CN115139076A

CN115139076A - Quick-operation joint snatchs subassembly, quick-operation joint assembly structure and automatic assembly system

Info

Publication number: CN115139076A
Application number: CN202210950957.7A
Authority: CN
Inventors: 杨海涛; 冯毅宏; 刀青霞; 谢少平; 郑滕滕; 潘欣旭
Original assignee: Gree Electric Appliances Inc of Zhuhai; Gree Hangzhou Electric Appliances Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Gree Hangzhou Electric Appliances Co Ltd
Priority date: 2022-08-09
Filing date: 2022-08-09
Publication date: 2022-10-04

Abstract

The invention provides a quick connector grabbing component, a quick connector assembling structure and an automatic assembling system, wherein a quick connector of the quick connector grabbing component comprises a connector main body, a straight valve is arranged at one axial end of the connector main body, the quick connector grabbing component comprises a clamping sleeve sleeved on the straight valve, and at least one elastic plunger which is arranged on the circumferential surface of the clamping sleeve and is mutually clamped with an annular groove of the straight valve; the quick connector assembling structure comprises the quick connector grabbing component; the execution device is used for driving the clamping sleeve to be coaxially sleeved and used for grabbing the quick connector, driving the quick connector to be in butt joint with the pipeline valve and driving the quick connector to rotate around the axial direction of the quick connector to enable the quick connector to be in threaded connection with the pipeline valve; the automatic assembly system comprises the quick connector assembly structure; the feeding device is used for conveying the quick connector to enable the position of the feeding device to be matched with the quick connector grabbing assembly; the quick connector can be automatically grabbed and the torque controllable type spiral installation of the quick connector can be realized by matching with a mechanical arm and a vision compensation device.

Description

Quick-operation joint snatchs subassembly, quick-operation joint assembly structure and automatic assembly system

Technical Field

The invention relates to the technical field of automatic assembly of quick connectors of pipelines, in particular to a quick connector grabbing component, a quick connector assembly structure and an automatic assembly system suitable for assembling the quick connector of an air conditioner stop valve.

Background

The quick connector (such as a PP quick connector) is a quick connector which can realize the connection or disconnection of pipelines without an additional tool auxiliary machine shell, has the functions of exchange, test, conveying, filling, connection and the like, is widely applied to air conditioner pipelines at present, and is particularly suitable for being assembled and butted with an air conditioner stop valve.

When the quick connector is connected with other workpieces (such as pipeline valves of air conditioner stop valves and the like), the quick connector is mainly connected by threads, the traditional installation operation of the quick connector and a target workpiece needs to be firstly grabbed or clamped by means of a tool, and because the surface of the quick connector is irregular and the straight valve material (such as a PP quick connector) of the quick connector cannot be grabbed and clamped by magnetic attraction, the quick connector is mainly grabbed and clamped by tools such as hand twisting, electric screwdriver and air screwdriver at present, in the transferring or assembling process, the installation position needs to be confirmed manually and the quick connector is manually held manually in order to realize the assembly and positioning of the target workpiece and prevent the quick connector from falling off naturally due to the fact that the held straight valve part occupies small volume when being assembled, and the assembly position of the pipeline valve (such as the air conditioner stop valve) is usually uncomfortable and uncomfortable due to the self vibration generated by production tools such as the electric screwdriver and the air screwdriver and the like, so that repeated long-time operation easily causes the hand of an operator, and further causes the labor waste in the assembly process of the quick connector and the low assembly efficiency; in addition, the assembly mode also has the problems that the coaxiality and the torque are difficult to accurately control when the quick connector is screwed into the target valve, so that the quick connector is not assembled in place and is easy to interfere, and the quick connector and the pipeline valve are easy to damage due to rigid contact with the target valve during the assembly of the quick connector.

Therefore, the technical problems that the conventional quick connector is difficult to grab and easy to fall off due to the irregular surface and the inability of the material to be magnetically attracted are urgently needed to be solved in the field.

Disclosure of Invention

The invention provides a quick connector grabbing component, a quick connector assembling structure and an automatic assembling system applying the quick connector grabbing component and the quick connector assembling structure, which are particularly suitable for assembling a quick connector of an air conditioner stop valve, and aims to solve the technical problems that the existing quick connector is difficult to grab and easy to fall off due to the fact that the surface is irregular and materials cannot be attracted magnetically.

In order to solve the problems, the invention adopts the technical scheme that:

there is provided a quick connector gripping assembly, the quick connector comprising: connect the main part, the axial one end that connects the main part is equipped with straight valve, and quick-operation joint snatchs the subassembly and includes:

the clamping sleeve is sleeved on the straight valve, and the at least one elastic plunger is arranged on the circumferential surface of the clamping sleeve and is mutually clamped with the annular groove of the straight valve.

Preferably, the elastic plugs are uniformly distributed along the circumferential direction of the clamping sleeve.

Preferably, the clamping sleeve is further sleeved with the polygonal outer wall of the joint body, and the shape of the sleeved part of the clamping sleeve and the polygonal outer wall is matched with that of the polygonal outer wall.

The invention also provides a quick connector assembling structure, which comprises the quick connector grabbing component;

and the execution device is used for driving the clamping sleeve to be coaxially sleeved and used for grabbing the quick connector, driving the quick connector to be in butt joint with the pipeline valve and driving the quick connector to rotate around the axial direction of the quick connector to enable the quick connector to be in threaded connection with the pipeline valve.

Further, the actuator comprises a linear drive mechanism;

when the quick connector and the quick connector grabbing assembly are coaxial, the linear driving mechanism drives the clamping sleeve to move linearly along the axial direction of the clamping sleeve, so that the clamping sleeve is coaxially close to the quick connector.

Further, the actuating device also comprises a rotary driving mechanism;

the rotary driving mechanism is installed on the linear driving mechanism, the output shaft of the rotary driving mechanism and the clamping sleeve are fixedly connected with the other end of the straight valve in the axial direction and are coaxially arranged, and after the linear driving mechanism drives the clamping sleeve to grab the quick connector and align with the pipeline valve, the rotary driving mechanism is used for driving the clamping sleeve to drive the quick connector to coaxially rotate and be in threaded connection with the pipeline valve.

Further, the execution device further comprises:

and the torque sensor is connected between the output shaft and the clamping sleeve and used for sensing the torque of the output shaft.

Further, the rotary driving mechanism adopts a servo motor, and the executing device further comprises:

the mounting seat is mounted on the linear driving mechanism;

the clamping sleeve, the torque sensor and the servo motor are coaxially arranged on the mounting seat, and two ends of a connecting shaft of the torque sensor are respectively and fixedly connected with the clamping sleeve and the output shaft correspondingly.

Preferably, the linear driving mechanism is a slide cylinder.

Further, the linear driving mechanism further includes:

the device comprises a sliding seat fixedly arranged on a sliding table cylinder, a pair of supporting seats arranged on the sliding seat at intervals, at least one guide shaft fixedly connected between the pair of supporting seats along the axial direction of a clamping sleeve, at least one linear bearing arranged on the guide shaft and capable of sliding along the sliding seat, and an elastic piece connected between the at least one linear bearing and the adjacent supporting seat;

the mounting seat is fixedly mounted on the linear bearing;

when the quick connector is in butt joint with the pipeline valve and is tightly propped against the pipeline valve, the elastic piece is stressed to store energy.

Preferably, the pipeline valve is an air conditioner stop valve.

The present invention also provides an automatic assembly system, comprising:

the quick connector assembly structure is described above;

and the feeding device is used for conveying the quick joint to enable the position of the feeding device to be matched with the quick joint grabbing assembly.

Preferably, the automated assembly system includes at least two quick connector assembly structures.

Further, still include:

the automatic assembly device comprises a mechanical arm capable of freely moving, a support arranged on the mechanical arm and used for installing a quick connector assembly structure, a visual compensation device arranged on the support and used for acquiring the assembly position of a pipeline valve, and a controller used for controlling the mechanical arm according to the assembly position.

Compared with the prior art, the quick connector grabbing component, the quick connector assembling structure and the automatic assembling system using the quick connector grabbing component and the quick connector assembling structure have the following beneficial effects:

the quick connector grabbing component, the quick connector assembling structure and the automatic assembling system applying the quick connector grabbing component and the quick connector assembling structure can realize automatic and quick assembling actions of the quick connector and have the following advantages:

1. the quick connector grabbing component comprises a clamping sleeve, wherein an inner hexagonal mounting hole matched with an outer hexagonal structure of a quick connector is formed in an inner cavity of the clamping sleeve, a plurality of elastic plungers extending into the inner cavity are arranged on the side wall of the clamping sleeve, the quick connector is grabbed through the clamping fit between the elastic plungers and a groove of a straight valve part of the quick connector and the limiting effect of the inner hexagonal mounting hole and the outer hexagonal structure, the quick connector is prevented from naturally falling off due to gravity when being grabbed, and the problems that a traditional magnetic grabbing clamp is not suitable for an irregular surface of the quick connector and materials cannot be attracted magnetically are solved.

2. The quick connector grabbing component provided by the invention can drive the clamping sleeve to be coaxially sleeved and grab the quick connector, drive the quick connector to be butted with the pipeline valve and drive the quick connector to rotate around the axial direction of the quick connector to enable the quick connector to be in threaded connection with the pipeline valve, so that the quick connector is moved from a material loading position to be butted with the pipeline valve, and is rotated mutually and screwed tightly, meanwhile, the torque of the spiral installation is accurately controlled by adopting the rotary driving of the servo motor, the standardized controllable assembly of the spiral screwed thread of the quick connector is realized, the torque technological requirement of the quick connector when the pipeline valve is screwed in the spiral way is realized, the torque can be sensed by the torque sensor in real time, and the abnormal feedback can be made by the torque sensor in time when the abnormal torque is sensed.

3. The quick connector assembly structure provided by the invention is characterized in that the elastic part (preferably a linear spring) is additionally arranged in the guide shaft on the sliding seat, so that the rigid contact between the quick connector and the pipeline valve during installation and assembly is avoided, the axial feed required by the thread screwing action during the assembly of the quick connector and the pipeline valve can be provided, and the buffer effect is realized during the assembly process.

4. The linear driving mechanism of the quick connector assembling structure provided by the invention preferably adopts a sliding table cylinder so as to realize axial feeding when a thread is screwed in the final assembling action, and meanwhile, a compressed gas source is used as power, and the linear driving mechanism can play a role of buffering to a certain extent due to the compressibility of gas.

5. The automatic assembly system provided by the invention adopts a double-station double-drive structure, and meanwhile, the bracket is provided with the double-station mounting hole, so that the simultaneous operation of correspondingly mounting the double quick connector assembly structures on the double stations can be realized, the double-station mounting hole can be arranged in a front-back staggered manner, and the mounting hole can also adopt a waist-shaped hole or a waist-shaped through groove as a yielding slotted hole, so that the relative position of the double stations can be adjusted, and the adaptability and the action efficiency are enhanced.

6. The automatic assembly system provided by the invention is also provided with the visual compensation device, can acquire images of position errors existing between the quick connector and the assembly position (namely the target position) of the pipeline valve through the visual compensation device, and feeds image information back to the controller of the automatic assembly system for offset compensation, is suitable for the situation that the positioning of the assembly position of a target workpiece is unreliable, and enhances the assembly accuracy of the automatic assembly system.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic view of an assembly structure of a quick connector gripping assembly and a quick connector according to an embodiment of the present invention;

FIG. 2 isbase:Sub>A schematic cross-sectional view of the quick connector access assembly and quick connector of FIG. 1 taken along line A-A;

FIG. 3 is a schematic view of the overall structure of the quick coupling assembling structure according to the embodiment of the present invention;

FIG. 4 is a control logic diagram of an automated assembly system in an embodiment of the present invention.

Wherein, in the drawings, the reference numerals are mainly as follows:

1. a quick coupling; 11. a connector body; 12. a straight valve; 121. an annular groove; 111. an internal thread; 2. a clamping sleeve; 21. an elastic plunger; 22. an inner cavity; 221. an inner hexagonal mounting hole; 222. a cylindrical bore; 23. a rotating shaft; 3. a sliding table cylinder; 31. a slide base; 32. a supporting seat; 33. a guide shaft; 34. a linear bearing; 35. an elastic member; 4. a mounting seat; 41. a motor support frame; 42. a clamping sleeve support frame; 43. a pedestal bearing; 5. a support; 6. a vision compensation device; 7. a servo motor; 71. an output shaft; 8. a torque sensor; 81. a connecting shaft; 9. a coupling is provided.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to fig. 1 to 3 and the embodiments.

Referring to fig. 1-2, the present invention provides a quick connector gripping assembly, the quick connector comprising: the joint comprises a joint main body 11, wherein a straight valve 12 coaxial with the joint main body 11 is arranged at one axial end of the joint main body 11, and a threaded hole with an internal thread 111 is formed at the other axial end of the joint main body 11 and is used for being connected with a corresponding external thread of a target pipeline valve; quick-operation joint 1 snatchs the subassembly and includes: the clamping sleeve 2 is sleeved on the straight valve 12, and the at least one elastic plunger 21 is arranged on the circumferential surface of the clamping sleeve 2 and is mutually clamped with the annular groove 121 of the straight valve 12. In this embodiment, elastic plunger 21 has a plurality ofly along the circumference evenly distributed of centre gripping sleeve 2 to further press from both sides tight straight valve 12 and strengthen spacing assembly and avoid droing, and tentatively realize quick-operation joint 1 prevent changeing spacingly. As a preferred embodiment, four elastic plungers 21 are uniformly distributed along the circumferential direction of the clamping sleeve 2; as another embodiment, three elastic plungers 21 are uniformly distributed along the circumferential direction of the grip sleeve 2. Realize quick-operation joint 1 at the axial of centre gripping sleeve 2 and radial ascending spacing through the mutual joint of annular groove 121 and a plurality of elasticity plunger 21 to replace traditional hand to twist, the electricity is criticized or instrument such as wind is criticized carries out quick-operation joint 1 centre gripping operation, solved quick-operation joint 1 because of surface irregularity and the material can't be inhaled by magnetism and lead to snatching the problem of difficulty, easily droing.

In this embodiment, the clamping sleeve 2 is further sleeved with the polygonal outer wall of the joint body 11, and the shape of the portion of the clamping sleeve 2 sleeved with the polygonal outer wall is matched with the polygonal outer wall. In a preferred embodiment, the axial end of the connector body 11 provided with the straight valve 12 is in an external hexagonal structure, and the axial end of the clamping sleeve 2 is provided with an inner cavity 22 with a shape matched with the external shape of the quick connector 1, wherein the inner cavity 22 comprises: the inner hexagonal mounting hole 221 is matched with the outer hexagonal structure of the axial end, provided with the straight valve 12, of the connector main body 11 in shape, and the anti-rotation limit of the quick connector 1 arranged in the clamping sleeve 2 is further enhanced through the matching of the inner hexagonal mounting hole 221 and the outer hexagonal structure; the cylindrical hole 222 is arranged at the bottom of the inner hexagonal mounting hole 221, the shape of the cylindrical hole 222 is matched with the shape of the straight valve 12, and the elastic plunger 21 is arranged on the side wall of the clamping sleeve 2 corresponding to the groove and extends into the cylindrical hole 222 of the inner cavity 22.

Referring to fig. 3, the present invention further provides an automatic assembling structure of a quick coupling 1, which includes the above-mentioned quick coupling 1 grabbing component, and further includes an executing device for driving the clamping sleeve 2 to coaxially sleeve and grab the quick coupling 1, driving the quick coupling 1 to butt with a pipeline valve, and driving the quick coupling 1 to rotate around its axial direction to make it screwed with the pipeline valve, so as to automatically grab the quick coupling 1 and assemble it to the pipeline valve.

In this embodiment, the actuator comprises a linear drive mechanism; when quick-operation joint 1 snatchs the subassembly with the axle center with quick-operation joint 1, linear drive mechanism drive clamping sleeve 2 is along the axial linear motion of clamping sleeve 2, so that clamping sleeve 2 is coaxial to be close to quick-operation joint 1, cup joint in quick-operation joint 1 until clamping sleeve 2 is coaxial, and a plurality of elasticity plungers 21 through clamping sleeve 2 snatch quick-operation joint 1 with the cooperation of recess joint, realize that clamping sleeve 2 is coaxial cup joints and spacing quick-operation joint 1 of snatching, prevent that quick-operation joint 1 from droing because of gravity nature in the clamping sleeve 2.

In this embodiment, the actuator further comprises a rotational drive mechanism; rotary driving mechanism installs on linear actuating mechanism, rotary driving mechanism's output shaft 71 and centre gripping sleeve 2 keep away from the axial other end fixed connection of straight valve 12 and the coaxial setting of the two, quick-operation joint 1 is grabbed when linear actuating mechanism drive centre gripping sleeve 2, and drive behind the assembly position of the pipeline valve of quick-operation joint 1 and the coaxial alignment of pipeline valve by actuating device, rotary driving mechanism is used for driving centre gripping sleeve 2 and drives the coaxial rotation of quick-operation joint 1, thereby realize driving quick-operation joint 1 and rotate around the axial, make relative precession and threaded connection between the internal thread 111 of quick-operation joint 1 and the external screw thread of pipeline valve.

In this embodiment, the execution apparatus further includes: and the torque sensor 8 is connected between the output shaft 71 and the clamping sleeve 2 and used for sensing the torque of the output shaft 71 and automatically feeding back when abnormal assembly of the torque is sensed, and when the torque sensed by sensing the output shaft 71 reaches a set value corresponding to the state that the quick coupling 1 is in butt joint with the pipeline valve thread in place, the torque sensor 8 feeds back to the system controller to control the rotary driving mechanism to stop driving the output shaft 71, so that the torque of the quick coupling 1 rotating around the axial direction of the quick coupling 1 is controlled to ensure that the quick coupling 1 is in butt joint with the pipeline valve thread in place.

As a preferred embodiment, the rotary driving mechanism adopts a servo motor 7 to precisely control the torque, the rotating speed and the acceleration, and the executing device further comprises: the mounting seat 4 is mounted on the linear driving mechanism and linearly moves along the axial direction of the clamping sleeve 2 along with the linear moving piece of the linear driving mechanism; the clamping sleeve 2, the torque sensor 8 and the servo motor 7 are coaxially arranged on the mounting seat 4, and two ends of a connecting shaft 81 of the torque sensor 8 are respectively and fixedly connected with the clamping sleeve 2 and the output shaft 71 correspondingly. As a more preferable embodiment, the other end of the clamping sleeve 2, which is far away from the straight valve 12 in the axial direction, is provided with a rotating shaft 23, and two ends of a connecting shaft 81 of the torque sensor 8 are correspondingly connected with the rotating shaft 23 and an output shaft 71 of the servo motor 7 through a coupler 9 respectively; the servo motor 7 is arranged on the motor support frame 41 arranged on the mounting seat 4, and an output shaft 71 of the servo motor 7 is arranged on a bearing of the motor support frame 41; a supporting frame of the clamping sleeve 2 is arranged on the mounting seat 4, a bearing 43 with a seat is arranged on the supporting frame of the clamping sleeve 2, and the rotating shaft 23 of the other axial end, far away from the straight valve 12, of the clamping sleeve 2 is arranged on the bearing 43 with the seat of the supporting frame of the clamping sleeve 2; the rotating shaft 23 of the clamping sleeve 2 and the tail end of the output shaft 71 of the servo motor 7 are respectively provided with a coupler 9, and two ends of the connecting shaft 81 of the torque sensor 8 are respectively provided with a pair of couplers 9 correspondingly connected with the rotating shaft 23 and the tail end couplers 9 of the output shaft 71.

In this embodiment, linear drive mechanism is slip table cylinder 3 in order to realize flexible drive, and linear drive mechanism's linear motion spare is the slip table of slip table cylinder 3, and slip table cylinder 3 is used for driving this slip table along the axial linear motion of centre gripping sleeve 2, and actuating device's mount pad 4 fixed mounting is on the slip table and along the axial linear motion of slip table along centre gripping sleeve 2 to drive centre gripping sleeve 2 along its axial linear motion.

In this embodiment, the linear driving mechanism further includes: a sliding seat 31 fixedly installed on the sliding table cylinder 3, a pair of supporting seats 32 arranged on the sliding seat 31 at intervals, at least one guide shaft 33 fixedly connected between the pair of supporting seats 32 along the axial direction of the clamping sleeve 2, at least one linear bearing 34 arranged on the guide shaft 33 and capable of sliding along the sliding seat 31, and an installation seat 4 fixedly installed on the linear bearing 34; an elastic member 35 connected between the at least one linear bearing 34 and the adjacent support seat 32; as a preferred embodiment, the elastic member 35 is a linear spring; in other embodiments, the elastic member 35 may also be a linear tension spring, a spring plate or a spring column.

When the quick coupling 1 is abutted to the pipeline valve and is driven by the actuator (which may be driven by the extension of the sliding table cylinder 3 or by a robot arm) to abut against the pipeline valve, the elastic member 35 is stressed to store energy (if the elastic member 35 is a linear spring, the linear spring is stressed and shortened, and if the elastic member 35 is a linear spring, the linear spring is stretched). When the quick coupling 1 is abutted against the pipeline valve and the two are abutted against each other, the actuating device drives the quick coupling 1 to rotate around the axial direction of the quick coupling, and at the moment, the elastic piece 35 releases the force to provide the axial feeding force required by the threaded connection when the internal thread 111 of the quick coupling 1 and the external thread of the pipeline valve are mutually rotated and abutted, and provides an axial buffering effect.

As a preferred embodiment, the pipeline valve is an air conditioner stop valve, that is, the automatic assembling structure of the quick coupling 1 provided by the present application can be preferably applied to an air conditioner pipeline system.

The invention also provides an automatic assembly system (not shown in the figures) comprising: the automatic assembling structure of the quick connector 1 is described; a feeding device which conveys the quick connector 1 and enables the position of the feeding device to be matched with the quick connector 1 grabbing component, and an assembly line of the transmission pipeline valve. As a preferred embodiment, the feeding device adopts a conveyor belt device, and the quick connector 1 is positioned at a feeding station of the conveyor belt device through a limiting device.

As the preferred embodiment, the automatic assembly system comprises at least two automatic assembly structures of the quick connectors 1, the two clamping sleeves 2 are arranged in parallel, the two clamping sleeves 2 correspondingly grab the two quick connectors 1 respectively, the two sliding table cylinders 3 drive the two sliding tables to move along the axial linear direction of the clamping sleeves 2 respectively, the two quick connectors 1 can be assembled at one time through the double-station arrangement of the automatic assembly structures of the quick connectors 1, and the problem that the takt time of the assembling process of the quick connectors 1 is too long is solved.

In this embodiment, the automatic assembling system further includes: the automatic assembling device comprises a mechanical arm capable of freely moving, a support 5 arranged on the mechanical arm and used for installing an automatic assembling structure of the quick connector 1, a visual compensation device 6 arranged on the support 5 and used for acquiring the assembling position of a pipeline valve, and a controller for controlling the mechanical arm according to the assembling position. Specifically, the vision compensation device 6 is used for obtaining an assembly position of the pipeline valve and feeding the assembly position back to the automatic assembly system, and the automatic assembly system controls the mechanical arm to drive the quick coupling 1 to perform position offset compensation according to the assembly position and the position offset of the quick coupling 1, so that the quick coupling 1 is aligned to the assembly position of the pipeline valve.

In this embodiment, the support 5 adopts an L-shaped sheet metal structure, and includes two sheet metal parts that are connected perpendicularly to each other, one of them sheet metal part holds carrier as the installation of quick-operation joint 1 automatic assembly structure (including quick-operation joint 1 snatchs subassembly, final controlling element), and wherein another sheet metal part is as the connecting piece with arm fixed mounting. As an embodiment, the bracket 5 further comprises a reinforcing triangular plate respectively connected between two sheet metal parts which are vertically connected with each other; visual compensation arrangement 6 installs in one of them sheet metal component bottom through L type stores pylon.

In this embodiment, one of the sheet metal parts is provided with a plurality of mounting holes for fitting with the sliding table cylinder 3 of the execution device. As a preferred embodiment, one of the sheet metal parts is provided with two rows of parallel mounting holes which are respectively used for being matched with and mounting two sliding table cylinders 3 which are arranged in parallel to realize the double-station simultaneous operation of the automatic assembly system. In an embodiment, two rows of parallel mounting holes which are staggered back and forth in the axial direction are formed in one sheet metal part and are respectively used for being matched with and mounting two sliding table cylinders 3 which are arranged in parallel but staggered back and forth in the axial direction, so that the automatic assembly system can simultaneously set two automatic assembly structures of the quick connectors 1 which are parallel but staggered back and forth in the axial direction, namely, the relative mounting positions of the two sliding table cylinders 3 can be matched with the assembly positions of two external threads which are parallel but staggered back and forth in the axial direction of a target pipeline valve. As a more preferred embodiment, at least one row of mounting holes adopt a kidney-shaped hole or kidney-shaped through groove structure, so that the relative mounting positions of the two sliding table cylinders 3 can be adjusted according to the assembly position relation of the two external threads of the target pipeline valve, and the adaptability and the action efficiency of the automatic assembly system are enhanced. As an example, another sheet metal part is provided with a plurality of flange mounting holes for cooperation with a mounting flange of the robot arm.

In other embodiments, all kinds of tools having a structure similar to that of the quick coupling 1, one end of which is provided with a groove and the other end of which is provided with an internal thread 111 for screw-assembling with other workpieces, can be automatically assembled by using the gripping assembly of the quick coupling 1, the automatic assembling structure of the quick coupling 1 and the automatic assembling system using the same provided by the present invention.

Referring to fig. 4, the working flow and control logic of the automatic assembly system in the embodiment of the present invention are as follows:

1. firstly, a manipulator starts to move to a feeding station from an initial position, starts to grab a quick connector 1 through a clamping sleeve 2 on a support 5 after the manipulator is in place, and starts to perform subsequent assembly after a pipeline valve (namely a target workpiece) to be assembled is conveyed to the place (positioned at an assembly position) by a feeding device;

2. the position of the pipeline valve is photographed and positioned through a matched visual compensation device 6, the position information of the pipeline valve is fed back and transmitted to a controller of an automatic assembly system, the controller carries out position deviation compensation according to a feedback signal to realize assembly position calibration and positioning, and after data processing is finished, the controller generates a corresponding control signal to control a manipulator to move to an assembly position (namely a target assembly point) of the pipeline valve to prepare for assembly;

3. the sliding table cylinder 3 on the bracket 5 is extended to realize linear displacement driving of the quick connector 1, the quick connector 1 is sent to an assembly position (in the process, a certain pre-pressing action of a linear spring connected between a linear bearing on a guide shaft 33 on a sliding seat 31 and a supporting seat 32 needs to be ensured), the linear spring on the guide shaft 33 is compressed and contracted to store elastic potential energy, so that axial feeding force is provided for the subsequent screwing of the quick connector 1 into a pipeline valve in a spiral mode, and rigid collision between rigid workpieces caused by the pre-pressing action is buffered;

4. after the previous action is finished, the servo motor 7 starts to act, the threads of the quick connector 1 and the pipeline valve are screwed in rotationally according to a set value of the torque, the linear spring releases the elastic potential energy stored before along with the screwing in of the threads so as to ensure axial feeding, and meanwhile, the torque sensor 8 detects the torque of a connecting shaft of the linear spring in real time;

5. after the torque sensor 8 detects that the torque reaches or exceeds a set value of the torque (such as data abnormity and synchronous alarm in the process), a signal is fed back to the controller, the controller judges that the quick coupling 1 is screwed in place and the assembly action is completed, and the sliding table cylinder 3 acts and contracts until the clamping sleeve 2 is withdrawn from the assembly position;

6. and after the sliding table cylinder 3 is completely withdrawn, the manipulator starts to act until the manipulator is reset to the initial position, the automatic assembly system returns to the initial position point, the one-time circulating action process of the system is finished, and the system enters a standby state to be ready for receiving a starting signal for executing the next circulating action.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A quick connector gripping assembly, the quick connector comprising: connect the main part, the axial one end that connects the main part is equipped with straight valve, its characterized in that, quick-operation joint snatchs the subassembly and includes:

2. The quick connector gripping assembly of claim 1, wherein the plurality of resilient plungers are evenly distributed along a circumference of the gripping sleeve.

3. The quick connector assembly as recited in claim 1 or 2, wherein the gripping sleeve is further configured to interfit with the polygonal outer wall of the connector body, and wherein the portion of the gripping sleeve that interfits with the polygonal outer wall is shaped to mate with the polygonal outer wall.

4. A quick connector assembly structure comprising the quick connector capture assembly of any one of claims 1-3;

and the execution device is used for driving the clamping sleeve to be coaxially sleeved and grabbed with the quick connector, driving the quick connector to be butted with the pipeline valve and driving the quick connector to rotate around the axial direction of the quick connector to enable the quick connector to be in threaded connection with the pipeline valve.

5. The quick connector assembly structure of claim 4, wherein said actuator includes a linear drive mechanism;

when the quick connector and the quick connector grabbing assembly are coaxial, the linear driving mechanism drives the clamping sleeve to linearly move along the axial direction of the clamping sleeve, so that the clamping sleeve is coaxially close to the quick connector.

6. The quick connector assembly structure of claim 5, wherein said actuator further comprises a rotary drive mechanism;

the rotary driving mechanism is installed on the linear driving mechanism, an output shaft of the rotary driving mechanism and the other axial end, far away from the straight valve, of the clamping sleeve are fixedly connected and coaxially arranged, when the linear driving mechanism drives the clamping sleeve to grab the quick connector and align with the pipeline valve, the rotary driving mechanism is used for driving the clamping sleeve to drive the quick connector to coaxially rotate and be in threaded connection with the pipeline valve.

7. The quick connector assembly structure of claim 6, wherein the actuator further comprises:

8. The quick connector assembly structure of claim 7, wherein the rotary drive mechanism employs a servo motor, and the actuator further comprises:

the mounting seat is mounted on the linear driving mechanism;

9. The quick connector assembly structure of claim 8, wherein said linear drive mechanism is a slide cylinder.

10. The quick connector assembly structure of claim 9, wherein said linear drive mechanism further comprises:

the clamping sleeve comprises a sliding seat fixedly arranged on the sliding table cylinder, a pair of supporting seats arranged on the sliding seat at intervals, at least one guide shaft fixedly connected between the pair of supporting seats along the axial direction of the clamping sleeve, at least one linear bearing arranged on the guide shaft and capable of sliding along the sliding seat, and an elastic part connected between the at least one linear bearing and the adjacent supporting seat;

the mounting seat is fixedly mounted on the linear bearing;

when the quick connector is abutted against the pipeline valve, the elastic piece is stressed to store energy.

11. The quick connector assembly structure as claimed in any one of claims 4 to 10, wherein the line valve is an air conditioner shut-off valve.

12. An automated assembly system, comprising:

the quick coupling assembling structure according to any one of claims 4 to 11;

13. The automated assembly system of claim 12, including at least two of said quick connector assembly structures.

14. The automated assembly system of claim 12, further comprising:

the quick connector assembling structure comprises a mechanical arm capable of freely moving, a support arranged on the mechanical arm and used for installing the quick connector assembling structure, a visual compensation device arranged on the support and used for acquiring the assembling position of the pipeline valve, and a controller used for controlling the mechanical arm according to the assembling position.