sealing ring (101)；
The ring set device includes sealing ring pushing meanss (35) and loop bar grabbing device (36), and the sealing ring pushes Device (35) is fixed in sealing make-up machinery arm (32), and sealing ring pushing meanss (35) are used for sealing ring (101) from close It is shifted onto in the seal groove of screw plug (102) on seal expansion loop bar (39)；
The loop bar grabbing device (36) is slidably mounted in sealing make-up machinery arm (32), and with sealing ring pushing meanss (35) coaxial line, loop bar grabbing device (36) is for capturing sealing ring expansion loop bar (39).
7. valve body automatic assembly line according to claim 6, which is characterized in that the top of the sealing ring handgrip (342) Equipped with sealing ring pulldown (343), arc surface (345), sealing ring pulldown (343) are grabbed in the inside of sealing ring pulldown (343) equipped with interior Outside be equipped with grab arc surface (344) outside；The sealing ring crawl driving device is electronic clamping jaw (341), sealing ring handgrip (342) it is fixed on electronic clamping jaw (341)；
The sealing ring pushing meanss (35) include pushing plate (351), pushing block (355) and promotion resetting spring (356)；It is described Pushing plate (351) is fixed on sealing make-up machinery arm (32), and pushing plate (351), which is equipped with, pushes hole (352), pushes hole (352) it is through-hole, the diameter of hole (352) is pushed to be more than the diameter of sealing ring expansion loop bar (39) bottom；The pushing block (355) It is slidably mounted in pushing plate (351), pushing block (355) is no less than two, and pushing block (355) is around the axis for pushing hole (352) Wire loop array is arranged, and pushing block (355) is equipped with slip circle face (359), and slip circle face (359), which face, pushes hole (352)；Described promotion resetting spring (356) one end is pressed in pushing plate (351), and another side pressure is scheduled on pushing block (355), is pushed away Motion block (355) is moved back and forth along the vertical direction for pushing the axis of hole (352)；
The loop bar grabbing device (36) includes finger cylinder (363) and loop bar clamping jaw (361), and loop bar clamping jaw (361) is equipped with V Shape slot (362), loop bar clamping jaw (361) are fixed in finger cylinder (363), and the center line of V-shaped groove (362) is pushing hole (352) Axis on；The finger cylinder (363) is fixed on sliding block, and sliding block is slidably mounted in the linear guide, and the linear guide is fixed It seals on make-up machinery arm (32)；The end of the finger cylinder (363) is equipped with lifting spring (366), lifting spring (366) The other end be fixed on spring retaining plate B (365), spring retaining plate B (365) be fixed on sealing make-up machinery arm (32) On.
8. valve body automatic assembly line according to claim 7, which is characterized in that the pushing plate (351) is equipped with multiple Slot (353) is pushed, it is straight slot to push slot (353), pushes slot (353) around the axis annular array setting for pushing hole (352), described It pushes and is equipped with positioning table (354) in slot (353), positioning table (354) is located at the side for pushing hole (352)；
The pushing block (355), which is slidably mounted on, to push in slot (353), and sliding is equipped with spring loop bar A on pushing block (355) (357), one end of spring loop bar A (357) is fixed on spring retaining plate A (358), and spring retaining plate A (358) is fixed on promotion The end of slot (353), the promotion resetting spring (356) are sleeved on spring loop bar A (357), push the one of resetting spring (356) On pushing block (355), the other end is pressed on spring retaining plate A (358) side pressure.
9. valve body automatic assembly line according to claim 6, which is characterized in that further include pneumatic suction nozzle (38), the gas Dynamic suction nozzle (38) includes sealing ring absorptive table (381), sealing ring adsorption site (384) and vacuum generator；
The sealing ring absorptive table (381) is fixed on sealing ring adsorption site (384), and sealing ring adsorption site (384) is fixed on close Encapsulation is on mechanical arm (32)；
The top of the sealing ring absorptive table (381) is equipped with sealing ring adsorption tank (382), and sealing ring adsorption tank (382) is annular Slot, sealing ring adsorption tank (382) match with sealing ring (101), and the bottom of sealing ring adsorption tank (382) is adsorbed equipped with sealing ring Hole (383), sealing ring adsorption hole (383) are no less than two, and sealing ring adsorption hole (383) is set in qually spaced in sealing ring adsorption tank (382) in；
The sealing ring adsorption site (384) is equipped with aspirating hole, and aspirating hole is communicated with sealing ring adsorption hole (383), and sealing ring is inhaled Tracheae quick coupling (385) is housed, tracheae quick coupling (385) is communicated with aspirating hole on attached seat (384)；
The vacuum generator is connect by tracheae with tracheae quick coupling (385).
10. valve body automatic assembly line according to claim 1, which is characterized in that the plug riveting device (5) includes riveting Press (51), riveting head fixing device, hollow stem (54), riveting bar, plug adsorbent equipment, riveting positioning device, riveting machinery Arm (59), riveting handgrip (57) and riveting tool frame (55)；
The riveting head fixing device and plug adsorbent equipment are installed on the riveting lifter plate (511) of riveter (51), riveting Pressure head fixing device is located at the center of riveting lifter plate (511), and plug adsorbent equipment is located at the side of riveting head fixing device, riveting Lifter plate (511) is pressed to be mounted on the lifting shaft of riveter (51), the axis of the center line and lifting shaft of riveting lifter plate (511) It overlaps, the riveting positioning device is mounted on the riveting table top (512) of riveter (51), riveting mechanical arm (59) and riveting Tool rack (55) is respectively positioned on the side of riveter (51), and the riveting handgrip (57) is fixed on riveting mechanical arm (59)；
The riveting head fixing device is for fixing riveting bar or hollow stem (54)；
The hollow stem (54) is mounted in riveting head fixing device, and is connect with plug adsorbent equipment, and hollow stem (54) passes through Plug adsorbent equipment adsorbs riveting plug (103)；
The riveting bar is mounted in riveting head fixing device, and riveting bar is used for riveting plug (103) riveting in valve body (100) Plug hole in；
The riveting tool frame (55) is for placing hollow stem (54) and riveting bar；
The riveting positioning device is mobile for valve body (100), makes the axis of the axis and riveting head in the plug hole of valve body (100) It overlaps；
The riveting handgrip (57) is for capturing circuit board (41), hollow stem (54) and riveting bar；
The riveting mechanical arm (59) is moved to setting for valve body (100), riveting bar, circuit board (41) and hollow stem (54) Position.
11. valve body automatic assembly line according to claim 10, which is characterized in that the riveting head fixing device includes riveting Pressing reservation (531), riveting finger cylinder (532) and riveting clamping jaw (533)；
The riveting fixed seat (531) is fixed on the center of riveting lifter plate (511), and riveting fixed seat (531) is equipped with riveting The side of card slot (5311), riveting card slot (5311) is equipped with through-hole A；
The riveting finger cylinder (532) is fixed on the side of riveting fixed seat (531), and riveting finger cylinder is equipped on (532) Riveting clamping jaw (533), riveting clamping jaw (533) are equipped with arc-shaped riveting claw slot A (534), riveting claw slot A (534) and riveting Bar and hollow stem (54) match, and the center line of riveting clamping jaw (533) is overlapped with the axis of lifting shaft；
The bottom of the hollow stem (54) is equipped with plug sucker (541), and side is equipped with intercommunicating pore (542), and hollow stem (54) is inserted in Through-hole A and intercommunicating pore (542) be on the same axis when in riveting claw slot A (534)；
The plug adsorbent equipment includes plug soup stick (536), gasket (535), vacuum generator and absorption mobile cylinder (538), the end of plug soup stick (536) is equipped with suction hole, suction hole and the straight-through fast grafting on plug soup stick (536) Head (537) communicates, and straight-through quick connector (537) is connect with vacuum generator, and gasket (535) is fixed on plug soup stick (536) End, gasket sets through-hole on (535)；
The plug soup stick (536) is mounted on absorption mobile cylinder (538), and plug soup stick (536) activity is inserted in through-hole A, Absorption mobile cylinder (538) is fixed on riveting lifter plate (511).
12. valve body automatic assembly line according to claim 11, which is characterized in that the both sides of the riveting card slot (5311) Equipped with compression bar platform (5312), the both sides at the top of the hollow stem (54) and riveting bar are equipped with riveting locating slot (543), riveting positioning Slot (543) matches with compression bar platform (5312), and the through-hole A is located on the compression bar platform (5312) of side；
The riveting tool frame (55) is equipped with hanger for tools (551), and hanger for tools (551) is equipped with well (552), tool Unanimously with riveting card slot (5311), riveting bar and hollow stem (54) are stuck in well (552) slot (552).
13. valve body automatic assembly line according to claim 10, which is characterized in that the riveting positioning device includes solid It is scheduled on located lateral cylinder (523) on riveting table top (512), transverse electric cylinder (521), longitudinal register cylinder (524) and vertical To electric cylinder (522)；
The located lateral cylinder (523) is oppositely arranged with transverse electric cylinder (521), located lateral cylinder (523) and laterally electricity Dynamic cylinder (521) is located at the opposite both sides of valve body (100)；
The longitudinal register cylinder (524) is oppositely arranged with longitudinal electric cylinder (522), longitudinal register cylinder (524) and longitudinal electricity Dynamic cylinder (522) is located at other two opposite both sides of valve body (100).
14. valve body automatic assembly line according to claim 10, which is characterized in that the riveting handgrip (57) includes integrated Plate finger cylinder (576), circuit board handgrip (574), compression bar finger cylinder (571) and compression bar clamping jaw (572)；
The circuit board finger cylinder (576) and compression bar finger cylinder (571) are each attached on riveting mechanical arm (59)；
Circuit board handgrip (574) is housed, circuit board handgrip (574) is equipped with circuit board on the circuit board finger cylinder (576) Slot (575) is grabbed, compression bar clamping jaw (572) is housed on the compression bar finger cylinder (571), compression bar clamping jaw (572) is equipped with arc-shaped Compression bar slot (573), compression bar slot (573) matches with riveting bar and hollow stem (54).
15. valve body automatic assembly line according to claim 1, which is characterized in that the plug device for screwing up (6) includes twisting Tight mechanical arm (65) tightens handgrip (66), eclectic screw gun (62), tool positioning device (63), lifting platform (61), tightens liter Sending down abnormally ascending cylinder (64), tightens bar (69) and tightening tool frame (68) at screwed in place device；
It is described tighten handgrip (66) and be fixed on tighten on mechanical arm (65), tighten handgrip (66) for capturing screw plug (102) and bar (69) is tightened, tightens mechanical arm (65) and is fixed on the top for tightening frame (612), tighten mechanical arm (65) use In screw plug (102) and tightens bar (69) and be moved to setting position；
The eclectic screw gun (62) is fixed on lifting platform (61), and lifting platform (61) is fixed on crane by line slideway auxiliary (611) on, crane (611) is fixed on the top for tightening frame (612), is equipped on crane (611) and tightens lifting cylinder (64), Lifting cylinder (64) is tightened to connect with lifting platform (61)；
The tool positioning device (63) is fixed on lifting platform (61), and positioned at the lower section of eclectic screw gun (62), and tool is fixed Position device (63) tightens bar (69) for fixation, makes to tighten bar (69) and eclectic screw gun (62) combination；
Described one end for tightening bar (69) is equipped with connecting pole, and connecting pole matches with eclectic screw gun (62), tightens bar (69) The other end is tool ends end, and tool ends end and the groove profile of screw plug (102) match；
The bar (69) of tightening is placed on tightening tool frame (68), and tightening tool frame (68) is placed on the top for tightening frame (612) Portion；
The screwed in place device is fixed on the top for tightening frame (612), and positioned at the lower section of eclectic screw gun (62), it is fixed to tighten Position device is used for fixed valve body (100), and valve body (100) is moved to the lower section of eclectic screw gun (62), makes valve body (100) The axis in plug hole is overlapped with the axis of eclectic screw gun (62).
16. valve body automatic assembly line according to claim 15, which is characterized in that the handgrip (66) of tightening includes tightening Finger cylinder (661) and clamping jaw (662) is tightened, tightens finger cylinder (661) and be fixed on and tighten on mechanical arm (65), screw down clips Pawl (662), which is fixed on, to be tightened in finger cylinder (661), tightens clamping jaw (662) equipped with slot is tightened, and it is V-shaped groove to tighten slot；
The tool positioning device (63) includes tool positioning finger cylinder (631) and tool positioning clamping jaw (632), tool positioning Clamping jaw (632) is fixed in tool positioning finger cylinder (631), and it is fixed equipped with arc-shaped tool that tool positions clamping jaw (632) Position slot (633), tool locating slot (633) match with bar (69) is tightened, the center line and electric screw of tool locating slot (633) The axis of rifle (62) overlaps；
The screwed in place device include lateral straight line module (671), longitudinal straight line module (672), screwed in place plate (674), Screwed in place cylinder (673) and screwed in place column (675)；
The transverse direction straight line module (671) is fixed on the top for tightening frame (612), and longitudinal straight line module (672) is fixed on transverse direction On the slide unit of straight line module (671), screwed in place plate (674), screwed in place plate are housed on the slide unit of longitudinal straight line module (672) (674) screwed in place cylinder (673) and screwed in place column (675) are housed on, cylinder is tightened and screwed in place column (675) is equipped with Two, screwed in place column (675) and screwed in place cylinder (673) are respectively arranged in a mutually vertical manner, screwed in place cylinder (673) and Screwed in place column (675) clamps valve body (100).
17. valve body automatic assembly line according to claim 1, which is characterized in that the charging/discharging device (7) includes discharging Device and feeding equipment；
The drawing mechanism includes rodless cylinder (71) and reclaiming plate (72), and the rodless cylinder (71) is fixed on disengaging rack (78) top is equipped with reclaiming plate (72) on the slide unit of rodless cylinder (71), is equipped with out and anticipates on four angles of reclaiming plate (72) Position block (73)；
The feeding equipment includes charging straight line module (74), feedboard (75) and inspection camera (77)；
The charging straight line module (74) is fixed on the top of disengaging rack (78), is equipped on the slide unit of charging straight line module (74) Feedboard (75), equipped with charging locating piece (76), it is straight that the inspection camera (77) is fixed on charging at four angles of feedboard (75) The top of line module (74) examines camera (77) to be used to detect valve body (100), sealing ring (101), the riveting on circuit board (41) Plug (103) and screw plug (102).
18. valve body automatic assembly line according to claim 1, which is characterized in that further include integrated plate positioning device, integrate Plate positioning device is separately mounted on sealing ring automatic assembling apparatus (3), plug riveting device (5) and plug device for screwing up (6)；
Integrated plate positioning device includes circuit board positioning plate (441), circuit board locating piece (442), circuit board positioning column (46), collection At plate lifter plate (47), circuit board lifting cylinder (49) and circuit board positioning sleeve (48)；
The circuit board locating piece (442) is fixed on four angles of circuit board positioning plate (441)；
The top of the circuit board positioning column (46) is taper, and circuit board positioning column (46) fixes the two of circuit board lifter plate (47) Side, circuit board lifter plate (47) are fixed on circuit board lifting cylinder (49)；
The circuit board positioning sleeve (48) is fixed on the both sides of circuit board (41), and corresponding with circuit board positioning column (46).
CN201810927331.8A 2018-08-15 2018-08-15 Automatic valve body assembly line Active CN108747358B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110449872A (en) * 2019-07-22 2019-11-15 苏州江锦自动化科技有限公司 High-precision full-automatic screw-like workpiece erection device
CN114406739A (en) * 2021-11-11 2022-04-29 无锡晋拓材料科技有限公司 Automatic production line processing equipment for gas valve body

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US20120317766A1 (en) * 2011-06-17 2012-12-20 Btm Corporation Rivet machine
CN104985438A (en) * 2015-07-29 2015-10-21 温岭市金悦自动化设备有限公司 A gas valve production line
CN205147792U (en) * 2015-10-22 2016-04-13 兰溪市瑞鼎数控机械有限公司 Ball valve assembly machine
CN108326540A (en) * 2018-04-20 2018-07-27 江苏北人机器人系统股份有限公司 A kind of adaptive screw tightening device

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JPH08197350A (en) * 1995-01-19 1996-08-06 Unisia Jecs Corp Automatic assembly device
KR20050031518A (en) * 2003-09-30 2005-04-06 주식회사 만도 Apparatus and method for assembling seal on the valve body
US20120317766A1 (en) * 2011-06-17 2012-12-20 Btm Corporation Rivet machine
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Publication number Priority date Publication date Assignee Title
CN110449872A (en) * 2019-07-22 2019-11-15 苏州江锦自动化科技有限公司 High-precision full-automatic screw-like workpiece erection device
CN114406739A (en) * 2021-11-11 2022-04-29 无锡晋拓材料科技有限公司 Automatic production line processing equipment for gas valve body
CN114406739B (en) * 2021-11-11 2023-08-08 无锡晋拓材料科技有限公司 Automatic production line processing equipment for gas valve body

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