CN110695655A

CN110695655A - Intelligent industrial robot device for water seal assembly of automobile water pump

Info

Publication number: CN110695655A
Application number: CN201911161583.5A
Authority: CN
Inventors: 刘亦晴
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-25
Filing date: 2019-11-25
Publication date: 2020-01-17

Abstract

The utility model provides an intelligent industrial robot device of automobile water pump water seal assembly, sets up the robotic arm on the base and fixes on the base, sets up the clamping jaw at robotic arm upper portion front end, and the right part sets up water seal material loading station anchor clamps, water pump shell body material loading station anchor clamps, water seal pre-installation station anchor clamps on the base, sets up water seal pressure equipment station anchor clamps on the base, and the left part sets up unloading station anchor clamps on the base. The device has intelligence, realizes the whole-process unmanned operation and reliability through the six-degree-of-freedom industrial robot arm, is high in efficiency, automatically completes the whole process of assembly of water seal of the water pump, such as grabbing, preassembling, press mounting, blanking and the like after the water seal is grabbed by the water seal feeding station clamp through the water seal preassembling station clamp by the robot arm and the clamping jaw, is energy-saving, and is applied to the technical field of automobile part assembly equipment.

Description

Intelligent industrial robot device for water seal assembly of automobile water pump

Technical Field

The invention relates to an intelligent industrial robot device for assembling an automobile water pump water seal in the technical field of automobile part assembling equipment.

Background

The automobile water pump is a main component of an automobile engine cooling system and has the function of forcibly enabling cooling liquid in an engine to flow in a circulating mode in the cooling system, and reducing the influence of high temperature on the engine in the working process of the engine. The automobile water pump generally comprises a water pump shell, a connecting disc, a shaft connecting bearing, an impeller, a water seal and the like. The water seal is a water pump leakage prevention measure, wherein the water seal dynamic sealing ring is in interference fit with the shaft connecting bearing and is arranged between the impeller and the bearing, and the water seal static sealing seat is arranged on a water pump shell, so that the purpose of sealing cooling liquid is achieved. The automobile water pump has the advantages of compact structure, severe working condition, high stability and service life requirement, and the precision of water seal assembly directly influences the performance and service life of the water pump.

The key point of the assembly process of the water seal is that the axial central line of the water seal must be ensured to be aligned with an assembly hole, and if the water seal is pressed and inclined, unbalanced load can be generated, so that abnormal abrasion and even leakage of the water seal are caused. The water pump water seal is in interference fit with the pump body, a hydraulic or pneumatic press is used for press fitting, a pressure monitoring instrument is generally arranged on the equipment for monitoring the press fitting condition, when the press fitting force exceeds a set range, the monitoring instrument can automatically give an alarm to prompt that the press fitting force is abnormal, the press fitting interference is too large under the condition that the water seal is possibly inclined in the press fitting process, but the problems of large pressure setting range, equipment pressure detection precision and the like are solved, the common press fitting deviation equipment is difficult to find, the press fitting interference is guaranteed by the machining precision of the pump body in actual production, and press fitting centering is guaranteed by a tool clamp.

Although those skilled in the art have devised an automated apparatus for water-sealed press-fitting, it is not ideal. The automatic press mounting device for the water seal is special equipment, and a six-degree-of-freedom industrial robot is not used, so that the automatic press mounting device for the water seal is poor in flexibility and adaptability and needs to be reconstructed or newly purchased for existing equipment corresponding to a new water pump.

The patent application number CN201610345267.3 discloses a special automatic assembling machine for an automobile water pump, which comprises a frame, a feeding, assembling and discharging conveying line, a water pump shell heating mechanism, a bearing intelligent press-mounting mechanism, a water seal intelligent press-mounting mechanism, an air tightness detection mechanism, a hub intelligent press-mounting mechanism, a hub detection mechanism, an impeller intelligent press-mounting mechanism and an impeller jumping detection mechanism, wherein the feeding, assembling and discharging conveying line of the engine is arranged on the frame and comprises a conveying frame, a plurality of templates capable of containing water pump bodies to be assembled, a feeding template driving mechanism, an assembling template driving mechanism, a discharging template driving mechanism, a returning template driving mechanism and a finished product grabbing mechanism, two rows of sliding grooves for placing the templates are arranged on the conveying frame, one row of sliding grooves is used as assembling sliding grooves, the other row of sliding grooves is used as feeding sliding grooves, and the head and the tail of the two rows of sliding grooves form a sliding cavity for containing the length of the, the template is switched on the two rows of sliding grooves through the sliding cavity.

The automatic assembly function of car water pump water seal also can be accomplished in the patent application, but does not use industrial robot among the design, and its mechanism such as location and pressure equipment all adopts special plane form, can only correspond certain specific type's water pump. This patent application has two problems, firstly, technological parameter adjustment is more difficult, in case need great technology adjustment by a wide margin, if improve pressure and change pressure equipment degree of depth etc. special plane equipment probably can't correspond, must carry out large-scale equipment transformation, lead to long-time equipment to stop and the high transformation expense, secondly, this patent does not possess extended function, in case the water pump of new variety appears, special plane equipment will be unable to correspond, probably need purchase similar equipment again, lead to investment increase and production area utilization low.

The problems still exist in the prior art, and the market demands of multiple varieties, small batch and short beat cannot be met, so that the development of an intelligent industrial robot device for assembling the water pump of the automobile is always a problem to be solved urgently.

Disclosure of Invention

The invention aims to provide an intelligent industrial robot device for assembling an automobile water pump water seal, which adopts a mechanical arm and a special clamp, can realize the actions of full-automatic grabbing, pre-assembling, press-mounting, blanking and the like of the automobile water pump water seal, obviously improve the efficiency of assembling the automobile water pump water seal, reduce the labor intensity of manpower, and improve the flexibility and the adaptability of a water pump water seal assembling device by utilizing a six-degree-of-freedom mechanical arm, has the function of full-automatic completion of the water pump water seal assembling, completes the whole process of the water pump water seal assembling through seven-step operation, does not need manual intervention in the whole process, is efficient, reliable and safe, has a mechanical structure at each station except a mechanical arm, does not need additional energy power, adopts a uniform modular bottom plate of 300mm multiplied by 300mm for each station clamp, can be quickly installed, is convenient for station adjustment, and, if the model of the automobile water pump needs to be changed, only the clamp of the corresponding station is replaced and the program of the mechanical arm is adjusted, and rewiring and reconstruction are not needed.

The purpose of the invention is realized as follows: an intelligent industrial robot device for assembling an automobile water pump through a water seal comprises a base, a machine arm, clamping jaws, a water seal feeding station clamp, a water pump shell feeding station clamp, a water seal preassembling station clamp, a water seal press-mounting station clamp and a blanking station clamp, wherein the machine arm is arranged on the base and fixed on the base; the clamping jaw consists of a connecting plate, a pressure sensor, a driver, an upper clamping jaw and a lower clamping jaw, wherein the pressure sensor and the connecting plate are arranged at the right part of the driver, and the upper clamping jaw and the lower clamping jaw are respectively arranged at the left part of the driver; the water seal feeding station fixture comprises a first bottom plate, a water seal pre-assembly plate, a first water seal, first water seal positioning pins, first water seal pre-assembly plate positioning pins and first stand columns, wherein the first bottom plate is respectively provided with four first stand columns, the first stand columns are provided with the first water seal pre-assembly plate positioning pins, the tops of the four first stand columns are respectively connected with the water seal pre-assembly plate, the two first water seal pre-assembly plate positioning pins are respectively connected with the water seal pre-assembly plate, the water seal pre-assembly plate is provided with nine first water seal positioning pins, and the nine first water seal positioning pins are provided with the first water seal; the water pump shell feeding station fixture comprises a second bottom plate, second stand columns, a shaft connecting bearing, first water pump shell positioning pins and a water pump shell, wherein the second bottom plate is respectively provided with four second stand columns, the second stand columns are provided with two first water pump shell positioning pins, the tops of the four second stand columns are respectively connected with the water pump shell, the two first water pump shell positioning pins are respectively connected with the water pump shell, and the shaft connecting bearing is arranged in the water pump shell; the water seal preassembling station fixture consists of a third bottom plate, a third water pump shell positioning pin, a mounting plate, a second water seal positioning pin, a first mounting plate positioning pin, a fourth water pump shell positioning pin, a push rod, a second mounting plate positioning pin, a third upright post, a spring, an adjusting screw, a pressing plate, a retainer, a water seal press-fitting auxiliary fixture and a second water seal, wherein four third upright posts are respectively arranged on the third bottom plate, the first mounting plate positioning pin and the second mounting plate positioning pin are arranged on the third upright posts, the tops of the four third upright posts are respectively connected with the water seal preassembling auxiliary fixture and the mounting plate, the first mounting plate positioning pin and the second mounting plate positioning pin are connected with the mounting plate, the third water pump shell positioning pin and the fourth water pump shell positioning pin are arranged on the upper part of the mounting plate, the retainer is arranged on the lower part of the mounting, the retainer is connected with the push rod, the lower part of the push rod is provided with a pressing plate, the upper part of the pressing plate is provided with a spring and an adjusting screw, two ends of the spring are respectively connected with the retainer and the pressing plate, and a second water seal is arranged on a second water seal positioning pin; the water seal press-fitting station fixture comprises a fourth bottom plate, a fourth upright post, a fifth water pump shell positioning pin, a water pump shell, a sixth water pump shell positioning pin, a shaft connecting bearing, a third water seal and a water seal press-fitting auxiliary fixture, wherein the fourth bottom plate is respectively provided with four fourth upright posts, the fourth upright posts are provided with the fifth water pump shell positioning pin and the sixth water pump shell positioning pin, the tops of the four fourth upright posts are respectively connected with the water pump shell, the fifth water pump shell positioning pin and the sixth water pump shell positioning pin are respectively connected with the water pump shell, the shaft connecting bearing is arranged in the water pump shell, the third water seal is arranged on the shaft connecting bearing, and the water seal press-fitting auxiliary fixture is arranged outside the third water seal; the blanking station fixture comprises a fifth bottom plate, a seventh water pump shell positioning pin, a fifth upright post, a water pump shell, an eighth water pump shell positioning pin, a fourth water seal and a shaft connecting bearing, wherein the fifth bottom plate is respectively provided with four fifth upright posts, the fifth upright post is provided with the seventh water pump shell positioning pin and the eighth water pump shell positioning pin, the tops of the four fifth upright posts are respectively connected with the water pump shell, the seventh water pump shell positioning pin and the eighth water pump shell positioning pin are respectively arranged in the water pump shell, the shaft connecting bearing is arranged in the water pump shell, and the fourth water seal is arranged on the shaft connecting bearing;

the included angle between the center line of the water seal feeding station clamp and the center line of the water pump shell feeding station clamp is 45 degrees; the included angle between the water pump shell feeding station clamp and the center line of the water seal preassembly station clamp is 45 degrees; the included angle between the center line of the water seal preassembly station fixture and the center line of the water seal press-fitting station fixture is 45 degrees; the included angle between the center line of the water seal press-mounting station fixture and the center line of the blanking station fixture is 45 degrees;

the working principle of the intelligent industrial robot device for assembling the water seal of the automobile water pump is that (1) the accurate positioning function of part feeding is realized: in the water seal feeding station fixture, a water seal pre-assembly plate is placed at the tops of four first stand columns, two first water seal pre-assembly plate positioning pins are respectively inserted into corresponding positioning pin holes of the water seal pre-assembly plate, so that the water seal pre-assembly plate is accurately positioned, nine first water seal positioning pins are arranged on the water seal pre-assembly plate, a first water seal is arranged on each first water seal positioning pin, and the first water seal feeding accurate positioning function is realized; the water pump shell is fed with a station clamp, the water pump shell is placed at the tops of the four second stand columns, and the positioning pins of the two first water pump shells are respectively inserted into the corresponding positioning pin holes of the water pump shell, so that the function of accurately positioning the water pump shell in a feeding manner is realized; (2) the water seal preassembling function is realized: after the first water seal is grabbed by the water seal loading station fixture through the water seal preassembly station fixture, the machine arm and the clamping jaw, the first water seal is conveyed to the position where the water seal preassembly station fixture reaches the second water seal, then the second water seal is installed on the second water seal positioning pin from top to bottom, and the second water seal can be easily installed on the second water seal positioning pin in a correct posture due to the fact that the upper portion of the second water seal positioning pin is of a chamfer structure, so that preparation is made for water seal press mounting of a post-station, and the water seal preassembly function; (3) the water seal accurate press fitting function is realized: at the water seal press-mounting station fixture, the machine arm and the clamping jaw grab the water seal press-mounting auxiliary fixture by the water seal preassembly station fixture, the water seal press-mounting auxiliary fixture after being preassembled is carried to the water seal press-mounting station fixture, then the water seal press-mounting auxiliary fixture is turned over by 180 degrees and reaches the position shown by the water seal press-mounting auxiliary fixture, so that the mounting plate is changed from a top-surface upward posture to a top-surface downward posture, a third water pump shell positioning pin and a fourth water pump shell positioning pin are vertically downward, then the third water pump shell positioning pin and the fourth water pump shell positioning pin are aligned to corresponding positioning holes of a water pump shell and inserted into the positioning holes, so that the top surface of the mounting plate is contacted with the top surface of the water pump shell, the accurate positioning of the mounting plate relative to the shell is realized by the third water pump shell positioning pin, the machine arm and the clamping jaw loosen the water seal press-fitting auxiliary clamp, the machine arm and the clamping jaw press the pressing plate downwards, the pressing plate drives the push rod to press a third water seal downwards, the third water seal is pressed and fitted on the shaft connecting bearing through a second water seal positioning pin, an adjusting screw is in contact with the retainer when the stroke end is reached, the press-fitting depth of the third water seal can be adjusted by adjusting the adjusting screw, the press-fitting pressure of the third water seal can be controlled through the pressure sensor, and the accurate press-fitting function of the water seal is realized;

the use and operation method of the intelligent industrial robot device for assembling the water seal of the automobile water pump is that the intelligent industrial robot device for assembling the water seal of the automobile water pump has the functions of fully automatically finishing the grabbing, pre-assembling, press-assembling and blanking of the water seal of the water pump, the assembly of the water seal of the water pump is finished through seven steps by a six-degree-of-freedom industrial robot arm, each step finishes one work content, the first step is finished by a water seal feeding station clamp, a water seal pre-assembling plate is placed at the tops of four first stand columns, the lower plane of the water seal installing plate is contacted with the tops of the four first stand columns, two positioning pins of the first water seal pre-assembling plate are respectively inserted into corresponding pin holes of the water seal installing plate, the water seal installing plate is accurately positioned, meanwhile, the first water seal installed on the positioning pins of the water; secondly, completing a fixture at a feeding station of the water pump shell, horizontally placing the water pump shell on the tops of the four second vertical columns, enabling the lower plane of the water pump shell to be in contact with the tops of the four second vertical columns, and enabling the two first shell positioning pins to be respectively inserted into corresponding pin holes of the water pump shell, so that the water pump shell is accurately positioned, and preparation is made for a machine arm to grab the water pump shell in the subsequent step; thirdly, the water seal preassembling station fixture is completed, the machine arm and the clamping jaw grab the first water seal from the water seal feeding station fixture, the first water seal is conveyed to the water seal preassembling station fixture, and then the second water seal is installed on a second water seal positioning pin from top to bottom; fourthly, the water pump shell is clamped by a water pump shell feeding station clamp by a machine arm and a clamping jaw, and then is conveyed to the water seal press-fitting station clamp, so that the lower plane of the water pump shell is contacted with the top surfaces of four fourth vertical columns, and a fifth water pump shell positioning pin and a sixth water pump shell positioning pin are respectively inserted into positioning pin holes of the water pump shell, so that the water pump shell is accurately positioned and is prepared for subsequent water seal press-fitting; fifthly, the water seal press-mounting auxiliary fixture is carried to the water seal press-mounting station fixture by a machine arm and a clamping jaw, then the water seal press-mounting auxiliary fixture is turned over by 180 degrees to reach the position shown by the water seal press-mounting auxiliary fixture, so that the mounting plate is changed from a top-surface upward posture to a top-surface downward posture, the mounting plate is turned over by 180 degrees from the top-surface upward posture to a top-surface downward posture, the positioning pins of the third water pump shell and the fourth water pump shell are vertically downward, the positioning pins of the third water pump shell and the fourth water pump shell are aligned to the corresponding positioning holes of the water pump shell and inserted into the positioning holes, so that the top surface of the mounting plate is contacted with the top surface of the shell, the positioning pins of the third water pump shell, the positioning pins of the fourth water pump shell and the top surface of the mounting plate jointly realize the accurate positioning, the machine arm and the clamping jaw loosen the water seal press-fitting auxiliary clamp, the machine arm and the clamping jaw press the pressing plate downwards, the pressing plate drives the push rod to press a third water seal downwards, the third water seal is pressed and fitted on the shaft connecting bearing through the second water seal positioning pin, the adjusting screw is contacted with the retainer when the stroke end is reached, the press-fitting depth of the third water seal can be adjusted by adjusting the adjusting screw, the press-fitting pressure of the third water seal can be controlled through the pressure sensor, and the third water seal is accurately pressed and fitted on the shaft connecting bearing; sixthly, finishing the water seal preassembly station fixture, wherein the water seal press-fitting auxiliary fixture is grabbed by the water seal preassembly station fixture through a machine arm and a clamping jaw, then the water seal preassembly station fixture is conveyed to the water seal preassembly station fixture, the water seal press-fitting auxiliary fixture is turned over by 180 degrees, the mounting plate is turned over by 180 degrees from the top-surface downward posture to the top-surface upward posture, corresponding positioning holes of the mounting plate are aligned to the first mounting plate positioning pin and the second mounting plate positioning pin, the mounting plate is placed on the third upright column, and the lower plane of; the seventh step is accomplished at unloading station anchor clamps, and the water pump shell that machine arm and clamping jaw will have the pressure equipment water seal snatchs the back by water seal pressure equipment station anchor clamps, carries to unloading station anchor clamps, places water pump shell level at fifth stand top, makes water pump shell lower plane and fifth stand top contact, makes seventh casing locating pin, eighth casing locating pin insert the corresponding pinhole of water pump shell respectively in, realizes the accurate positioning of water pump shell, realizes the unloading function of water pump shell behind the pressure equipment water seal.

The key points of the invention are its structure, working principle, use and operation method.

Compared with the prior art, the intelligent industrial robot device for assembling the water seal of the automobile water pump has the beneficial effects that:

(1) intelligence: the method comprises the following steps of realizing whole-process unmanned operation through a six-degree-of-freedom industrial robot arm, grabbing a water seal from a water seal feeding station fixture, grabbing a water pump shell from a water pump shell feeding station fixture, automatically pre-installing the water seal on a water seal press-fitting auxiliary fixture, realizing fine positioning of the water seal and the water seal press-fitting auxiliary fixture, automatically installing the water seal press-fitting auxiliary fixture on the water pump shell, realizing fine positioning of the water seal press-fitting auxiliary fixture and the water pump shell, and automatically press-fitting the water seal on a shaft connecting bearing of the water pump shell through the water seal press-fitting auxiliary fixture;

(2) reliability: in the water seal preassembling station fixture, after a water seal is grabbed by the water seal feeding station fixture by the machine arm and the clamping jaw, the water seal is transported to the water seal preassembling station fixture, then the water seal is arranged on the second water seal positioning pin from top to bottom, the water seal can be easily arranged on the positioning pin through the chamfer of the second water seal positioning pin, and the accurate positioning of the water seal and water seal press-mounting auxiliary fixture is realized; in the water seal press-fitting station clamp, the third water pump shell positioning pin, the fourth water pump shell positioning pin and the top surface of the mounting plate jointly realize the accurate positioning of the mounting plate of the water seal press-fitting auxiliary clamp relative to the shell, and simultaneously realize the accurate positioning of the second water seal positioning pin and the shaft connecting bearing; pressing a pressing plate downwards at a water seal pressing station clamp, a machine arm and a clamping jaw, wherein the pressing plate drives a push rod to press a water seal downwards, the water seal is pressed on a shaft connecting bearing through a second water seal positioning pin, an adjusting screw is in contact with a retainer when the stroke end point is reached, the water seal pressing depth can be adjusted by adjusting the adjusting screw, the pressing pressure of the water seal can be controlled through a pressure sensor, and the water seal pressing force and the pressing depth are ensured to meet the technological requirements;

(3) high efficiency: the device is operated without people in the whole process, the whole process of assembly of water pump water seal, such as grabbing, pre-assembling, press-mounting, blanking and the like, is automatically completed, and the device is provided with a feeding station and a blanking station and can be embedded into an automatic production line as a functional module;

(4) energy conservation: except for the mechanical arm, each station clamp has no main mechanical action, no additional energy power is needed, no redundant action is ensured through the optimized programming of the mechanical arm, the beat is shortened, and the energy consumption is saved.

The method can be widely applied to the technical field of automobile part assembling equipment.

Drawings

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a top view of fig. 1.

Figure 3 is a schematic view of the structure of the jaw portion of the present invention.

Fig. 4 is a top view of fig. 3.

Fig. 5 is a schematic structural diagram of a water seal feeding station clamp part of the invention.

Fig. 6 is a top view of fig. 5.

Fig. 7 is a schematic structural view of a feeding station clamp part of the water pump shell of the invention.

Fig. 8 is a top view of fig. 7.

Fig. 9 is a schematic structural view of a water seal preassembly station fixture part of the invention.

Fig. 10 is a top view of fig. 9.

Fig. 11 is a schematic structural view of a water seal press-fitting station fixture portion of the present invention.

Fig. 12 is a top view of fig. 11.

Fig. 13 is a schematic structural view of a clamp part of the blanking station of the present invention.

Fig. 14 is a top view of fig. 13.

Detailed Description

Referring to the attached drawings, an intelligent industrial robot device for water seal assembly of an automobile water pump comprises a base 1, a machine arm 2, a clamping jaw 3, a water seal feeding station clamp 4, a water pump shell feeding station clamp 5, a water seal pre-assembling station clamp 6, a water seal press-assembling station clamp 7 and a blanking station clamp 8, wherein the machine arm 2 is arranged on the base 1 and fixed on the base 1, the clamping jaw 3 is arranged at the front end of the upper part of the machine arm 2, the water seal feeding station clamp 4, the water pump shell feeding station clamp 5 and the water seal pre-assembling station clamp 6 are arranged on the right part of the base 1, the water seal press-assembling station clamp 7 is arranged on the base, and the blanking station clamp 8 is arranged on the left part of the; the clamping jaw 3 consists of a connecting plate 3-1, a pressure sensor 3-2, a driver 3-3, an upper clamping jaw 3-4 and a lower clamping jaw 3-5, the pressure sensor 3-2 and the connecting plate 3-1 are arranged at the right part of the driver 3-3, and the upper clamping jaw 3-4 and the lower clamping jaw 3-5 are arranged at the left part of the driver 3-3 respectively; the water seal feeding station clamp 4 consists of a first bottom plate 4-1, a water seal pre-assembly plate 4-2, a first water seal 4-3, a first water seal positioning pin 4-4, a first water seal pre-assembly plate positioning pin 4-5 and a first upright post 4-6, four first upright columns 4-6 are respectively arranged on the first bottom plate 4-1, first water seal pre-assembly plate positioning pins 4-5 are arranged on the first upright columns 4-6, the tops of the four first upright columns 4-6 are respectively connected with a water seal pre-assembly plate 4-2, two first water seal pre-assembly plate positioning pins 4-5 are respectively connected with the water seal pre-assembly plate 4-2, nine first water seal positioning pins 4-4 are arranged on the water seal pre-assembly plate 4-2, and first water seals 4-3 are arranged on the nine first water seal positioning pins 4-4; the water pump shell feeding station clamp 5 is composed of a second bottom plate 5-1, second stand columns 5-2, shaft connecting bearings 5-3, first water pump shell positioning pins 5-4 and a water pump shell 5-5, wherein the second bottom plate 5-1 is respectively provided with four second stand columns 5-2, the second stand columns 5-2 are respectively provided with two first water pump shell positioning pins 5-4, the tops of the four second stand columns 5-2 are respectively connected with the water pump shell 5-5, the two first water pump shell positioning pins 5-4 are respectively connected with the water pump shell 5-5, and the shaft connecting bearings 5-3 are installed in the water pump shell 5-5; the water seal preassembling station clamp 6 consists of a third bottom plate 6-1, a third water pump shell positioning pin 6-2, a mounting plate 6-3, a second water seal positioning pin 6-4, a first mounting plate positioning pin 6-5, a fourth water pump shell positioning pin 6-6, a push rod 6-7, a second mounting plate positioning pin 6-8, a third upright post 6-9, a spring 6-10, an adjusting screw 6-11, a pressing plate 6-12, a retainer 6-13, a water seal press-fitting auxiliary clamp 6-14 and a second water seal 6-15, wherein the third bottom plate 6-1 is respectively provided with four third upright posts 6-9, the third upright post 6-9 is provided with a first mounting plate positioning pin 6-5 and a second mounting plate positioning pin 6-8, and the tops of the four third upright posts 6-9 are respectively connected with the water seal preassembling auxiliary clamp 6-14 and the mounting plate 6-3 The first mounting plate positioning pin 6-5 and the second mounting plate positioning pin 6-8 are connected with the mounting plate 6-3, the upper part of the mounting plate 6-3 is provided with a third water pump shell positioning pin 6-2 and a fourth water pump shell positioning pin 6-6, a retainer 6-13 is arranged at the lower part of the mounting plate 6-3, a second water seal positioning pin 6-4 is arranged at the upper part of the retainer 6-13, the lower part of the retainer 6-13 is connected with a spring 6-10, the retainer 6-13 is connected with a push rod 6-7, a pressure plate 6-12 is arranged at the lower part of the push rod 6-7, a spring 6-10 and an adjusting screw 6-11 are arranged at the upper part of the pressure plate 6-12, two ends of the spring 6-10 are respectively connected with a retainer 6-13 and the pressure plate 6-12, and a second water seal 6-15 is arranged on a second water seal positioning pin 6-4; the water seal press-fitting station clamp 7 consists of a fourth bottom plate 7-1, a fourth upright post 7-2, a fifth water pump shell positioning pin 7-3, a water pump shell 7-4, a sixth water pump shell positioning pin 7-5, a shaft connecting bearing 7-6, a third water seal 7-7 and a water seal press-fitting auxiliary clamp 7-8, wherein the fourth bottom plate 7-1 is respectively provided with the four fourth upright posts 7-2, the fourth upright post 7-2 is provided with the fifth water pump shell positioning pin 7-3 and the sixth water pump shell positioning pin 7-5, the tops of the four fourth upright posts 7-2 are respectively connected with the water pump shell 7-4, the fifth water pump shell positioning pin 7-3 and the sixth water pump shell positioning pin 7-5 are respectively connected with the water pump shell 7-4, the shaft connecting bearing 7-6 is arranged in the water pump shell 7-4, mounting a third water seal 7-7 on the shaft connecting bearing 7-6, and arranging a water seal press-mounting auxiliary clamp 7-8 outside the third water seal 7-7; the blanking station clamp 8 consists of a fifth bottom plate 8-1, a seventh water pump shell positioning pin 8-2, a fifth upright post 8-3, a water pump shell 8-4, an eighth water pump shell positioning pin 8-5, a fourth water seal 8-6 and a shaft connecting bearing 8-7, wherein the fifth bottom plate 8-1 is respectively provided with four fifth upright posts 8-3, the fifth upright post 8-3 is provided with the seventh water pump shell positioning pin 8-2 and the eighth water pump shell positioning pin 8-5, the tops of the four fifth upright posts 8-3 are respectively connected with the water pump shell 8-4, the seventh water pump shell positioning pin 8-2 and the eighth water pump shell positioning pin 8-5 are respectively arranged in the water pump shell 8-4, the shaft connecting bearing 8-7 is arranged in the water pump shell 8-4, the fourth water seal 8-6 is arranged on the shaft connecting bearing 8-7.

The included angle between the central line of the water seal feeding station clamp 4 and the central line of the water pump shell feeding station clamp 5 is 45 degrees; the included angle between the center lines of the water pump shell feeding station clamp 5 and the water seal preassembly station clamp 6 is 45 degrees; the included angle between the central line of the water seal preassembly station fixture 6 and the central line of the water seal press-fitting station fixture 7 is 45 degrees; the included angle between the central line of the water seal press-mounting station fixture 7 and the central line of the blanking station fixture 8 is 45 degrees.

The working principle of the intelligent industrial robot device for assembling the water seal of the automobile water pump is that (1) the accurate positioning function of part feeding is realized: in the water seal feeding station clamp 4, a water seal pre-assembly plate 4-2 is placed at the top of four first vertical columns 4-6, two first water seal pre-assembly plate positioning pins 4-5 are respectively inserted into corresponding positioning pin holes of the water seal pre-assembly plate 4-2, so that the water seal pre-assembly plate 4-2 is accurately positioned, nine first water seal positioning pins 4-4 are arranged on the water seal pre-assembly plate 4-2, a first water seal 4-3 is arranged on each first water seal positioning pin 4-4, and the feeding accurate positioning function of the first water seal 4-3 is realized; a water pump shell feeding station clamp 5 is adopted, a water pump shell 5-5 is placed at the tops of four second columns 5-2, and two first water pump shell positioning pins 5-4 are respectively inserted into corresponding positioning pin holes of the water pump shell 5-5, so that a water pump shell 5-5 feeding accurate positioning function is realized; (2) the water seal preassembling function is realized: after the water seal preassembly station fixture 6, the first water seal 4-3 is grabbed by the water seal feeding station fixture 4 through the machine arm 2 and the clamping jaw 3, the water seal preassembly station fixture 6 is conveyed to the position where the second water seal 6-15 is located, then the second water seal 6-15 is installed on the second water seal positioning pin 6-4 from top to bottom, and due to the fact that the upper portion of the second water seal positioning pin 6-4 is of a chamfer structure, the second water seal 6-15 can be easily installed on the second water seal positioning pin 6-4 in a correct posture, preparation is made for water seal press-fitting of a post-station, and the water seal preassembly function is achieved; (3) the water seal accurate press fitting function is realized: in a water seal press-fitting station fixture 7, a machine arm 2 and a clamping jaw 3 grab a water seal press-fitting auxiliary fixture 6-14 by a water seal preassembly station fixture 6, the water seal press-fitting auxiliary fixture 6-14 after being preassembled is conveyed to the water seal press-fitting station fixture 7, then the water seal press-fitting auxiliary fixture 6-14 is turned over by 180 degrees to reach the position shown by the water seal press-fitting auxiliary fixture 7-8, so that the mounting plate 6-3 is changed from a top-surface upward posture to a top-surface downward posture, a third water pump shell positioning pin 6-2 and a fourth water pump shell positioning pin 6-6 are vertically downward, then the third water pump shell positioning pin 6-2 and the fourth water pump shell positioning pin 6-6 are aligned with corresponding positioning holes of a water pump shell 7-4 and inserted into the positioning holes, and the top surface of the mounting plate, the accurate positioning of the mounting plate 6-3 relative to the shell 7-4 is realized by the positioning pin 6-2 of the third water pump shell, the positioning pin 6-6 of the fourth water pump shell and the top surface of the mounting plate 6-3, the accurate positioning of the second water seal positioning pin 6-4 and the shaft connecting bearing 7-6 is realized at the same time, the water seal press-fitting auxiliary clamp 7-8 is loosened by the machine arm 2 and the clamping jaw 3, the press plate 6-12 is pressed down by the machine arm 2 and the clamping jaw 3, the press plate 6-12 drives the push rod 6-7 to press down the third water seal 7-7, the third water seal 7-7 is pressed and fitted onto the shaft connecting bearing 7-6 by the second water seal positioning pin 6-4, the adjusting screw 6-11 is contacted with the retainer 6-13 when the stroke end is reached, the press-fitting depth of the third water seal 7-, the press fitting pressure of the third water seal 7-7 can be controlled through the pressure sensor 3-2, and the function of accurate press fitting of the water seal is achieved.

The use and operation method of the intelligent industrial robot device for assembling the water seal of the automobile water pump is that the intelligent industrial robot device for assembling the water seal of the automobile water pump has the functions of fully automatically finishing the grabbing, pre-assembling, press-assembling and blanking of the water pump water seal, the assembly of the water pump water seal is finished through seven steps by a six-freedom-degree industrial robot arm, each step finishes one work content, the first step is finished by a water seal feeding station clamp 4, a water seal pre-assembling plate 4-2 is placed at the top of four first upright columns 4-6, the lower plane of the water seal installing plate 4-2 is contacted with the top of the four first upright columns 4-6, two first water seal pre-assembling plate locating pins 4-5 are respectively inserted into corresponding pin holes of the water seal installing plate 4-2, the water seal installing plate 4-2 is accurately located, and the first water seal 4-3 installed on the first water seal locating pin 4-4 is, preparing for grabbing the water seal by the mechanical arm in the subsequent step; secondly, completing a fixture 5 at a feeding station of the water pump shell, horizontally placing the water pump shell 5-5 on the tops of four second vertical columns 5-2, enabling the lower plane of the water pump shell 5-5 to be in contact with the tops of the four second vertical columns 5-2, and enabling two first shell positioning pins 5-4 to be respectively inserted into corresponding pin holes of the water pump shell 5-5, so that the water pump shell 5-5 is accurately positioned, and the water pump shell is ready to be grabbed by a mechanical arm in the subsequent step; thirdly, after the water seal preassembly station fixture 6 is finished, the first water seal 4-3 is grabbed by the water seal feeding station fixture 4 through the machine arm 2 and the clamping jaw 3, the water seal preassembly station fixture 6 is conveyed, and then the second water seal 6-15 is installed on a second water seal positioning pin 6-4 from top to bottom; fourthly, finishing the water seal press-fitting process by using a water seal press-fitting station fixture 7, and carrying the water pump shell 5-5 to the water seal press-fitting station fixture 7 after the water pump shell 5-5 is grabbed by the water pump shell feeding station fixture 5 by using the machine arm 2 and the clamping jaw 3, so that the lower plane of the water pump shell 7-4 is contacted with the top surfaces of four fourth upright posts 7-2, and a fifth water pump shell positioning pin 7-3 and a sixth water pump shell positioning pin 7-5 are respectively inserted into positioning pin holes of the water pump shell 7-4, thereby realizing the accurate positioning of the water pump shell and preparing for the subsequent; fifthly, after the water seal press-mounting station fixture 7 is finished, the water seal press-mounting auxiliary fixture 6-14 which is pre-assembled with water seal is conveyed to the water seal press-mounting station fixture 7 by the machine arm 2 and the clamping jaw 3, then the water seal press-mounting auxiliary fixture 6-14 is turned over 180 degrees to reach the position shown by the water seal press-mounting auxiliary fixture 7-8, the mounting plate 6-3 is changed from the top-surface upward posture to the top-surface downward posture, the third water pump housing positioning pin 6-2 and the fourth water pump housing positioning pin 6-6 are vertically downward, the third water pump housing positioning pin 6-2 and the fourth water pump housing positioning pin 6-6 are aligned with the corresponding positioning hole of the water pump housing 7-4 and inserted into the positioning hole, and the top, the accurate positioning of the mounting plate 6-3 relative to the water pump shell 7-4 is realized by the positioning pin 6-2 of the third water pump shell, the positioning pin 6-6 of the fourth water pump shell and the top surface of the mounting plate 6-3, the accurate positioning of the second water seal positioning pin 6-4 and the shaft connecting bearing 7-6 is realized at the same time, the water seal press-fitting auxiliary clamp 7-8 is loosened by the machine arm 2 and the clamping jaw 3, the press plate 6-12 is pressed down by the machine arm 2 and the clamping jaw 3, the press plate 6-12 drives the push rod 6-7 to press down the third water seal 7-7, the third water seal 7-7 is pressed and fitted onto the shaft connecting bearing 7-8 by the second water seal positioning pin 6-4, the adjusting screw 6-11 is contacted with the retainer 6-13 when the stroke end is reached, the press-fitting depth of the third water seal 7, the press-fitting pressure of the third water seal 7-7 can be controlled through the pressure sensor 3-2, and the third water seal 7-7 is accurately pressed and fitted on the shaft connecting bearing 7-8; sixthly, finishing the water seal pre-assembly station fixture 6, grabbing a water seal press-assembly auxiliary fixture 7-8 by the water seal press-assembly station fixture 7 through a machine arm 2 and a clamping jaw 3, carrying to the water seal pre-assembly station fixture 6, turning the water seal press-assembly auxiliary fixture 7-8 by 180 degrees, turning the mounting plate 6-3 by 180 degrees from a top-surface downward posture to a top-surface upward posture, aligning the corresponding positioning hole of the mounting plate 6-3 with the first mounting plate positioning pin 6-5 and the second mounting plate positioning pin 6-8, placing the mounting plate on a third upright 6-9, and enabling the lower plane of the mounting plate 6-3 to be in contact with the top surface of the third upright 6-9; and seventhly, finishing the process at a discharging station fixture 8, grabbing the water pump shell 7-4 with the water seal pressed by the water seal pressing station fixture 7 by the machine arm 2 and the clamping jaw 3, then carrying to the discharging station fixture 8, horizontally placing the water pump shell 8-4 at the top of the fifth upright post 8-3, enabling the lower plane of the water pump shell 8-4 to be in contact with the top of the fifth upright post 8-3, and enabling the seventh shell positioning pin 8-2 and the eighth shell positioning pin 8-5 to be respectively inserted into corresponding pin holes of the water pump shell 8-4, so that the accurate positioning of the water pump shell 8-4 is realized, and the discharging function of the water pump shell 8-4 after the water seal pressing is realized.

Claims

1. The utility model provides an intelligent industrial robot device of automobile water pump water seal assembly, includes base, machine arm, clamping jaw, water seal material loading station anchor clamps, water pump shell material loading station anchor clamps, water seal pre-installation station anchor clamps, water seal pressure equipment station anchor clamps, unloading station anchor clamps, its characterized in that: the base is provided with a machine arm and fixed on the base, the front end of the upper part of the machine arm is provided with a clamping jaw, the right part of the upper part of the base is provided with a water seal feeding station clamp, a water pump shell feeding station clamp and a water seal preassembling station clamp, the base is provided with a water seal press-mounting station clamp, and the left part of the upper part of the base is provided with a blanking station clamp; the clamping jaw consists of a connecting plate, a pressure sensor, a driver, an upper clamping jaw and a lower clamping jaw, wherein the pressure sensor and the connecting plate are arranged at the right part of the driver, and the upper clamping jaw and the lower clamping jaw are respectively arranged at the left part of the driver; the water seal feeding station fixture comprises a first bottom plate, a water seal pre-assembly plate, a first water seal, first water seal positioning pins, first water seal pre-assembly plate positioning pins and first stand columns, wherein the first bottom plate is respectively provided with four first stand columns, the first stand columns are provided with the first water seal pre-assembly plate positioning pins, the tops of the four first stand columns are respectively connected with the water seal pre-assembly plate, the two first water seal pre-assembly plate positioning pins are respectively connected with the water seal pre-assembly plate, the water seal pre-assembly plate is provided with nine first water seal positioning pins, and the nine first water seal positioning pins are provided with the first water seal; the water pump shell feeding station fixture comprises a second bottom plate, second stand columns, a shaft connecting bearing, first water pump shell positioning pins and a water pump shell, wherein the second bottom plate is respectively provided with four second stand columns, the second stand columns are provided with two first water pump shell positioning pins, the tops of the four second stand columns are respectively connected with the water pump shell, the two first water pump shell positioning pins are respectively connected with the water pump shell, and the shaft connecting bearing is arranged in the water pump shell; the water seal preassembling station fixture consists of a third bottom plate, a third water pump shell positioning pin, a mounting plate, a second water seal positioning pin, a first mounting plate positioning pin, a fourth water pump shell positioning pin, a push rod, a second mounting plate positioning pin, a third upright post, a spring, an adjusting screw, a pressing plate, a retainer, a water seal press-fitting auxiliary fixture and a second water seal, wherein four third upright posts are respectively arranged on the third bottom plate, the first mounting plate positioning pin and the second mounting plate positioning pin are arranged on the third upright posts, the tops of the four third upright posts are respectively connected with the water seal preassembling auxiliary fixture and the mounting plate, the first mounting plate positioning pin and the second mounting plate positioning pin are connected with the mounting plate, the third water pump shell positioning pin and the fourth water pump shell positioning pin are arranged on the upper part of the mounting plate, the retainer is arranged on the lower part of the mounting, the retainer is connected with the push rod, the lower part of the push rod is provided with a pressing plate, the upper part of the pressing plate is provided with a spring and an adjusting screw, two ends of the spring are respectively connected with the retainer and the pressing plate, and a second water seal is arranged on a second water seal positioning pin; the water seal press-fitting station fixture comprises a fourth bottom plate, a fourth upright post, a fifth water pump shell positioning pin, a water pump shell, a sixth water pump shell positioning pin, a shaft connecting bearing, a third water seal and a water seal press-fitting auxiliary fixture, wherein the fourth bottom plate is respectively provided with four fourth upright posts, the fourth upright posts are provided with the fifth water pump shell positioning pin and the sixth water pump shell positioning pin, the tops of the four fourth upright posts are respectively connected with the water pump shell, the fifth water pump shell positioning pin and the sixth water pump shell positioning pin are respectively connected with the water pump shell, the shaft connecting bearing is arranged in the water pump shell, the third water seal is arranged on the shaft connecting bearing, and the water seal press-fitting auxiliary fixture is arranged outside the third water seal; unloading station anchor clamps are by the fifth bottom plate, seventh water pump shell locating pin, the fifth stand, the water pump shell, eighth water pump shell locating pin, the fourth water seal, axle is even the bearing and is constituteed, set up four fifth stands respectively on the fifth bottom plate, set up seventh water pump shell locating pin and eighth water pump shell locating pin on the fifth stand, be connected with the water pump shell respectively at four fifth stand tops, seventh water pump shell locating pin, eighth water pump shell locating pin is installed respectively in the water pump shell, axle is even the bearing and is installed in the water pump shell, the fourth water seal is installed on axle is even the bearing.

2. The intelligent industrial robot device for assembling the water seal of the water pump of the automobile as claimed in claim 1, wherein: the included angle between the center line of the water seal feeding station clamp and the center line of the water pump shell feeding station clamp is 45 degrees; the included angle between the water pump shell feeding station clamp and the center line of the water seal preassembly station clamp is 45 degrees; the included angle between the center line of the water seal preassembly station fixture and the center line of the water seal press-fitting station fixture is 45 degrees; the included angle between the center line of the water seal press-mounting station fixture and the center line of the blanking station fixture is 45 degrees.

3. The intelligent industrial robot device for assembling the water seal of the water pump of the automobile as claimed in claim 1, wherein: the working principle of the intelligent industrial robot device for assembling the water seal of the automobile water pump is that (1) the accurate positioning function of part feeding is realized: in the water seal feeding station fixture, a water seal pre-assembly plate is placed at the tops of four first stand columns, two first water seal pre-assembly plate positioning pins are respectively inserted into corresponding positioning pin holes of the water seal pre-assembly plate, so that the water seal pre-assembly plate is accurately positioned, nine first water seal positioning pins are arranged on the water seal pre-assembly plate, a first water seal is arranged on each first water seal positioning pin, and the first water seal feeding accurate positioning function is realized; the water pump shell is fed with a station clamp, the water pump shell is placed at the tops of the four second stand columns, and the positioning pins of the two first water pump shells are respectively inserted into the corresponding positioning pin holes of the water pump shell, so that the function of accurately positioning the water pump shell in a feeding manner is realized; (2) the water seal preassembling function is realized: after the first water seal is grabbed by the water seal loading station fixture through the water seal preassembly station fixture, the machine arm and the clamping jaw, the first water seal is conveyed to the position where the water seal preassembly station fixture reaches the second water seal, then the second water seal is installed on the second water seal positioning pin from top to bottom, and the second water seal can be easily installed on the second water seal positioning pin in a correct posture due to the fact that the upper portion of the second water seal positioning pin is of a chamfer structure, so that preparation is made for water seal press mounting of a post-station, and the water seal preassembly function; (3) the water seal accurate press fitting function is realized: at the water seal press-mounting station fixture, the machine arm and the clamping jaw grab the water seal press-mounting auxiliary fixture by the water seal preassembly station fixture, the water seal press-mounting auxiliary fixture after being preassembled is carried to the water seal press-mounting station fixture, then the water seal press-mounting auxiliary fixture is turned over by 180 degrees and reaches the position shown by the water seal press-mounting auxiliary fixture, so that the mounting plate is changed from a top-surface upward posture to a top-surface downward posture, a third water pump shell positioning pin and a fourth water pump shell positioning pin are vertically downward, then the third water pump shell positioning pin and the fourth water pump shell positioning pin are aligned to corresponding positioning holes of a water pump shell and inserted into the positioning holes, so that the top surface of the mounting plate is contacted with the top surface of the water pump shell, the accurate positioning of the mounting plate relative to the shell is realized by the third water pump shell positioning pin, the machine arm and the clamping jaw loosen the water seal press-fitting auxiliary clamp, the machine arm and the clamping jaw press the pressing plate downwards, the pressing plate drives the push rod to press the third water seal downwards, the third water seal is pressed and fitted on the shaft connecting bearing through the second water seal positioning pin, the adjusting screw is in contact with the retainer when the stroke end is reached, the press-fitting depth of the third water seal can be adjusted by adjusting the adjusting screw, the press-fitting pressure of the third water seal can be controlled through the pressure sensor, and the accurate press-fitting function of the water seal is realized.

4. The intelligent industrial robot device for assembling the water seal of the water pump of the automobile as claimed in claim 1, wherein: the use and operation method of the intelligent industrial robot device for assembling the water seal of the automobile water pump is that the intelligent industrial robot device for assembling the water seal of the automobile water pump has the functions of fully automatically finishing the grabbing, pre-assembling, press-assembling and blanking of the water seal of the water pump, the assembly of the water seal of the water pump is finished through seven steps by a six-degree-of-freedom industrial robot arm, each step finishes one work content, the first step is finished by a water seal feeding station clamp, a water seal pre-assembling plate is placed at the tops of four first stand columns, the lower plane of the water seal installing plate is contacted with the tops of the four first stand columns, two positioning pins of the first water seal pre-assembling plate are respectively inserted into corresponding pin holes of the water seal installing plate, the water seal installing plate is accurately positioned, meanwhile, the first water seal installed on the positioning pins of the water; secondly, completing a fixture at a feeding station of the water pump shell, horizontally placing the water pump shell on the tops of the four second vertical columns, enabling the lower plane of the water pump shell to be in contact with the tops of the four second vertical columns, and enabling the two first shell positioning pins to be respectively inserted into corresponding pin holes of the water pump shell, so that the water pump shell is accurately positioned, and preparation is made for a machine arm to grab the water pump shell in the subsequent step; thirdly, the water seal preassembling station fixture is completed, the machine arm and the clamping jaw grab the first water seal from the water seal feeding station fixture, the first water seal is conveyed to the water seal preassembling station fixture, and then the second water seal is installed on a second water seal positioning pin from top to bottom; fourthly, the water pump shell is clamped by a water pump shell feeding station clamp by a machine arm and a clamping jaw, and then is conveyed to the water seal press-fitting station clamp, so that the lower plane of the water pump shell is contacted with the top surfaces of four fourth vertical columns, and a fifth water pump shell positioning pin and a sixth water pump shell positioning pin are respectively inserted into positioning pin holes of the water pump shell, so that the water pump shell is accurately positioned and is prepared for subsequent water seal press-fitting; fifthly, the water seal press-mounting auxiliary fixture is carried to the water seal press-mounting station fixture by a machine arm and a clamping jaw, then the water seal press-mounting auxiliary fixture is turned over by 180 degrees to reach the position shown by the water seal press-mounting auxiliary fixture, so that the mounting plate is changed from a top-surface upward posture to a top-surface downward posture, the mounting plate is turned over by 180 degrees from the top-surface upward posture to a top-surface downward posture, the positioning pins of the third water pump shell and the fourth water pump shell are vertically downward, the positioning pins of the third water pump shell and the fourth water pump shell are aligned to the corresponding positioning holes of the water pump shell and inserted into the positioning holes, so that the top surface of the mounting plate is contacted with the top surface of the shell, the positioning pins of the third water pump shell, the positioning pins of the fourth water pump shell and the top surface of the mounting plate jointly realize the accurate positioning, the machine arm and the clamping jaw loosen the water seal press-fitting auxiliary clamp, the machine arm and the clamping jaw press the pressing plate downwards, the pressing plate drives the push rod to press a third water seal downwards, the third water seal is pressed and fitted on the shaft connecting bearing through the second water seal positioning pin, the adjusting screw is contacted with the retainer when the stroke end is reached, the press-fitting depth of the third water seal can be adjusted by adjusting the adjusting screw, the press-fitting pressure of the third water seal can be controlled through the pressure sensor, and the third water seal is accurately pressed and fitted on the shaft connecting bearing; sixthly, finishing the water seal preassembly station fixture, wherein the water seal press-fitting auxiliary fixture is grabbed by the water seal preassembly station fixture through a machine arm and a clamping jaw, then the water seal preassembly station fixture is conveyed to the water seal preassembly station fixture, the water seal press-fitting auxiliary fixture is turned over by 180 degrees, the mounting plate is turned over by 180 degrees from the top-surface downward posture to the top-surface upward posture, corresponding positioning holes of the mounting plate are aligned to the first mounting plate positioning pin and the second mounting plate positioning pin, the mounting plate is placed on the third upright column, and the lower plane of; the seventh step is accomplished at unloading station anchor clamps, and the water pump shell that machine arm and clamping jaw will have the pressure equipment water seal snatchs the back by water seal pressure equipment station anchor clamps, carries to unloading station anchor clamps, places water pump shell level at fifth stand top, makes water pump shell lower plane and fifth stand top contact, makes seventh casing locating pin, eighth casing locating pin insert the corresponding pinhole of water pump shell respectively in, realizes the accurate positioning of water pump shell, realizes the unloading function of water pump shell behind the pressure equipment water seal.