CN115139104B

CN115139104B - Press pump integrated automatic assembling machine adopting multiple mechanical arms to work cooperatively

Info

Publication number: CN115139104B
Application number: CN202211081924.XA
Authority: CN
Inventors: 黄剑蕾
Original assignee: Guangzhou Ligao Plastic Products Co ltd
Current assignee: Guangzhou Ligao Plastic Products Co ltd
Priority date: 2022-09-06
Filing date: 2022-09-06
Publication date: 2022-11-15
Anticipated expiration: 2042-09-06
Also published as: CN115139104A

Abstract

The invention discloses a press pump integrated automatic assembling machine adopting multiple mechanical arms to work cooperatively, which comprises a workbench and a rotary table, wherein the rotary table is rotatably arranged on the workbench so that the rotary table can rotate relative to the workbench, and a first mechanical arm device, a material lead-in device, a tightness detection assembly, an outer cover pressing assembly, a positioning device, a position detection device, a second mechanical arm device, a gland lead-in device, a gland pressing device, a lock head device, a clamp feeding device, a suction pipe shearing device, a first discharge barrel, a discharge ejection device and a second discharge barrel are arranged on the workbench in a surrounding manner, the rotary table is rotatably arranged on the workbench, and a qualified finished product press pump and an unqualified finished product press pump are assembled by the components and then are respectively sent out from the first discharge barrel and the second discharge barrel. The invention can realize the assembly of the pressing pump with high automation degree, realize that one worker can operate and finish the assembly of the pressing pump, and improve the working efficiency and the product percent of pass.

Description

Press pump integrated automatic assembling machine adopting multiple mechanical arms to work cooperatively

Technical Field

The invention relates to the technical field of production equipment for pressing pumps, in particular to an integrated automatic pressing pump assembling machine adopting multiple mechanical arms to work cooperatively.

Background

As shown in fig. 1 and 2, many current pressing pumps generally include an outer cap, a friction cylinder, a suction pipe and a gland, and in a production line, the gland, the outer cap, the friction cylinder and the suction pipe are assembled together to form the pressing pump. The liquid pump comprises a pressing pump body, a pressing cover, a groove, a locking column strip and a pressing pump body, wherein the pressing cover is fixedly provided with one side of the pressing cover, the locking column strip is inserted into the groove in the outer cover, the pressing cover can move on the outer cover along the axial direction of the outer cover but is forbidden to rotate, the pressing in the vertical direction is achieved, and liquid is sucked into the pressing pump body and finally discharged. When the lock cylinder strip is disengaged from the groove and is positioned at other positions of the cavity of the outer cover, the gland can rotate relative to the outer cover but is prevented from moving axially. The outer cover is buckled and installed at the upper end of the friction cylinder, the lower end of the friction cylinder is communicated and connected with the suction pipe, and the suction pipe is directly inserted into the lower end of the friction cylinder. The method comprises the following steps that in the process of assembling the pressing pump, at least three process steps are included, firstly, the pressing cover is inserted into the outer cover, and the locking column strip on the pressing cover is located at a position far away from the groove, so that liquid is prevented from being accidentally squeezed out when the pressing cover is pressed in the transportation process; secondly, pressing and buckling the outer cover on the friction cylinder; thirdly, the pipette is inserted into the syringe.

To assemble the three components, current production is usually performed manually, and each process is performed manually by at least one worker, so that assembling such a push pump requires at least three workers to perform manual installation. The production mode is low in efficiency, and needs a plurality of workers to complete the production, and the production cost is high due to the fact that the labor cost is high. Accordingly, it is desirable to have a device that is cost effective, efficient and effective to achieve automated pump assembly.

Disclosure of Invention

In view of the shortcomings of the prior art, the present invention provides an automatic press pump integrated assembling machine with multiple manipulators cooperating with each other, which can solve the problems described in the background art.

The technical scheme for realizing the purpose of the invention is as follows: an automatic press pump integrated assembling machine adopting multiple mechanical arms to work cooperatively is used for assembling a press pump, the press pump comprises an outer cover, a massage cylinder, a suction pipe and a gland, the gland is buckled on the outer cover, the outer cover is buckled at the upper end of the massage cylinder, the suction pipe is arranged at the lower end of the massage cylinder,

the automatic press pump integrated assembling machine comprises a workbench and a rotary table, wherein the rotary table is rotatably arranged on the workbench to enable the rotary table to rotate relative to the workbench, and a first mechanical hand device, a material feeding device, a sealing detection assembly, an outer cover pressing assembly, a positioning device, a position detection device, a second mechanical hand device, a gland feeding device, a gland pressing device, a lock device, a clamp feeding device, a straw shearing device, a first discharging barrel, a discharging ejection device and a second discharging barrel are arranged on the workbench in a surrounding manner, wherein the rotary table is rotatably arranged on the workbench to enable a station mounting hole on the rotary table to rotate once along with the rotary table to realize the movement from the current station to the next station,

the first discharging barrel is positioned at one side of the clip feeding device, the second discharging barrel is positioned at one side of the first discharging barrel, the discharging ejection device is positioned below the rotary table, the output end of the discharging ejection device ejects the pressing pump positioned on the rotary table to drop into the second discharging barrel, the outlet of the output end of the discharging ejection device inclines downwards to the inlet of the second discharging barrel, so that the ejected pressing pump can drop into the second discharging barrel,

the material guiding device is used for sending the external pressing pump to be assembled to a position close to the turntable, so that the first manipulator on one side of the material guiding device can be placed on a station mounting hole of the turntable after being grabbed by the pressing pump on the tail end of the material guiding device,

the tightness detection assembly is used for detecting the tightness of a friction cylinder of a pressing pump to be assembled on the turntable through water injection or gas injection,

the outer cover pressing component is used for pressing the outer cover down and buckling the outer cover on the friction cylinder,

the position adjusting device is used for buckling the outer cover on the rubbing barrel so as to enable the groove of the outer cover on the outer cover to be positioned at a preset position,

the position detection device is used for detecting whether the outer cover groove after the position is adjusted by the position adjusting device is positioned at the preset position or not,

the second manipulator device is used for grabbing and sending the gland positioned on the gland leading-in device into the turntable,

the gland leading-in device is used for sequentially sending external glands to the vicinity of the turntable so that the second mechanical arm can grab the glands,

the gland pressing device is used for slightly pressing the gland downwards to be buckled on the outer cover so as to prevent the gland from falling off the outer cover and realize the first pressing and pressing on the outer cover,

the lock head device is used for inserting the lock column strip on the gland into the outer cover groove of the outer cover, moving the lock column strip out of the outer cover groove after rotating and positioning the lock column strip in the cavity of the outer cover, so that the gland is prohibited to slide along the axial direction of the outer cover, but the gland can rotate along the circumferential surface of the outer cover,

the clip feeding device is used for feeding and pushing the clip into the gland to prohibit the gland from rotating relative to the outer cover, and after the gland is prevented from rotating to a corresponding position by avoiding rotating the gland, the lock cylinder bar on the gland is positioned in the groove of the outer cover to press the gland, so as to avoid accidentally extruding liquid,

the straw shearing device is used for inserting the external long pipe into the rubbing barrel and shearing the external long pipe to obtain the straw with the corresponding length, so that the pressing cover, the outer cover, the rubbing barrel and the straw are assembled together to form the assembled finished product pressing pump,

the first discharging barrel is used for outputting qualified finished product pressing pumps, the discharging ejection device is used for sending unqualified finished product pressing pumps into the second discharging barrel, and the second discharging barrel sends out unqualified pressing pumps.

The beneficial effects of the invention are as follows: the invention can realize the assembly of the pressing pump with high automation degree, and one assembly machine can be used for looking after a worker (putting corresponding materials on the external vibrating material discs on the material leading-in device and the clamp leading-in device), thereby greatly improving the working efficiency and the qualification rate of product assembly and avoiding the risk of unqualified and overhigh finished products of the assembled pressing pump caused by excessive manual operation. Realize that a workman can operate the equipment of accomplishing the pressing pump, improved work efficiency and product percent of pass.

Drawings

FIG. 1 is a schematic view of a conventional push pump;

FIG. 2 is a second schematic view of a conventional push pump;

FIG. 3 is a schematic structural diagram of the present invention;

FIG. 4 is a schematic view of the present invention;

FIG. 5 is a schematic view of the present invention;

FIG. 6 is a schematic structural view of a robot apparatus;

FIG. 7 is a schematic structural view of a material introducing apparatus;

FIG. 8 is a schematic view showing the structure of a material introducing apparatus;

FIG. 9 is a schematic view showing the structure of a material introducing apparatus;

FIG. 10 is a schematic view of a lock cylinder assembly;

FIG. 11 is a schematic view of a lock cylinder assembly;

FIG. 12 is a schematic view of a lock cylinder assembly;

FIG. 13 is a schematic view of a seal detection assembly;

FIG. 14 is a schematic structural view of the outer lid compression assembly;

FIG. 15 is a schematic view showing the structure of the gland introducing apparatus;

FIG. 16 is a schematic view of the positioning device;

FIG. 17 is a schematic view of a position detecting device;

figure 18 is one of the schematic structural views of the gland pressing device;

FIG. 19 is a view showing one of the structures of the gland pressing means;

FIG. 20 is a schematic view of the structure of the turntable;

FIG. 21 is a schematic view of a turntable;

FIG. 22 is one of the schematic views of the structure of the clip feeding apparatus;

FIG. 23 is one of the schematic views of the structure of the clip feeding apparatus;

FIG. 24 is a schematic view of the present invention;

FIG. 25 is a schematic view showing the construction of a straw cutting device;

FIG. 26 is a schematic view showing the construction of a straw cutting device;

FIG. 27 is a schematic view showing the structure of a straw cutter;

FIG. 28 is an enlarged schematic view at B of FIG. 12;

in the figure, the position of the first and second end faces, 100-outer cover groove, 200-outer cover, 300-friction cylinder, 400-suction pipe, 500-gland, 600-lock column bar, 1-rotary table, 101-station mounting hole, 102-rotary table motor, 103-rotary table support, 2-workbench, 3-material leading-in device, 301-material guide rail, 302-material limiting plate, 303-material receiving plate, 3031-material receiving groove, 304-material guide block, 3041-material guide groove, 305-material guide cylinder, 306-material guide support, 4-first mechanical hand device, 401-groove guide rail, 402-rotating arm, 403-rotating shaft, 404-slider mounting seat, 405-slider, 406-longitudinal guide rail, 407-connecting plate, 408-clamping cylinder, 409-gripper, and the like 410-manipulator support, 411-transverse guide rail, 412-rail plate, 413-manipulator motor, 5-sealing detection assembly, 501-propulsion cylinder, 502-top column, 503-column cylinder, 504-injection port, 505-sealing bottom plate, 506-sealing support, 6-outer cover pressing assembly, 601-outer cover pressing support, 602-clamping cylinder, 603-clamping handle, 7-positioning device, 701-positioning motor, 702-positioning fixed block, 703-positioning rotating head, 704-sliding plate, 705-positioning support, 706-guide rail plate, 707-positioning cylinder, 8-position detection device, 801-position detection cylinder, 802-position detection connecting plate, 803-position detection sliding column, 804-position detection strip block, 805-position detection support, 9-second manipulator device, 10-gland guide-in device, 1001-push-in air cylinder, 1002-push-in guide plate, 1003-limit groove, 1004-gland guide-in platen, 1005-gland guide-in support, 1006-material guide groove, 11-gland pressing device, 1101-gland pressing air cylinder, 1102-gland pressing column, 1103-first transverse clamping air cylinder, 1104-first clamping block, 1105-second clamping block, 1106-second transverse clamping air cylinder, 1107-gland pressing support, 12-lock device, 1201-lock motor, 1202-lock cylinder, 12021-push block, 1203-lock plate, 1204-lock guide plate, 1205-lock support, 1206-rotating head, etc 1207-lock head connecting block, 1208-lock head connecting rod, 1209-lock head sliding cylinder, 12091-sensing rod, 1210-sensing bracket, 13-clamp feeding device, 1301-clamp guide rail, 1302-clamp limiting plate, 1303-clamp pushing cylinder, 1304-clamp bottom plate, 1305-clamp bracket, 1306-clamp limiting groove, 1307-clamp pressing plate, 1308-pushing block, 14-straw shearing device, 1401-moving block, 1402-strip pressing plate, 1403-shearing pushing cylinder, 1404-screw rod, 1405-shearing connecting block, 1406-shearing pushing motor, 1407-straw shearing bracket, 1408-straw shearing guide rail, 1409-shearing knife, 1410-pipe inserting hole, 15-first discharging cylinder, 16-discharging ejection device, 17-a second discharging barrel.

Detailed Description

The invention is further described with reference to the accompanying drawings and specific embodiments:

as shown in fig. 1 to 28, the press pump integrated automatic assembling machine, which uses a plurality of robots to cooperate, is used for assembling a press pump, and the press pump includes an outer cap 200, a massage cylinder 300, a suction pipe 400 and a pressing cap 500, wherein the pressing cap 500 is fastened to the outer cap 200, the outer cap 200 is fastened to the upper end of the massage cylinder 300, and the suction pipe 400 is mounted to the lower end of the massage cylinder 300. The automatic press pump integrated assembling machine comprises a workbench 2 and a rotary table 1, wherein the rotary table 1 is rotatably installed on the workbench 2, so that the rotary table 1 can rotate relative to the workbench 2, and a first mechanical arm device 4 surrounding the rotary table 1 and installed on the workbench 2, a material guide-in device 3, a sealing detection assembly 5, an outer cover pressing assembly 6, a positioning device 7, a position detection device 8, a second mechanical arm device 9, a gland guide-in device 10, a gland pressing device 11, a lock head device 12, a clamp feeding device 13, a straw shearing device 14, a first discharging barrel 15, a discharging ejection device 16 and a second discharging barrel 17. The rotary table 1 is rotatably mounted on the workbench 2, so that the station mounting hole 101 in the rotary table 1 rotates once along with the rotary table 1, the current station is moved to the next station, and the assembly of the pressing pump to be assembled on the station mounting hole 101 is completed.

The turntable 1 is arranged on the workbench 2 through a turntable support 103, the turntable support 103 is fixed on the workbench 2, a turntable motor 102 is arranged on the turntable support 103, the turntable motor 102 is connected with the turntable 1, and the turntable motor 102 is used for driving the turntable 1 to rotate.

The material introducing device 3 is used for pumping the external pressing pump to be assembled into a position close to the turntable 1, so that the first mechanical arm on one side of the material introducing device 3 can be placed on the station mounting hole 101 of the turntable 1 after being grabbed by the pressing pump on the tail end of the material introducing device 3.

The sealing performance detecting assembly 5 is used to detect the sealing performance of the friction cylinder 300 of the pressing pump to be assembled, which is located on the rotary table 1, by water injection or gas injection (i.e., air injection). Referring to fig. 1, the massage cylinder 300 is a portion of the drawing excluding the pressing cover 500 and the suction pipe 400, and in the sealing performance test process, the output port of the sealing performance test assembly 5 is communicated with the lower end of the massage cylinder 300 and seals and supports the portion a of the massage cylinder 300, so that whether the massage cylinder 300 is sealed or not can be detected by injecting water or gas into the massage cylinder 300 through the output port.

The outer cap pressing assembly 6 is used to press-fit the outer cap 200 onto the massage cylinder 300.

The positioning device 7 is used to snap the outer cap 200 onto the massage cylinder 300, so that the outer cap recess 100 on the outer cap 200 is located at a predetermined position. For example, the outer cap 200 is rotated such that the outer cap recess 100 on the outer cap 200 is positioned at the left side of the massage cylinder 300.

The position detection device 8 is used for detecting whether the outer cover groove 100 adjusted by the position adjusting device 7 is located at the preset position.

The second robot means 9 is used to grab the gland 500 seated on the gland introduction means 10 into the outer cap 200 on the turntable 1.

The gland introduction device 10 is used to sequentially feed the outer glands 500 into the vicinity of the turntable 1, i.e., close to the turntable 1, so that the second robot can grasp the glands 500.

The gland pressing device 11 is used for slightly pressing down the gland 500 to be buckled on the outer cover 200 so as to prevent the gland 500 from falling off the outer cover 200, and the first pressing down of the gland 500 on a big racket (not shown) of the pressing pump is realized. It should be noted that the pressing herein does not mean that the pressing cover 500 is fixed to the outer cap 200, but means that the pressing cover 500 can be prevented from being smoothly mounted on the outer cap 200 without an external force and from falling off the outer cap 200.

The locking head device 12 is used for inserting the locking bar 600 on the gland 500 into the outer cover groove 100 of the outer cover 200 and moving the locking bar 600 out of the outer cover groove 100 to be located in the cavity of the outer cover 200 after rotating, so that the gland 500 is prohibited from sliding axially along the outer cover 200, but the gland 500 can rotate along the circumference of the outer cover 200. Thereby avoiding liquid being squeezed out by accidentally (e.g., by accidental touch during transportation) pressing against the gland 500.

The clip feeding device 13 is used for feeding and pushing a clip into the gland 500 to prohibit the gland 500 from rotating relative to the outer cover 200, so that before a user does not use the device, the gland 500 is prevented from rotating to a corresponding position by avoiding rotating the gland 500, and then the locking bar 600 on the gland 500 is positioned in the outer cover groove 100 to press the gland 500, thereby avoiding accidentally extruding liquid.

The straw cutting means 14 is used for inserting the outer long tube into the massage cylinder 300 and cutting the outer long tube to obtain the straw 400 with a corresponding length, thereby completing the assembly of the gland 500, the outer cap 200, the massage cylinder 300 and the straw 400 to form the assembled finished product pressing pump.

The first discharging barrel 15 is used for outputting qualified pressing pumps of finished products, the discharging and ejecting device 16 is used for sending unqualified pressing pumps into the second discharging barrel 17, and the second discharging barrel 17 sends out unqualified pressing pumps. The qualified and unqualified press pumps can be respectively output to corresponding positions through the first discharging barrel 15 and the second discharging barrel 17, and the whole assembly and output of the press pumps are completed.

The material introducing device 3 comprises a material guiding bracket 306, and a material guide rail 301, a material limiting plate 302, a material receiving plate 303, a material guiding block 304 and a material guiding cylinder 305 which are arranged on the material guiding bracket 306. The material guiding cylinder 305 is arranged at the upper part of the material guiding bracket 306, and the output shaft of the material guiding cylinder 305 is fixedly connected with the material guiding block 304, so that the material guiding block 304 can be driven to at least reach a first position and a second position. The material receiving plate 303 is fixedly mounted on the material guide bracket 306 and is arranged opposite to the material guide block 304. The material guide block 304 is provided with a material guide groove 3041, and the material receiving plate 303 is provided with a material receiving groove 3031.

Wherein, the first position: the guide chute 3041 communicates with the receiving chute 3031 so that the introduced material (i.e., the massage cylinder 300) can move from the guide chute 3041 to the receiving chute 3031.

A second position: the guiding chute 3041 is isolated from the receiving chute 3031 to limit the movement of the introduced material (i.e., the syringe 300) from the guiding chute 3041 to the receiving chute 3031, i.e., the material cannot move from the guiding chute 3041 to the receiving chute 3031.

One end (and the output end) of the material guide rail 301 is fixedly connected to the material guide block 304, and the material guide rail 301 faces the material guide groove 3041, so that the material of the material guide rail 301 can well fall into the material guide groove 3041. The other end (i.e. the input end) of the material guide rail 301 is connected with an external vibration material tray (vibration material tray), so that the materials on the vibration material tray can be sequentially fed into the material guide rail 301 one by one, and can slide into the material guide groove 3041 along the waved material guide rail 301 under the action of the initial momentum of the externally acting materials and the gravity of the materials, so that the materials are fed into the material guide groove 3041, and the input end of the material guide rail 301 is higher than the output end.

A plurality of material limiting plates 302 are arranged at equal intervals along the extension direction of the material guide rail 301, and the material limiting plates 302 are used for limiting materials, so that the materials are sent into the turntable 1 in a preset posture. For example, the lower end of the grinding drum 300 connected with the suction pipe 400 is always located at the lower end in the conveying process under the action of the material limiting plate 302, and the material (grinding drum 300) is not turned by 180 degrees to change the posture of the material.

The first and second manipulators 4, 9 have the same structure and are collectively referred to herein as a manipulator. The robot device includes a robot support 410, and a groove guide 401, a rotation arm 402, a rotation shaft 403, a slider mount 404, a slider 405, a longitudinal guide bar 406, a connection plate 407, a clamp cylinder 408, a gripper 409, a traverse guide bar 411, a rail plate 412, and a robot motor 413 mounted on the robot support 410. The robot holder 410 is mounted on the work table 2, thereby mounting the robot device on the work table 2. The track plate 412 is fixedly installed at the upper end of the robot support 410, the robot motor 413 is fixedly installed at one side of the track plate 412, and the output shaft of the robot passes through the track plate 412 and then is connected to the rotating arm 402 at the other side of the track plate 412. A U-shaped groove guide 401 is dug on the other side of the track plate 412, and one end of the rotating arm 402 extends into the groove guide 401 and can freely slide in the groove guide 401.

The pivoting arm 402 is connected to a transverse plate (not shown) via a pivoting shaft 403, so that the transverse plate can pivot relative to the pivoting arm 402. The transverse plate is fixedly connected with the upper end of a longitudinal guide rail strip 406, the longitudinal guide rail strip 406 is connected with a slide block mounting seat 404 through a slide block 405, and the longitudinal guide rail strip 406 penetrates through the slide block 405 and can slide up and down relative to the slide block 405. The slider mount 404 is slidably mounted on the transverse guide rail 411 such that the slider mount 404 can slide along the transverse guide rail 411, the transverse guide rail 411 is transversely disposed, and the transverse guide rail 411 is fixedly mounted on the other side of the rail plate 412 below the groove guide 401.

The lower end of the longitudinal rail 406 is fixedly connected to the connecting plate 407 via a parallel plate which is fixedly mounted on the longitudinal rail 406 and is in the same plane as the longitudinal rail 406. The connecting plates 407 are perpendicular to the parallel plates such that the connecting plates 407 are perpendicular to the longitudinal rails 406. The connecting plate 407 is fixedly connected with a plurality of clamping cylinders 408, the output ends of the clamping cylinders 408 are connected with the grippers 409, and the clamping cylinders 408 are used for opening and closing the grippers 409 so that the grippers 409 can grip and release articles. Wherein the clamping cylinders 408 are fixed in parallel at intervals on the connecting plate 407.

Wherein, the manipulator bracket 410 is positioned at one side of the material introducing device 3, and the gripper 409 is positioned right in front of the material introducing device 3 close to the turntable 1.

The robot motor 413 may drive the rotating arm 402 to be disposed along the groove guide 401, so that the rotating arm 402 moves and changes in the vertical direction and the horizontal direction at the same time, that is, the rotating arm 402 moves from the vertical portion of the groove guide 401 to the turning portion, and then moves from the turning portion to the vertical portion on the other side, thereby realizing that the rotating arm 402 now ascends/descends from the vertical direction and then moves away/approaches from/to the horizontal direction. Therefore, the gripper 409 is finally driven to ascend/descend in the vertical direction and approach/depart from the output end (namely, the material receiving groove 3031) of the material leading-in device 3 on the workbench 2 in the horizontal direction, so that the friction cylinder 300 positioned on the material receiving groove 3031 can be taken out in the vertical direction firstly and then is moved in and descends in the horizontal direction to be placed on the turntable 1, the friction cylinder 300 can be grabbed and moved in by relying on one power device, namely the manipulator motor 413, the fact that grabbing and moving in of the friction cylinder 300 can be completed is avoided, the fact that grabbing and moving in of a plurality of power devices (such as air cylinders) are needed to be achieved in the horizontal direction and the vertical direction respectively is avoided, the material operation is simpler, the material grabbing and moving operation time is shortened, the work efficiency is improved, the structure is greatly simplified, and the maintenance cost is reduced.

The sealing performance detection assembly 5 comprises a propulsion cylinder 501, a top column 502, a column sleeve 503, an injection opening 504, a sealing bottom plate 505 and a sealing support 506, wherein the propulsion cylinder 501 is installed on the sealing support 506, the output end of the propulsion cylinder 501 is fixedly connected with the top column 502 to drive the top column 502 to move, and the sealing support 506 is installed on the turntable 1, so that the top column 502 is located above the turntable 1.

The sealing bottom plate 505 is fixedly installed on the workbench 2 and located below the turntable 1, the column 503 and the injection port 504 are fixedly installed on the sealing bottom plate 505, the injection port 504 is communicated with the column 503, and the column 503 is used for placing the massage cylinder 300.

When the tightness detection of the friction cylinder 300 is required, the friction cylinder 300 is placed on a column 503, a part A (namely part A marked in figure 1) of the friction cylinder 300 is pressed and sealed by a top column 502, water flow or gas is injected by inserting an external hose into an injection port 504, the water flow or gas flows into the column 503 from the injection port 504 and then flows into an inner cavity of the friction cylinder 300 in the column 503, and the part A of the friction cylinder 300 is sealed and pressed, so if the friction cylinder 300 is non-tightness (for example, cracks or gaps and the like), the water flow or gas can be continuously injected; if the syringe 300 is sealed, the injection cannot be continued after a certain amount of water or gas is injected, and the sealing performance of the syringe 300 can be detected, and it can be determined whether the quality of the push pump is acceptable.

The outer cover pressing assembly 6 comprises an outer cover pressing support 601, a clamping cylinder 602 and a clamping handle 603, wherein the clamping cylinder 602 is fixedly mounted on the clamping support, and an output shaft of the clamping cylinder 602 is fixedly connected with the clamping handle 603 so as to drive the clamping handle 603 to open and close, so that materials can be clamped and loosened. After the holding handle 603 holds the outer cap 200, the outer cap pressing bracket 601 may be driven by an air cylinder or a motor installed on the worktable 2 to move downward (i.e., move toward the massage tube 300 on the worktable 2), so as to slightly press the outer cap 200 onto the massage tube 300, and prevent the outer cap 200 from falling off from the massage tube 300.

The positioning device 7 comprises a positioning support 705, a positioning motor 701, a positioning fixing block 702, a positioning rotating head 703, a sliding plate 704, a guide rail plate 706 and a positioning cylinder 707, wherein the positioning motor 701, the positioning fixing block 702, the positioning rotating head 703, the sliding plate 704, the guide rail plate 706 and the positioning cylinder 707 are fixedly mounted on the positioning support 705, the positioning cylinder 707 is mounted at the upper end of the positioning support 705, an output shaft of the positioning motor 701 penetrates through the positioning fixing block 702 and then is fixedly connected with the positioning rotating head 703, the positioning fixing block 702 is fixedly connected with the sliding plate 704, the sliding plate 704 is slidably mounted on a guide rail on the guide rail plate 706, the guide rail plate 706 is fixedly mounted on the positioning support 705, the positioning cylinder 707 is mounted at the upper end of the positioning support 705, and an output shaft of the positioning cylinder 707 is fixedly connected with the sliding plate 704, so that the positioning cylinder 707 can drive the sliding plate 704 to slide on the guide rail.

When the position department is adjusted to presetting to the enclosing cover recess 100 of enclosing cover 200 to needs, thereby positioning cylinder 707 drives through drive slide 704 and transfers the position to rotate head 703 and reach corresponding height, make and rotate head 1206 and just be located enclosing cover 200 one side, then the motor drives and transfers the position to rotate head 703 and rotate, make the position transfer rotate head 703 and contact with enclosing cover 200 and drive enclosing cover 200 and rotate, thereby rotate enclosing cover recess 100 to presetting the position on the enclosing cover 200, accomplish position control.

The position detection device 8 comprises a position detection support 805, a position detection cylinder 801 mounted on the position detection support 805, a position detection connecting plate 802, a position detection sliding column 803 and a position detection strip block 804, wherein the position detection cylinder 801 is mounted on the position detection support 805, an output shaft of the position detection cylinder 801 is fixedly connected with the position detection connecting plate 802 to drive the detection connecting plate 407 to move, the position detection sliding column 803 is fixedly connected with the position detection connecting plate 802, the position detection strip block 804 is fixedly arranged on one side of the position detection sliding column 803, the position detection strip block 804 is strip-shaped, and outer cover grooves 100 on the rest of outer covers 200 are matched.

When it is necessary to detect whether the outer cover groove 100 rotates to reach the predetermined position, the position detection cylinder 801 drives the position detection connection plate 802 to move on the position detection bracket 805, so as to drive the position detection sliding column 803 to move, and thus the position detection bar 804 on the position detection sliding column 803 approaches to or departs from the outer cover groove 100. If the outer cover groove 100 is located at the preset position, the position detection strip block 804 can be just inserted into the outer cover groove 100, so that the position of the outer side groove is represented to be correct; if the outer lid groove 100 is in the non-default position, the position detection bar 804 cannot be inserted into the outer lid groove 100 because the position detection bar 804 cannot be aligned with the outer lid groove 100, indicating that the position of the outer groove is incorrect, the outer lid groove 100 is not rotated to the default position. Therefore, whether the outer cover 200 rotates to the preset position or not can be detected through the position detection device 8, and the position detection of the outer cover groove 100 is realized.

The gland introduction device 10 includes a gland introduction bracket 1005, and a push cylinder 1001, a push guide 1002, a stopper groove 1003, a gland introduction platen 1004, and a material introduction groove 1006 mounted on the gland introduction bracket 1005. The push-in cylinder 1001 is fixedly mounted on the gland guide-in bracket 1005, an output shaft of the push-in cylinder 1001 is fixedly connected with the push-in guide plate 1002, the push-in guide plate 1002 is transversely located in a groove (not shown) on the gland guide-in bracket 1005, a limit groove 1003 is arranged on one side of the push-in guide plate 1002 close to the material guide groove 1006, and the limit groove 1003 is matched with the gland 500 in size, so that the limit groove 1003 can only accommodate one gland 500. The push-in cylinder 1001 is used to drive the push-in guide 1002 to the third position and the fourth position, respectively.

A third position: the limiting groove 1003 is separated from the material introducing groove 1006, and the gland 500 in the material introducing groove 1006 cannot enter the limiting groove 1003.

The fourth position: the limiting groove 1003 is communicated with the material guiding groove 1006, and the gland 500 in the material guiding groove 1006 can enter the limiting groove 1003.

An introducing material groove 1006 is longitudinally arranged on a gland introducing platen 1004 at the upper end of the gland introducing bracket 1005, and the introducing material groove 1006 is used for receiving a gland 500 which is fed from the outside and feeding the gland 500 into the limiting groove 1003.

In practical use, the external vibrating tray sends the gland 500 into the material guiding groove 1006, the pushing cylinder 1001 drives the pushing guide plate 1002 to move in the limiting groove 1003 according to a preset frequency, when the pushing guide plate 1002 reaches a fourth position, the gland 500 located in the material guiding groove 1006 enters the limiting groove 1003, then the pushing guide plate 1002 reaches the fourth position, the gland 500 is sent into one end of the limiting groove 1003, and another gland 500 in the material guiding groove 1006 enters the limiting groove 1003, so that the glands 500 are sequentially sent into one another. Then, the second robot device 9 picks the pressing caps 500 in the spacing groove 1003 and feeds the pressing caps 500 to the turntable 1, and then pushes the guide plate 1002 to reach the fourth position again, so that the circular operation is performed, and the pressing caps 500 are sequentially fed to the turntable 1 one by one, and the feeding of the external pressing caps 500 to the station mounting holes 101 of the turntable 1 is completed.

The gland pressing device 11 comprises a gland pressing support 1107, a first transverse clamping cylinder 1103, a first clamping block 1104, a second clamping block 1105 and a second transverse clamping cylinder 1106, as well as a gland pressing cylinder 1101 and a gland pressing cylinder 1102 which are installed on the gland pressing support 1107, wherein the output end of the first transverse clamping cylinder 1103 is fixedly connected with the first clamping block 1104, the output end of the second transverse clamping cylinder 1106 is fixedly connected with the second clamping block 1105, the first clamping block 1104 and the second clamping block 1105 are arranged oppositely, so that a clamping through hole is formed between the first clamping block 1104 and the second clamping block 1105, and the first transverse clamping cylinder 1103 and the second transverse clamping cylinder 1106 are installed on the workbench 2. The gland pressing cylinder 1101 is fixed on the gland pressing support 1107, and the output end of the gland pressing cylinder 1101 is fixedly connected with the gland pressing cylinder 1102 so as to drive the gland pressing cylinder 1102 to be close to or far away from the clamping through hole.

When the gland 500 needs to be pressed and buckled on the outer cover 200 again, the first clamping block 1104 and the second clamping block 1105 are respectively driven by the first transverse clamping cylinder 1103 and the second transverse clamping cylinder 1106 to approach each other to form a clamping through hole, so that the gland 500 is clamped on the clamping through hole, then the gland pressing cylinder 1102 is driven by the gland pressing cylinder 1101 to move towards the clamping through hole, so that the gland 500 on the clamping through hole is pressed and buckled on the outer cover 200, so that the gland 500 is completely buckled on the outer cover 200, and the assembly of the gland 500 and the outer cover 200 is completed.

The locking device 12 comprises a locking bracket 1205, a locking motor 1201, a locking cylinder 1202, a pushing block 12021, a locking plate 1203, a locking guide plate 1204, a sensing bracket 1210, a rotating head 1206, a locking connecting block 1207, a locking connecting rod 1208 and a locking sliding cylinder 1209, wherein the locking motor 1201, the locking cylinder 1202, the pushing block 12021, the locking plate 1203, the locking guide plate 1204, the sensing bracket 1210, the rotating head 1206, the locking connecting block 1207, the locking connecting rod 1208 and the locking sliding cylinder 1209 are arranged on the locking bracket 1205. The lock guide plate 1204 is fixedly installed at one side of the lock bracket 1205, a lock guide (not shown in the figure) is provided on the lock guide plate 1204, and the lock plate 1203 is slidably installed on the lock guide, so that the lock plate 1203 can slide on the lock guide. Tapered end connecting block 1207 and tapered end board 1203 fixed connection and lie in the tapered end board 1203 outside (also keeping away from one side of tapered end support 1205), tapered end motor 1201 and lock body cylinder all are fixed in on tapered end support 1205, and tapered end motor 1201's output shaft is connected with tapered end sliding cylinder 1209 to drive tapered end sliding cylinder 1209 and rotate, tapered end sliding cylinder 1209 cover is established on tapered end connecting rod 1208 and can slide along tapered end connecting rod 1208, also can slide relatively between tapered end sliding cylinder 1209 and the tapered end connecting rod 1208. One end of the lock connecting rod 1208, which is far away from the lock sliding cylinder 1209, penetrates through the lock connecting block 1207 and then is fixedly connected with the rotating head 1206, and the lock connecting block 1207 is sleeved on the lock connecting rod 1208.

The output shaft of the lock body cylinder 1202 is fixedly connected with a pushing block 12021, the pushing block 12021 is fixedly connected with a lock head plate 1203, and the pushing block 12021 is positioned at the rear side of the lock head guide rail plate 1204. A U-shaped groove is formed in one end (i.e., the upper end) of the lock head guide plate 1204 close to the lock head motor 1201, and the push block 1308 is located above, preferably right above, the U-shaped groove, so that when the lock body cylinder 1202 drives the push block 1308 to move, the push block 1308 can move in the U-shaped groove, and interference of the lock head guide plate 1204 on the movement of the push block 1308 is avoided.

In an alternative embodiment, a sensing bracket 1210 is further fixedly mounted on a square block (not shown) connected to the upper end of the locking cylinder sliding tube 1209, and a proximity sensor for detecting whether the pressing cover 500 is fastened to the outer cover 200 is mounted on the sensing bracket 1210. An induction rod 12091 is fixedly arranged on one side of the lock sliding cylinder 1209, the induction rod 12091 is inserted into a concave hole of the lock sliding cylinder 1209, and one end of the induction rod 12091 is exposed out of the concave hole, namely one end of the induction rod 12091 is exposed out of the lock sliding cylinder 1209.

In practical use, when the pressing pump to be assembled is sent into the station mounting hole 101 corresponding to the locking head device 12, the outer cover groove 100 on the outer cover 200 is just parallel to the induction rod 12091, when the locking head motor 1201 drives the locking head sliding cylinder 1209 and the gland 500 to synchronously rotate, namely, the induction rod 12091 and the locking column strip 600 on the gland 500 synchronously rotate, when the induction rod 12091 rotates right in front of the proximity sensor on the induction bracket 1210, the locking column strip 600 at the moment completely breaks away from the outer cover groove 100, so that the gland 500 can be represented and completed to rotate to a preset position, and the locking head operation of the gland 500 on the outer cover 200 is completed.

In another alternative embodiment, a plurality of lock cylinder motors 1201 are included, such as the two lock cylinder motors 1201 of fig. 11, with each lock cylinder motor 1201 spaced apart and each lock cylinder motor 1201 coupled to a corresponding one of the lock cylinder slides 1209.

When the pressing cover 500 needs to be buckled on the outer cover 200 to complete the operation of the locking head of the pressing cover 500, the lock body cylinder 1202 drives the lock head plate 1203 to slide on the guide rail of the locking head guide rail plate 1204 through the pushing block 12021, so as to drive the rotating head 1206 to move up and down, so that the rotating head 1206 is close to or far away from the pressing cover 500 on the turntable 1, and the pressing cover 500 is located below the rotating head 1206. First, the lock cylinder 1202 drives the pushing block 1308 to move downward, so as to drive the rotating head 1206 to move downward, when the rotating head 1206 reaches the fifth position, the rotating head 1206 body on the rotating head 1206 contacts with the press cover 500, and at least a portion of the rotating bar on one side of the rotating head 1206 body is located on one side of the press cover 500. Then, the lock body cylinder 1202 continues to push the rotating head 1206 to press downward, so that the lock bar 600 of the pressing cover 500 moves downward along the outer cover groove 100, the pressing cover 500 is pressed and buckled on the outer cover 200, and the pressing cover 500 can rotate on the outer cover 200. Next, the lock motor 1201 drives the rotating head 1206 to rotate, so as to drive the rotating bar on the rotating head 1206 to rotate, the rotating bar contacts with the gland 500 and drives the gland 500 to rotate, so as to release the lock bar 600 on the gland 500 from the outer cover groove 100 and locate in the inner cavity of the outer cover 200, thereby limiting the axial sliding of the gland 500 on the outer cover 200 and avoiding accidental liquid extrusion.

When the lock body cylinder 1202 drives the push block 1308 to move, the push block 1308 drives the lock head plate 1203 to slide up and down on the lock head guide rail plate 1204, so as to drive the lock head connecting block 1207 to slide up and down on the lock head guide rail along with the lock head plate 1203, and the lock head connecting block 1207 drives the lock head connecting rod 1208 to slide up and down relatively in the axial direction of the lock head sliding cylinder 1209, so that the driving rotating head 1206 moves up and down to be close to or far away from the gland 500 on the turntable 1.

The locking device 12 is simple in structure, low in cost, and the practicality is strong, through the cooperation of motor and cylinder to and can accurately accomplish gland 500 and move down along enclosing cover recess 100 and move down to corresponding position after rotation gland 500 under the cooperation of response pole 12091 and proximity sensor, so that the lock post strip 600 of gland 500 keeps away from enclosing cover recess 100 and restricts the relative enclosing cover 200 of gland 500 and rotate, realizes the tapered end purpose, also realizes the effect of avoiding unexpected extruded liquid.

The clip feeding device 13 includes a clip holder 1305, and a clip guide rail 1301, a clip position limiting plate 1302, a clip pushing cylinder 1303, a clip base plate, a clip position limiting groove 1306, a clip pressing plate 1307, and a pushing block 1308 which are mounted on the clip holder 1305. The clip base is fixedly mounted to the upper end of the clip support 1305, and the push block 1308 is mounted in a groove of the clip base in an embedded manner and is slidable in the groove of the clip base. The output end of the clamp push-in cylinder 1303 is fixedly connected with the push block 1308 to drive the push block 1308 to slide in the groove, and the clamp push-in cylinder 1303 is installed on the workbench 2. The clamp pressing plate 1307 is fixed at the upper end of the clamp base plate and stretches across the groove of the clamp base plate, one end of the clamp guide rail 1301 is fixed on the clamp pressing plate 1307 and penetrates through the clamp pressing plate 1307 to be communicated with the clamp limiting groove 1306, so that a clamp part from the clamp guide rail 1301 can fall into the clamp limiting groove 1306, the clamp limiting groove 1306 is located at one end, away from the clamp pushing cylinder 1303, of the groove, namely, at one end close to the turntable 1, the pushing block 1308 in the groove can be in contact with a clamp in the clamp limiting groove 1306, the clamp is pushed into a gland 500 portion of the pressing pump on the workbench 2 under the action of the clamp pushing cylinder 1303, and therefore the clamp is assembled on the pressing pump.

The other end of the clip guide rail 1301 is butted with an external vibration disc, so that a clip component output by the vibration disc can be received, and the clip component can slide into the clip limiting groove 1306 along the clip guide rail 1301. Be provided with a plurality of clip limiting plate 1302 on the clip guide rail 1301, clip limiting plate 1302 is used for the gesture of spacing clip to the opening of the clip that falls into clip spacing groove 1306 is towards carousel 1 direction all the time, thereby can push the clip to pressing on the force pump. After the clip falls into the clip limiting groove 1306, the clip pushing cylinder 1303 pushes the pushing block 1308 to move towards the direction of the turntable 1, and the pushing block 1308 pushes the clip located in the clip limiting groove 1306 onto the gland 500 of the pressing pump, so that the assembly of the clip parts is completed.

The straw cutting device 14 comprises a straw cutting bracket 1407, and a moving block 1401, a long strip pressing plate 1402, a cutting propulsion cylinder 1403, a screw rod 1404, a cutting connection block 1405, a cutting propulsion motor 1406 and a straw cutting guide 1408 which are arranged on the straw cutting bracket 1407. The straw cutting rail 1408 is fixedly mounted on one side of the straw cutting housing 1407 and the moving block 1401 is slidably mounted on the straw cutting rail 1408 such that the moving block 1401 can slide along the straw cutting rail 1408. The moving block 1401 is sleeved on the screw rod 1404, one end of the screw rod 1404 is rotationally fixed at the upper end of the straw shearing bracket 1407, and the other end of the screw rod 1404 passes through the moving block 1401 and then is rotationally connected with the output shaft of the shearing and pushing motor 1406 through the shearing connecting block 1405, so that the rotor (i.e., the output shaft) of the shearing and pushing motor 1406 can drive the screw rod 1404 to rotate, and the screw rod 1404 drives the moving block 1401 to slide up and down along the screw rod 1404.

The moving block 1401 is fixedly connected with the long strip pressing plate 1402, the shearing and pushing cylinder 1403 is fixedly installed on the long strip pressing plate 1402, and an inserting hole 1410 penetrating through the long strip pressing plate 1402 is formed in the long strip pressing plate 1402, so that an external long pipe penetrates through the inserting hole 1410 and extends out of the upper end of the long strip pressing plate 1402. The long strip pressing plate 1402 is further provided with a shearing knife, and the shearing knife is connected with an output end of the shearing propulsion cylinder 1403, so that the shearing propulsion cylinder 1403 can push the shearing knife to move, the shearing knife can shear the extended long tube, the sheared long tube forms the suction tube 400, and the suction tube 400 is assembled in the pressing pump.

When the long tube is required to be cut to form the suction tube 400, the long tube is usually wound around a disc arranged outside and pulled out from one end of the disc, the long tube extends into the insertion tube hole 1410 from the lower end of the long strip pressing plate 1402, and extends out from the insertion tube hole 1410 at the upper end of the long strip pressing plate 1402, and the lower end of the massage tube 300 of the pressing pump on the rotating disc is just aligned with the insertion tube hole 1410, so the cutting propulsion motor 1406 drives the lead screw 1404 to rotate, thereby driving the moving block 1401 to approach or separate from the massage tube 300, when the long tube approaches to a certain extent, the long tube can be inserted into the massage tube 300 because the long tube has a certain hardness (usually a hardness rate tube), and when the long tube is inserted to a preset position depth, the long tube is cut by the cutting propulsion cylinder 1403, thereby assembling the suction tube 400 on the pressing pump. The operation is repeated in sequence, and the pipette 400 is continuously assembled to each of the pressing pumps.

The first discharging barrel 15 is located on one side of the clip feeding device 13, namely, located at the next station of the clip feeding device 13, the second discharging barrel 17 is located on one side of the first discharging barrel 15, the discharging ejection device 16 is located below the rotary table 1, the output end of the discharging ejection device 16 ejects the pressing pump located on the rotary table 1 and drops into the second discharging barrel 17, the outlet of the output end of the discharging ejection device 16 inclines downwards towards the inlet of the second discharging barrel 17, so that the ejected pressing pump can drop into the second discharging barrel 17, and the pressing pump of inferior products is output through the second discharging barrel 17.

The intelligent pressing pump can be well used as intelligent processing equipment, automatic and intelligent assembly of the pressing pump is achieved, and efficiency can be effectively improved.

The embodiment disclosed in this specification is only an exemplification of one of the features of the invention, and the scope of protection of the invention is not limited to this embodiment, and any other embodiment that is functionally equivalent falls within the scope of the invention. Various other changes and modifications to the embodiments and concepts described above will be apparent to those skilled in the art, and all such changes and modifications are intended to be included within the scope of the appended claims.

Claims

1. The automatic press pump integrated assembling machine adopting the cooperation of the multiple mechanical arms is characterized in that the automatic press pump integrated assembling machine is used for assembling a press pump, the press pump comprises an outer cover, a friction cylinder, a suction pipe and a pressing cover, the pressing cover is buckled on the outer cover, the outer cover is buckled at the upper end of the friction cylinder, the suction pipe is arranged at the lower end of the friction cylinder,

the automatic press pump integrated assembling machine comprises a workbench and a rotary table, wherein the rotary table is rotatably arranged on the workbench so that the rotary table can rotate relative to the workbench, and a first mechanical hand device, a material feeding device, a sealing detection assembly, an outer cover pressing assembly, a position adjusting device, a position detection device, a second mechanical hand device, a gland feeding device, a gland pressing device, a lock device, a clamp feeding device, a straw shearing device, a first discharging barrel, a discharging ejection device and a second discharging barrel are arranged on the workbench in a surrounding manner, the rotary table is rotatably arranged on the workbench so that a station mounting hole on the rotary table rotates once along with the rotary table to realize the movement from the current station to the next station,

the material guiding device is used for sending the external pressing pump to be assembled to a position close to the turntable so that the first mechanical arm on one side of the material guiding device can grab the pressing pump on the tail end of the material guiding device and place the pressing pump on the station mounting hole of the turntable,

the tightness detection assembly is used for detecting the tightness of a friction cylinder of a pressing pump to be assembled on the rotary table through water injection or gas injection,

the position adjusting device is used for buckling the outer cover on the friction cylinder so as to enable the outer cover groove on the outer cover to be positioned at a preset position,

the position detection device is used for detecting whether the outer cover groove after the position adjustment by the position adjustment device is positioned at the preset position or not,

the second manipulator device is used for grabbing the gland positioned on the gland leading-in device into the outer cover on the turntable,

the gland leading-in device is used for sequentially sending external glands to the vicinity of the turntable so as to enable the second mechanical arm to grab the glands,

the gland pressing device is used for slightly pressing down the gland to be buckled on the outer cover so as to prevent the gland from falling off the outer cover and realize the first pressing down and pressing on the outer cover,

the lock device is used for inserting the lock cylinder strip on the gland into the outer cover groove of the outer cover and moving the lock cylinder strip out of the outer cover groove to be positioned in the cavity of the outer cover after rotating so as to prohibit the gland from sliding along the axial direction of the outer cover, but the gland can rotate along the peripheral surface of the outer cover,

the clip feeding device is used for feeding and pushing the clip into the gland to prohibit the gland from rotating relative to the outer cover, and after the gland is prevented from rotating to a corresponding position by avoiding rotating the gland, the lock column bar on the gland is positioned in the groove of the outer cover to press the gland, so as to avoid accidentally extruding liquid,

the straw shearing device is used for inserting the external long pipe into the rubbing barrel and shearing the external long pipe to obtain a straw with a corresponding length, so that the pressing cover, the outer cover, the rubbing barrel and the straw are assembled together to form an assembled finished product pressing pump,

2. The automatic press-pump integrated assembling machine adopting multi-manipulator to work in cooperation as claimed in claim 1, wherein the material guiding device comprises a guiding support, and a material guiding rail, a material limiting plate, a receiving plate, a guiding block and a guiding cylinder which are arranged on the guiding support, the guiding cylinder is arranged on the upper portion of the guiding support, an output shaft of the guiding cylinder is fixedly connected with the guiding block so as to drive the guiding block to at least a first position and a second position, the receiving plate is fixedly arranged on the guiding support and is opposite to the guiding block, a guiding groove is arranged on the guiding block, and a receiving groove is arranged on the receiving plate, wherein,

a first position: the guide chute is communicated with the receiving chute so that the introduced material can move from the guide chute to the receiving chute;

a second position: the guide chute is separated from the receiving chute to limit the introduced materials to move from the guide chute to the receiving chute,

one end of the material guide rail is fixedly connected with the material guide block and is opposite to the material guide groove, so that the materials of the material guide rail can well fall into the material guide groove, the other end of the material guide rail is connected with the outside, so that the outside materials can be sequentially fed onto the material guide rail one by one,

a plurality of material limiting plates are arranged at equal intervals along the extension direction of the material guide rail and used for limiting materials, so that the materials are sent into the turntable in a preset posture.

3. The automatic press-pump-integrated assembling machine using multi-robot cooperative operation as claimed in claim 2, wherein the first and second robot devices have the same structure and are collectively referred to as a robot device, the robot device comprises a robot support, and a groove guide, a rotary arm, a rotary shaft, a slider mounting seat, a slider, a longitudinal guide rail, a connecting plate, a clamping cylinder, a gripper, a transverse guide rail, a track plate, and a robot motor mounted on the robot support, the robot support is mounted on a worktable so that the robot device is mounted on the worktable, the track plate is fixedly mounted on an upper end of the robot support, the robot motor is fixedly mounted on one side of the track plate, and an output shaft of the robot passes through the track plate and is connected to the rotary arm on the other side of the track plate, a U-shaped groove guide is dug on the other side of the track plate, one end of the rotary arm extends into the groove guide and can freely slide in the groove guide,

the rotating arm is connected with the transverse plate through a rotating shaft so that the transverse plate can rotate relative to the rotating arm, the transverse plate is fixedly connected with the upper end of the longitudinal guide rail bar, the longitudinal guide rail bar is connected with the slider mounting seat through a slider, the longitudinal guide rail bar passes through the slider and can slide up and down relative to the slider, the slider mounting seat is slidably mounted on the transverse guide rail bar so that the slider mounting seat can slide along the transverse guide rail bar, the transverse guide rail bar is transversely arranged, the transverse guide rail bar is fixedly mounted on the other side of the rail plate and is positioned below the groove guide rail,

the lower end of the longitudinal guide rail bar is fixedly connected with a connecting plate through a parallel plate, the parallel plate is fixedly arranged on the longitudinal guide rail bar and is positioned on the same plane with the longitudinal guide rail bar, the connecting plate is vertical to the parallel plate, so that the connecting plate is vertical to the longitudinal guide rail bar, a plurality of clamping cylinders are fixedly connected on the connecting plate, the output ends of the clamping cylinders are connected with a gripper, the clamping cylinders are used for opening and closing the gripper so that the gripper can grip and release articles, and the clamping cylinders are fixed on the connecting plate in parallel at intervals,

the manipulator support is located one side of material gatherer, and the tongs is located the material gatherer and is close to the dead ahead of carousel.

4. The automatic press-pump integrated assembling machine with multiple manipulators to work cooperatively according to claim 3, wherein the tightness detection assembly comprises a propulsion cylinder, a top column, a cylinder, an injection port, a sealing bottom plate and a sealing bracket, the propulsion cylinder is mounted on the sealing bracket, an output end of the propulsion cylinder is fixedly connected with the top column to drive the top column to move, the sealing bracket is mounted on the turntable so that the top column is positioned above the turntable,

the sealing bottom plate is fixedly arranged on the workbench and positioned below the turntable, a column casing and an injection port are fixedly arranged on the sealing bottom plate, the injection port is communicated and connected with the column casing, the column casing is used for placing a massage cylinder,

the enclosing cover compresses tightly the subassembly and includes enclosing cover compress tightly support, centre gripping cylinder and centre gripping handle, and centre gripping cylinder fixed mounting is on the centre gripping support, and the output shaft and the centre gripping handle fixed connection of centre gripping cylinder to drive centre gripping handle opens and folds, thereby the centre gripping with loosen the material.

5. The automatic press pump integrated assembling machine adopting multiple manipulators to cooperatively work according to claim 4, wherein the positioning device comprises a positioning bracket, a positioning motor, a positioning fixing block, a positioning rotating head, a sliding plate, a guide rail plate and a positioning cylinder, the positioning motor, the positioning fixing block, the positioning rotating head, the sliding plate, the guide rail plate and the positioning cylinder are fixedly arranged on the positioning bracket, the positioning cylinder is arranged at the upper end of the positioning bracket, an output shaft of the positioning motor penetrates through the positioning fixing block and then is fixedly connected with the positioning rotating head, the positioning fixing block is fixedly connected with the sliding plate, the sliding plate is slidably arranged on a guide rail on the guide rail plate so as to enable the sliding plate to slide along the guide rail, the guide rail plate is fixedly arranged on the positioning bracket, the positioning cylinder is arranged at the upper end of the positioning bracket, and an output shaft of the positioning cylinder is fixedly connected with the sliding plate so that the positioning cylinder can drive the sliding plate to slide on the guide rail,

the position detection device comprises a position detection support, a position detection cylinder arranged on the position detection support, a position detection connecting plate, a position detection sliding column and a position detection strip block, wherein the position detection cylinder is arranged on the position detection support, an output shaft of the position detection cylinder is fixedly connected with the position detection connecting plate, the position detection sliding column moves by driving the detection connecting plate, the position detection sliding column is fixedly connected with the position detection connecting plate, the position detection strip block is fixedly arranged on one side of the position detection sliding column, the position detection strip block is strip-shaped, and the position detection sliding column is matched with an outer cover groove on an outer cover.

6. The automatic press-pump integrated assembling machine adopting the cooperation of multiple manipulators as claimed in claim 5, wherein the gland-guiding device comprises a gland-guiding bracket, and a push-in cylinder, a push-in guide plate, a limit groove, a gland-guiding platen and a material-guiding groove which are arranged on the gland-guiding bracket, the push-in cylinder is fixedly arranged on the gland-guiding bracket, an output shaft of the push-in cylinder is fixedly connected with the push-in guide plate, the push-in guide plate is transversely positioned in a groove on the gland-guiding bracket, one side of the push-in guide plate, which is close to the material-guiding groove, is provided with the limit groove, the limit groove is matched with the size of the gland so that only one gland can be accommodated in the limit groove, the push-in cylinder is used for driving the push-in guide plate to reach the third position and the fourth position respectively,

a third position: the limiting groove is separated from the material introducing groove, and a gland in the material introducing groove cannot enter the limiting groove;

the fourth position: the limiting groove is communicated with the material guiding groove, and a gland in the material guiding groove can enter the limiting groove;

the leading-in material groove is longitudinally arranged on the gland leading-in bedplate at the upper end of the gland leading-in bracket and is used for connecting an external feeding gland and feeding the gland into the limiting groove.

7. The automatic press pump integrated assembling machine adopting the cooperation of the multiple manipulators as claimed in claim 6, wherein the gland pressing device comprises a gland pressing support, a first transverse clamping cylinder, a first clamping block, a second transverse clamping cylinder, a gland pressing cylinder and a gland pressing cylinder body, wherein the gland pressing cylinder and the gland pressing cylinder body are mounted on the gland pressing support, the output end of the first transverse clamping cylinder is fixedly connected with the first clamping block, the output end of the second transverse clamping cylinder is fixedly connected with the second clamping block, the first clamping block and the second clamping block are arranged oppositely, so that a clamping through hole is formed between the first clamping block and the second clamping block, the first transverse clamping cylinder and the second transverse clamping cylinder are mounted on the workbench, the gland pressing cylinder is fixed on the gland pressing support, and the output end of the gland pressing cylinder is fixedly connected with the gland pressing cylinder body, so as to drive the gland pressing cylinder body to be close to or far away from the clamping through hole.

8. The automatic press pump integrated assembling machine adopting multi-manipulator cooperative work according to claim 7, wherein the lock device comprises a lock bracket, a lock motor, a lock cylinder, a pushing block, a lock head plate, a lock guide plate, an induction bracket, a rotating head, a lock connecting block, a lock connecting rod and a lock sliding cylinder, the lock motor, the lock cylinder, the pushing block, the lock head plate, the lock guide plate, the induction bracket, the rotating head, the lock connecting block, the lock connecting rod and the lock sliding cylinder are arranged on the lock bracket, the lock guide plate is fixedly arranged on one side of the lock bracket, the lock guide rail is arranged on the lock guide plate, the lock head plate is slidably arranged on the lock guide rail, so that the lock head plate can slide on the lock guide rail, the lock connecting block is fixedly connected with the lock head plate and positioned outside the lock head plate, the lock motor and the lock cylinder are both fixed on the lock bracket, an output shaft of the lock motor is connected with the lock sliding cylinder to drive the lock sliding cylinder to rotate, the lock sliding cylinder is sleeved on the lock connecting rod and can slide along the lock connecting rod, one end of the lock connecting block, which is far away from the sliding cylinder, is fixedly connected with the rotating head, and sleeved on the lock connecting block,

the output shaft of lock body cylinder with promote a fixed connection, promote piece and tapered end board fixed connection, promote the rear side that the piece is located tapered end guide rail board, tapered end guide rail board is close to the one end of tapered end motor and is provided with a U type recess, promotes the top that the piece is located U type recess to when making lock body cylinder drive promote the piece and remove, promote the piece and can remove in U type recess.

9. The automatic press-pump-integrated assembling machine using multiple manipulators to cooperatively work according to claim 8, wherein the clip feeding device comprises a clip holder, and a clip guide rail, a clip retainer plate, a clip pushing-in cylinder, a clip base plate, a clip retainer groove, a clip presser and a pusher block which are mounted on the clip holder, the clip base plate is fixedly mounted on the upper end of the clip holder, the pusher block is embedded in the groove of the clip base plate and is slidably mounted in the groove of the clip base plate, an output end of the clip pushing-in cylinder is fixedly connected with the pusher block to drive the pusher block to slide in the groove, the clip pushing-in cylinder is mounted on the worktable, the clip presser is fixed on the upper end of the clip base plate and spans over the groove of the clip base plate, one end of the clip guide rail is fixed on the clip presser plate and is communicated with the clip retainer groove through the clip presser plate, so that a clip member coming from the clip guide rail can fall into the clip retainer groove, the clip retainer groove is located at one end of the clip remote from the pushing-in cylinder, the clip retainer groove can contact with the clip in the clip retainer groove to push-in the action of the clip presser groove, thereby assembling the clip onto the press-pump-pressing cover located on the worktable,

wherein, the other end and the outside of clip guide rail dock mutually to can accept the clip part by outside output, the clip part can slide to the clip spacing inslot along the clip guide rail, is provided with a plurality of clip limiting plates on the clip guide rail, the clip limiting plate is used for the gesture of spacing clip, so that the opening that falls into the clip of clip spacing inslot is towards the carousel direction all the time, thereby can push the clip to on the pressure pump.

10. The automatic press-pump integrated assembling machine adopting multi-manipulator cooperation according to claim 9, wherein the straw shearing device comprises a straw shearing bracket, and a moving block, a strip pressing plate, a shearing and propelling cylinder, a screw rod, a shearing and connecting block, a shearing and propelling motor and a straw shearing and guiding rail which are arranged on the straw shearing bracket, the straw shearing and guiding rail is fixedly arranged on one side of the straw shearing bracket, the moving block is slidably arranged on the straw shearing and guiding rail so as to enable the moving block to slide along the straw shearing and guiding rail, the moving block is sleeved on the screw rod, one end of the screw rod is rotatably fixed at the upper end of the straw shearing bracket, the other end of the screw rod penetrates through the moving block and then is rotatably connected with an output shaft of the shearing and propelling motor through the shearing and connecting block, so that a rotor of the shearing and propelling motor can drive the screw rod to rotate, and the screw rod drives the moving block to slide up and down along the screw rod,

the movable block is fixedly connected with the strip-shaped pressing plate, the shearing propulsion cylinder is fixedly installed on the strip-shaped pressing plate, an inserting pipe hole penetrating through the strip-shaped pressing plate is formed in the strip-shaped pressing plate, an external long pipe penetrates through the inserting pipe hole and extends out of the upper end of the strip-shaped pressing plate, a shearing knife is further arranged on the strip-shaped pressing plate and connected with the output end of the shearing propulsion cylinder, the shearing propulsion cylinder can push the shearing knife to move, the shearing knife can cut the extending long pipe, the cut long pipe forms a straw, and the straw is assembled on the pressing pump.