CN116141245A - Valve group assembly platform - Google Patents

Valve group assembly platform Download PDF

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Publication number
CN116141245A
CN116141245A CN202211469447.4A CN202211469447A CN116141245A CN 116141245 A CN116141245 A CN 116141245A CN 202211469447 A CN202211469447 A CN 202211469447A CN 116141245 A CN116141245 A CN 116141245A
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CN
China
Prior art keywords
valve body
assembly
platform
tool
valve
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Pending
Application number
CN202211469447.4A
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Chinese (zh)
Inventor
刘加华
王永红
谭芝芝
邹春阳
张艳玲
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Application filed by Zoomlion Heavy Industry Science and Technology Co Ltd filed Critical Zoomlion Heavy Industry Science and Technology Co Ltd
Priority to CN202211469447.4A priority Critical patent/CN116141245A/en
Publication of CN116141245A publication Critical patent/CN116141245A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25BTOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B27/00Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25HWORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25HWORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/08Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for attachment of work holders

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

The application belongs to the field of automatic mechanical assembly technology, especially relates to a valve group assembly platform, including fixed platform and removal revolving platform, be equipped with the assembly position and the fixed position of interval arrangement on fixed platform top surface, remove the revolving platform and include and remove the slide and install the revolving platform on removing the slide, remove the slide and can reciprocate between assembly position and fixed position, the revolving platform can fix the valve body and revolve in order to switch valve body assembly face. Firstly, fixing a valve body on a rotary table at a fixed position, moving to an assembly position through a moving sliding plate, controlling the rotary table to display the assembly surface of each valve body in a switching mode, installing corresponding needed parts on the valve body, and completing the assembly of the hydraulic valve block through multiple rotations. The whole assembly process is highly automatic, the assembly position of the valve body is not required to be manually carried and adjusted repeatedly, and repeated labor is avoided; the valve body is fixedly connected with the rotary table, manual fixing and reinstallation are not needed, the labor intensity of staff is reduced, and therefore the assembly efficiency of the hydraulic valve block is improved.

Description

Valve group assembly platform
Technical Field
The application belongs to the field of automatic mechanical assembly technology, and particularly relates to a valve group assembly platform.
Background
When the engineering machinery is constructed, the working environment is bad, the working condition is complex, the product quality requirement is high, wherein the hydraulic valve block is used as the most critical component of the hydraulic system of the engineering machinery, and the quality influence on the product is great. The hydraulic valve block is a control component in the hydraulic system and is used for controlling the pressure, the flow and the flow direction in the hydraulic system, so that the hydraulic valve block meets the action requirements of various execution elements. The hydraulic valve block has a complex structure and covers the characteristics of various materials, and the like, and comprises five parts, namely a valve body, hydraulic components, a pipe joint, a plug, a bolt and the like.
Most of hydraulic valve blocks in the existing engineering machinery industry are assembled manually, and a desktop multi-station assembly line type working platform is adopted. Aiming at the related technology, each station needs to manually carry and adjust the assembly position of the valve body, so that the labor intensity of staff is high repeatedly, and when parts are installed, the valve body needs to be manually fixed for reinstallation, so that the assembly efficiency is low, and the production efficiency of the hydraulic valve block is reduced.
Disclosure of Invention
The purpose of this application is to provide a valves assembly platform, aims at solving staff's repeated intensity of labour among the current valve body assembly methods great, the problem that assembly efficiency is low.
To achieve the above object, the present application provides a valve group assembly platform, including:
the fixed platform comprises a horizontal reference surface serving as the top surface of the fixed platform, and the horizontal reference surface is provided with assembly bits and fixing bits which are arranged at intervals along the direction of the first platform;
the movable rotary table comprises a movable sliding plate and a rotary table, the movable sliding plate is arranged on the horizontal reference surface in a sliding manner along the direction of the first platform, the rotary table is arranged on the movable sliding plate, and the movable sliding plate can carry the rotary table to reciprocate between an assembling position and a fixing position;
the valve body to be assembled can be clamped and fixed on the rotary table at the fixing position, and the rotary table can drive the valve body to rotate at the assembling position so as to switch and display the valve body assembling surface.
In the embodiment of the application, still be equipped with frock storage position on the horizontal reference surface, assembly position, fixed position and frock storage position follow first platform direction interval arrangement in proper order, valves assembly platform is including setting up the frock quick change mechanism at frock storage position, and frock quick change mechanism is used for the storage to switch the multiple valve body location frock of corresponding valve body of installing different specifications, and valve body location frock can be fixed in on the revolving platform at fixed position clamping.
In the embodiment of the application, the frock quick change mechanism includes:
the bottom plate is arranged on the tool storage position on the fixed platform;
the tool transition seat is used for temporarily storing the replaced valve body positioning tool; and
the tool storage part comprises a plurality of tool placement areas which are arranged in a arraying manner, and valve body positioning tools of corresponding specifications are placed in each tool placement area and corresponding proximity switches are arranged in each tool placement area.
In an embodiment of the present application, a turntable includes:
the valve body positioning tool pin shaft is positioned on the rotating disc and is locked and fixed through the tool locking mechanism; and
and the rotary driving motor is used for driving the rotating disc to rotate, and the rotation axis is perpendicular to the horizontal reference plane.
In the embodiment of the application, can dismantle the connection through vertical locking screw between valve body location frock and the valve body.
In the embodiment of the application, valve body location frock includes the frock body, and the top surface of frock body is equipped with the spacing portion that is used for the bottom surface of location valve body, and the vertical through-hole that is used for holding locking screw and a plurality of location pinholes that are used for the interval arrangement of location connection rolling disc are seted up to the bottom surface of frock body, and the locking groove that is used for connecting frock locking mechanism has been seted up to the frock body side.
In an embodiment of the present application, the valve block assembly platform further comprises:
the first tightening system is arranged right below the fixed position of the horizontal reference surface and is used for tightening the locking screw.
In an embodiment of the present application, the first tightening system includes:
the guide shaft is hung downwards from the bottom surface of the fixed platform;
the fixed plate is fixedly arranged at the hanging bottom end of the guide shaft;
the movable plate is sleeved on the guide shaft;
the screwing mechanism is arranged on the movable plate; and
and the lifting driving mechanism is arranged on the fixed plate and used for driving the movable plate to move up and down along the guide shaft, so that the tightening end of the tightening mechanism can upwards penetrate out of the fixed platform.
In an embodiment of the present application, the valve block assembly platform further comprises:
and the conveying manipulator is used for grabbing and conveying the valve body positioning tool between the fixed position and the tool storage position and conveying the valve body to the rotary table at the fixed position.
In the embodiment of the application, still be equipped with the visual identification position on the horizontal reference surface, the valves assembly platform is including setting up the first vision system at the visual identification position, and first vision system is used for discernment rotation to the position information on the valve body assembly surface that faces first vision system.
In an embodiment of the present application, the valve block assembly platform further comprises:
the assembling manipulator is arranged at the side of the assembling position and is used for installing parts such as hydraulic components, pipe joints, plugs, bolts and the like to be assembled on the corresponding valve body assembling surface.
In an embodiment of the present application, the valve block assembly platform includes a control system configured to:
controlling the movable sliding plate to move to a fixed position along the direction of the first platform;
according to the specification of the valve body of the valve bank to be assembled, the tooling quick change mechanism is controlled to switch out the corresponding valve body positioning tooling;
clamping and fixing the valve body and the valve body positioning tool on a rotary table at a fixed position;
controlling the movable sliding plate to enable the rotary table to move to the visual identification position;
the rotary table is controlled to rotate to drive each valve body assembly surface of the valve body to rotate to the opposite surface of the first vision system respectively, and the first vision system is controlled to recognize the installation point position information on each valve body assembly surface;
controlling the moving slide plate to enable the rotary table to move to the assembly position;
and controlling the rotary table to rotate, driving the assembly surfaces of the valve bodies to sequentially rotate to the opposite surfaces of the assembly screwing system, and controlling the assembly manipulator to sequentially complete the assembly of the hydraulic valve blocks.
In the valve group assembly platform of this application, steerable revolving platform is through removing the slide and remove to the fixed position from initial position, will wait to assemble the valve body and place on the revolving platform and be fixed with it, and the rethread removes the slide and remove to the assembly position from the fixed displacement, then the control revolving platform drives the valve body gyration in order to switch and show each valve body assembly face to correspond required hydraulic components and parts such as coupling, plug, bolt with the valve body assembly face that will show and install on the valve body, accomplish the installation of all parts through many times gyrations. The valve group assembly platform increases the assembly space of the valve body by additionally arranging assembly bits, interference among assembly machines does not occur during mechanical assembly, the whole assembly process is highly automatic, manual repeated carrying is not needed for adjusting the assembly position of the valve body, the valve body is fixedly connected with the rotary table, manual fixed reinstallation is not needed, repeated labor is avoided, the labor intensity of staff is reduced, and finally the assembly efficiency of the hydraulic valve block is improved, so that the production efficiency of the hydraulic valve block is improved.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:
FIG. 1 is a schematic view of an overall structure of a valve assembly platform according to an embodiment of the present application;
FIG. 2 is a schematic top view of a valve assembly platform according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of the whole structure of the quick-change mechanism according to an embodiment of the present application;
FIG. 4 is a schematic view of the overall structure of a turntable according to an embodiment of the present disclosure;
FIG. 5 is a schematic top view of a turntable according to an embodiment of the present disclosure;
FIG. 6 is a schematic top view of a valve body positioning tool according to an embodiment of the present disclosure;
FIG. 7 is a schematic cross-sectional view of a valve body positioning tool according to an embodiment of the present disclosure;
fig. 8 is a schematic cross-sectional view of a first tightening system according to an embodiment of the present application.
Description of the reference numerals
Reference numerals Name of the name Reference numerals Name of the name
8 First tightening system 1021 Sliding block
81 Tightening mechanism 1022 Horizontal driving motor
82 Guide shaft 1023 Screw rod
83 Movable plate 1024 Screw nut
84 Fixing plate 103 Rotary table
85 Lifting driving mechanism 1031 Rotary disk
100 Valve body 1032 Rotary driving motor
600 Hydraulic valve block 1033 Rotary screw
700 Valve body positioning tool 1034 Tool locking mechanism
701 Limiting part 104 First rectangular frame
702 Locking screw 1041 Sliding rail
703 Positioning pin hole 105 Quick-change mechanism for tool
704 Locking groove 1051 Tool transition seat
101 Fixed platform 1052 Proximity switch
102 Movable skateboard
Detailed Description
The following detailed description of specific embodiments of the present application refers to the accompanying drawings. It should be understood that the detailed description is presented herein for purposes of illustration and explanation only and is not intended to limit the present application.
A valve block assembly platform according to the present application is described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, in an embodiment of the present application, there is provided a valve block assembly platform, including:
the fixed platform 101 comprises a horizontal reference surface serving as the top surface of the fixed platform 101, wherein the horizontal reference surface is provided with assembly positions and fixing positions which are arranged at intervals along the first platform direction;
a moving turntable 103 including a moving slide plate 102 slidably provided on a horizontal reference surface in a first platform direction and a turntable 103 mounted on the moving slide plate 102, the moving slide plate 102 being capable of carrying the turntable 103 to and fro between an assembly position and a fixing position;
the valve body 100 to be assembled can be clamped and fixed on the rotary table 103 at a fixed position, and the rotary table 103 can drive the valve body 100 to rotate at an assembling position so as to switch and display the valve body assembling surface.
The valve block assembly platform further comprises a first rectangular frame 104, and the first platform direction is the length direction of the first rectangular frame 104. The first rectangular frame 104 includes a support frame and a support plate: the support frame structure is formed by welding square steel, and stress relief annealing treatment is carried out after the welding is completed; the backup pad is fixed on the support frame, and backup pad upper surface is through milling, guarantees its roughness to guarantee the levelness of backup pad. In order to further reduce the levelness influence of vibration of the equipment operation process or the surrounding environment on the supporting plate, the supporting frame adopts heavy-load shockproof supporting legs, and the vertical maximum load of a single piece is ensured to be maximized. The bottom of the first rectangular rack 104 of the support plate is provided with a movable wheel, and the position of the valve group assembly platform is adjusted through the movable wheel, so that the position of the valve group assembly platform is matched with the previous working procedure, the time required for the working procedure connection is shortened, and the production efficiency is further improved.
The fixed platform 101 is mounted on a first rectangular frame 104, and the mounting bits and the fixing bits are respectively provided at both ends of a horizontal reference plane as the top surface of the fixed platform 101 in the first platform direction. The horizontal reference surface is provided with a sliding rail 1041 extending along the first platform direction, and the bottom of the moving slide plate 102 is provided with a sliding block 1021 in sliding fit with the sliding rail 1041, so that the moving slide plate 102 can slide along the first platform direction. The turntable 103 is fixedly arranged on the moving slide plate 102, and the turntable 103 is moved along the first platform direction by the moving slide plate 102. The whole rotary table 103 is higher than the top surface of the fixed platform 101 by a certain distance and can rotate, so that the valve body assembly surface can be switched and displayed.
Further, one end of the fixing position of the fixing platform 101 extends outwards, a tool storage position is further arranged on the part of the horizontal datum plane extending outwards, and the assembling position, the fixing position and the tool storage position are sequentially arranged at intervals along the direction of the first platform, so that the whole assembly process of the hydraulic valve block 600 is completed on the fixing platform 101.
Wherein, be equipped with frock quick change mechanism 105 in frock storage position department, frock quick change mechanism 105 is used for storing to switch and corresponds the multiple valve body location frock 700 of installing the valve body 100 of different specifications, and valve body location frock 700 can be fixed in on the revolving platform 103 in fixed position clamping.
As shown in fig. 3, specifically, the tooling quick-change mechanism 105 includes a bottom plate installed at a tooling storage position on the fixed platform 101, and tooling transition seats 1051 and tooling storage parts are respectively provided at two ends of the bottom plate along the second direction. The tool transition seat 1051 is used for temporarily storing the replaced valve body positioning tool 700; the tool storage part comprises a plurality of tool placement areas which are arranged in a arrayed manner, and each tool placement area is provided with a valve body positioning tool 700 of corresponding specification and a corresponding proximity switch 1052. The function of the proximity switch 1052 is: when the proximity switch 1052 of the tool placement area is closed, the valve body positioning tool 700 corresponding to the specification of the tool placement area can be removed and moved to the rotary table 103 for assembly, so that the influence on the assembly efficiency caused by removing the valve body positioning tool 700 not corresponding to the tool placement area is avoided. It can be seen that the assembly requirements of the valve blocks with different specifications can be met by additionally arranging the working storage position and the tooling quick-change mechanism 105.
Further, for realizing automatic identification and automatic installation of tools of different models, the valve assembly platform comprises a controller, and the controller is configured to receive an identification electric signal transmitted by a valve body feeding device connected with the valve assembly platform to control the tool quick-change mechanism 105 to work, and the specific working process is as follows:
first, valve body positioning fixture 700 installation process: the valve body to be assembled is conveyed to a valve assembly platform through a valve body conveying device, firstly, a controller receives an identification electric signal to automatically close a proximity switch 1052 of a corresponding tool placement area according to the type of the valve body, then controls a grabbing device to grab a valve body positioning tool 700 with a required specification to be fixedly arranged on a rotary table 103, and finally controls the grabbing device to fix the valve body to be assembled on the valve body positioning tool 700;
second, the valve body positioning tool 700 switches the process: firstly, the controller receives a new identification electric signal, controls the grabbing device to take down the original valve body positioning tool 700 on the rotary table 103 and place the tool on the tool transition seat 1051, simultaneously automatically closes the proximity switch 1052 of the corresponding tool placement area according to the new valve body type, then controls the grabbing device to grab the valve body positioning tool 700 with the required specification to be fixedly installed on the rotary table 103, and finally controls the grabbing device to put the valve body positioning tool 700 on the tool transition seat 1051 back to the corresponding tool placement area and automatically open the corresponding proximity switch 1052.
As shown in fig. 4 and 5, in the embodiment of the present application, the turntable 103 includes a rotating disc 1031 parallel to a horizontal reference surface, and after the valve body positioning tool 700 is placed on the rotating disc 1031 by using the tool quick-change mechanism 105, the valve body positioning tool 700 needs to be positioned and fixed, so a positioning pin shaft and a tool locking mechanism 1034 are provided on the rotating disc 1031. The positioning pin shaft is used for positioning the valve body positioning tool 700, and the tool locking mechanism 1034 is used for locking and fixing the valve body positioning tool 700.
The rotating disk 1031 needs to reciprocate between the assembling position and the fixing position in the whole assembling process, and in order to meet the production requirement and save manpower, the horizontal driving motor 1022 is arranged on the fixing platform 101 to avoid repeated labor. A transmission shaft of the horizontal driving motor 1022 is connected with a screw rod 1023, and a screw rod nut 1024 meshed with the screw rod 1023 is arranged at the bottom of the moving slide plate 102 to drive the moving slide plate 102 to move along the direction of the first platform.
In addition, the rotating disc 1031 needs to rotate for many times by taking the central axis as the rotating shaft in the whole assembly process, in order to meet the production requirement and save manpower and avoid repeated labor, a rotary driving motor 1032 is arranged on the fixed platform 101 and is used for driving the rotating disc 1031 to rotate, and the rotating axis is perpendicular to the horizontal reference plane. For cooperation with the rotary drive motor 1032, gear teeth are provided on the peripheral wall of the rotary disk 1031. The transmission shaft of the rotary driving motor 1032 is connected with a rotary screw 1033, the screw is meshed with the gear teeth, and when the rotary driving motor 1032 drives the screw to rotate, the rotary disk 1031 is driven to rotate by taking the central axis as the rotation axis. In order to make the rotary disk 1031 exhibit different valve body mounting surfaces per rotation, a servo motor is selected as the rotary drive motor 1032, and the rotation angle is set to 90 ° per rotation.
As shown in fig. 6 and 7, the valve body positioning tool 700 is provided with various structures for fixing the valve body 100 from falling off during the rotation of the rotating disc 1031 and the movement of the moving slide plate 102. The valve body positioning tool 700 comprises a tool body, wherein a limiting part 701 for positioning the bottom surface of the valve body 100 is arranged on the top surface of the tool body, a plurality of positioning pin holes 703 which are used for accommodating vertical through holes of the locking screw 702 and are used for positioning and connecting with the interval arrangement of the rotating disc 1031 are formed in the bottom surface of the tool body, and a locking groove 704 used for connecting with a tool locking mechanism 1034 is formed in the side surface of the tool body.
Specifically, the limiting portion 701 includes limiting blocks uniformly distributed at four corners of the top surface of the tool body, and the embedded size of the area surrounded by the limiting blocks is consistent with the size of the bottom surface of the valve body 100, so as to position the valve body 100 and limit the movement of the valve body 100 in a horizontal plane. The positioning pin holes 703 are located in the area surrounded by the limiting block, correspond to the number and the positions of the positioning pin shafts, and are used for positioning the tool body. The tool locking mechanism 1034 selects a locking air cylinder, and the fixture body and the rotating disk 1031 are fixed through the insertion and matching of the movable part of the locking air cylinder and the locking groove 704. The locking screw 702 is used for detachable connection between the tool body and the valve body 100.
For better screwing up locking screw 702, valves assembly platform still includes the first system 8 of screwing up of setting under the fixed position of horizontal reference surface, not only can make locking screw 702 and frock body firm in connection through first system 8 of screwing up, can also practice thrift the manpower, reduce the cost of labor.
As shown in fig. 8, in an embodiment of the present application, the first tightening system 8 includes a tightening mechanism 81 for screwing the locking screw 702. In order to enable the tightening mechanism 81 to perform vertical lifting movement and enable the tightening end of the tightening mechanism 81 to penetrate out of the fixed platform 101 upwards, a guide shaft 82 is hung downwards on the bottom surface of the fixed platform 101, a movable plate 83 is sleeved on the guide shaft 82, the tightening mechanism 81 is mounted on the movable plate 83, and a lifting driving mechanism 85 for driving the movable plate 83 to lift along the extending direction of the guide shaft 82 is arranged on the bottom surface of the movable plate 83. To fix the lifting driving mechanism 85, a fixing plate 84 is provided at the hanging bottom end of the guide shaft 82 and fixed to the first rectangular frame 104, and the lifting driving mechanism 85 is connected to the movable plate 83 through the fixing plate 84.
Specifically, the tightening mechanism 81 includes a tightening shaft and a rotating motor that drives the tightening shaft to rotate, the tightening shaft is mounted on the movable plate 83, the rotating motor is built in the tightening shaft, the tightening shaft sequentially passes through the movable plate 83 and the fixed plate 84, which are parallel to each other, from top to bottom, and the fixed plate 84 makes the vertical lifting of the tightening shaft more accurate. The lifting driving mechanism 85 is a lifting cylinder, a fixed part of the lifting cylinder is fixed on the fixed plate 84, a movable part is connected with the movable plate 83, and the extending and contracting direction of the lifting cylinder is parallel to the guide shaft 82. When the lifting cylinder stretches out, the tightening shaft penetrates out of the top surface of the fixed platform 101 for a certain distance, and the distance is determined according to the heights of the rotating table, the valve body positioning tool 700 assembly and the valve body 100; when the lift cylinder is retracted, the tightening shaft is retracted below the top surface of the stationary platform 101.
To further increase the automation of the valve block assembly platform, the valve block assembly platform further includes a transfer robot, an assembly robot, a tightening system, and the like. The valve group assembly platform is provided with a tool storage position, a valve block fixing position and a valve block assembly assembling position, and the hydraulic valve block assembly is assembled by matching three stations through a conveying manipulator and an assembling manipulator. The conveying manipulator is used for grabbing and conveying the valve body positioning tool 700 between the fixed position and the tool storage position and conveying the valve body 100 to the rotary table 103 at the fixed position under the control of the controller; the assembling manipulator and the tightening system are arranged at the side of the assembling position, and the assembling manipulator and the tightening system are matched to mount the parts such as the hydraulic components to be assembled, the pipe joint, the screw plug, the bolt and the like on the corresponding valve body assembling surface. Since the transfer robot, the assembly robot, the tightening system, and the like are simultaneously provided, if all work is performed only at the fixed position, interference between the robots may occur, and by providing the spaced assembly positions, a larger other device placement space and operation space can be provided. And each mechanical device is matched for automatic assembly, so that repeated labor is reduced, the labor intensity is reduced, and the assembly efficiency is ensured.
In an embodiment of the present application, a visual recognition site is also provided on the horizontal reference plane. A first vision system is provided at the vision recognition position for recognizing and processing positional information rotated to the valve body fitting surface facing the first vision system.
Specifically, the first vision system is selected from an industrial camera for acquiring image data and vision software for processing the image data. The industrial camera is fixed at a visual identification position of a horizontal reference surface by setting a camera bracket, and the specific identification process comprises the following steps: firstly, an industrial camera and a rotating table are matched to shoot and collect images of the assembly surfaces of the valve bodies, and the images are transmitted to vision software; then, the vision software sets an internal reference of the vision software by taking a horizontal reference surface as an equipment reference to establish a two-dimensional coordinate system, so that the corresponding relation between the actual position of the mounting surface of the valve body 100 and the two-dimensional coordinate system is established; secondly, preprocessing image data by using an image processing algorithm to obtain characteristic images of mounting hole sites of all parts on the mounting surface of the valve body 100; then, extracting contour points from the characteristic images, and calculating the accurate positions of all the mounting holes through mathematical operation; secondly, comparing the accurate position with coordinate values in a two-dimensional coordinate system to obtain a deviation value; finally, the vision software calculates the final position according to the deviation value and uses the assembling manipulator to assemble.
Along with the progress of technology, in order to increase assembly efficiency and assembly accuracy, reduce artifical input and artifical intensity of labour, valves assembly platform includes control system, and control system selects the PLC controller to use, and the PLC controller respectively with horizontal driving motor 1022, frock locking mechanism 1034, conveying manipulator, lift actuating mechanism 85, rotating electrical machines, industrial camera, vision software, rotating driving motor 1032, equipment manipulator and proximity switch 1052 communicate respectively, specific control process is as follows:
in the first stage, the mechanical assembly position of the valve body 100 is fixed: firstly, a PLC controller controls a movable sliding plate 102 to move from an initial position to a fixed position along a first platform direction, a valve body 100 specification is input, and a corresponding positioning tool is selected; secondly, closing a corresponding proximity switch 1052 through a PLC controller and controlling a conveying manipulator to grasp a positioning tool and place the positioning tool on a rotating disc 1031, wherein a positioning pin shaft on the rotating disc 1031 is matched with a positioning pin hole 703 on the bottom surface of a tool body of the positioning tool to position, and simultaneously, a tool locking mechanism 1034 on the rotating disc 1031 is matched with a locking groove 704 on the side surface of the tool body of the positioning tool to fix; then, the PLC controls the conveying manipulator to grasp the valve body 100 and place the valve body on the top surface of the positioning tool, a limiting block on the top surface of the positioning tool is matched with the bottom surface of the valve body 100 to be positioned, and the PLC controls the horizontal driving motor 1022 to drive the rotating disc 1031 to move to the position right above the screwing shaft; finally, the lifting driving mechanism 85 is controlled to drive the tightening shaft to extend out of the horizontal datum plane and insert the locking bolt in the tool body, and meanwhile, the rotating motor is controlled to drive the tightening shaft to screw the locking bolt to be fixed with the bottom surface of the valve body 100, so that the mechanical assembly position of the valve body 100 is fixed.
And a second stage: the vision system automatically recognizes and stores the valve body 100 assembly position information: firstly, controlling the movable slide plate 102 to move to a visual identification position through a PLC controller; secondly, the industrial camera is controlled by the PLC to shoot an image of the first valve body assembly surface, meanwhile, the visual software is controlled by the PLC to set an internal reference origin of the first valve body assembly surface by taking the horizontal reference surface as a device reference to establish a two-dimensional coordinate system, an image processing algorithm is used for preprocessing the image to obtain a characteristic image of a reference installation hole site of the first valve body assembly surface, contour points are extracted from the characteristic image, the accurate position of the reference installation hole site is calculated through mathematical operation, the distance between the internal reference origin and the accurate position of the reference installation hole site is calculated, and then the distance is compared with a standard value set by a system to obtain an actual deviation value, and as the distance between each installation hole site of the first valve body assembly surface is fixed, the positions of other installation hole sites on the first valve body assembly surface are equal to the distance from the reference installation hole site plus the actual deviation value, so that the position information of each installation hole site of the first valve body assembly surface is automatically identified; then, the rotation driving motor 1032 is controlled by the PLC to rotate to the next valve body assembly surface to perform the image acquisition and processing process in the last step; finally, the automatic identification of the position information of each installation hole position of the four valve body assembly surfaces is completed sequentially.
And a third stage: automatically adjusting the assembly position and automatically assembling: firstly, a PLC controller is used for controlling a horizontal driving motor 1022 to drive a movable sliding plate 102 to adjust the assembly position according to the deviation value calculated in the previous stage; secondly, the movable sliding plate 102 is controlled by a PLC to move to an assembling position, and according to the position information of each mounting hole position of the valve body assembling surface automatically identified in the previous stage of the valve body assembling surface corresponding to the industrial camera, the assembling manipulator is controlled by the PLC to automatically assemble the corresponding valve body assembling surface; then, the rotary driving motor 1032 is controlled by the PLC controller to drive the rotary disk 1031 to rotate to the next valve body assembling surface for automatic assembly; finally, the automatic assembly of all valve body assembly surfaces is completed in sequence.
After the assembled hydraulic valve block 600 is removed, the next valve body 100 is assembled, and if the specifications of the next valve body 100 and the previous valve body 100 are different, the procedure of replacing the valve body positioning tool 700 needs to be added in the first stage: firstly, a valve body positioning tool 700 on a transmission manipulator grabbing rotating disc 1031 is controlled by a PLC controller to be placed on a tool transition seat 1051; then, closing a proximity switch 1052 corresponding to a tool placement area where the new valve body positioning tool 700 is positioned through a PLC controller, and simultaneously controlling a transmission manipulator to grasp the new valve body positioning tool 700 to be placed on a rotating disc 1031; finally, the valve body positioning tool 700 of the tool transition seat 1051 is controlled by the PLC controller to be placed in the corresponding tool placement area and simultaneously the corresponding proximity switch 1052 is opened.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (12)

1. A valve block assembly platform, characterized in that the valve block assembly platform comprises:
the fixed platform (101) comprises a horizontal reference surface serving as the top surface of the fixed platform (101), wherein the horizontal reference surface is provided with assembly positions and fixing positions which are arranged at intervals along the direction of the first platform;
a movable turret including a movable slide plate (102) slidably provided on the horizontal reference surface in the first stage direction and a turret (103) mounted on the movable slide plate (102), the movable slide plate (102) being capable of carrying the turret (103) to reciprocate between the mounting position and the fixed position;
the valve body (100) to be assembled can be clamped and fixed on the rotary table (103) at the fixed position, and the rotary table (103) can drive the valve body (100) to rotate at the assembly position so as to switch and display the valve body assembly surface.
2. The valve group assembly platform according to claim 1, wherein a tool storage position is further arranged on the horizontal reference surface, the assembly position, the fixing position and the tool storage position are sequentially arranged at intervals along the direction of the first platform, the valve group assembly platform comprises a tool quick-change mechanism (105) arranged at the tool storage position, the tool quick-change mechanism (105) is used for storing and switching various valve body positioning tools (700) for correspondingly installing the valve bodies (100) with different specifications, and the valve body positioning tools (700) can be clamped and fixed on the rotary table (103) at the fixing position.
3. The valve block assembly platform of claim 2, wherein the tooling quick change mechanism (105) comprises:
the bottom plate is arranged on the tool storage position on the fixed platform (101);
a tool transition seat (1051) for temporarily storing the replaced valve body positioning tool (700); and
the tool storage part comprises a plurality of tool placement areas which are arranged in an arrangement mode, wherein each tool placement area is provided with a valve body positioning tool (700) of corresponding specification and a corresponding proximity switch (1052).
4. Valve block assembly platform according to claim 2, characterized in that the turret (103) comprises:
the rotating disc (1031) is parallel to the horizontal reference surface, a tool locking mechanism (1034) is arranged on the rotating disc (1031), and the valve body positioning tool (700) is positioned on the rotating disc (1031) through a pin shaft and locked and fixed through the tool locking mechanism (1034); and
and a rotation driving motor (1032) for driving the rotating disk (1031) to rotate with the rotation axis being perpendicular to the horizontal reference plane.
5. The valve block assembly platform of claim 4, wherein the valve block positioning fixture (700) is detachably connected with the valve block (100) through a vertical locking screw (702).
6. The valve group assembly platform according to claim 5, wherein the valve body positioning tool (700) comprises a tool body, a limiting part (701) for positioning the bottom surface of the valve body (100) is arranged on the top surface of the tool body, a vertical through hole for accommodating the locking screw (702) and a plurality of positioning pin holes (703) for positioning and connecting the interval arrangement of the rotating disc (1031) are formed on the bottom surface of the tool body, and a locking groove (704) for connecting the tool locking mechanism (1034) is formed on the side surface of the tool body.
7. The valve manifold assembly platform of claim 5, further comprising:
-a first tightening system (8) arranged directly below the fixed position of the horizontal reference plane and for tightening the locking screw (702).
8. Valve group assembly platform according to claim 7, characterized in that said first tightening system (8) comprises:
a guide shaft (82) which is suspended downward from the bottom surface of the fixed platform (101);
the fixed plate (84) is fixedly arranged at the hanging bottom end of the guide shaft (82);
a movable plate (83) sleeved on the guide shaft (82);
a tightening mechanism (81) mounted on the movable plate (83); and
and the lifting driving mechanism (85) is arranged on the fixed plate (84) and is used for driving the movable plate (83) to move up and down along the guide shaft (82), so that the tightening end of the tightening mechanism (81) can upwards penetrate out of the fixed platform (101).
9. The valve manifold assembly platform of claim 2, further comprising:
and the conveying manipulator is used for grabbing and conveying the valve body positioning tool (700) between the fixed position and the tool storage position and conveying the valve body (100) to the rotary table (103) at the fixed position.
10. The valve block mounting platform of any one of claims 2-9, wherein a visual identification location is further provided on the horizontal reference surface, the valve block mounting platform comprising a first vision system provided at the visual identification location for identifying positional information on the valve block mounting surface that is rotated to face the first vision system.
11. The valve manifold assembly platform of claim 10, further comprising:
the assembling manipulator is arranged at the side of the assembling position and is used for installing parts such as hydraulic components, pipe joints, plugs, bolts and the like to be assembled on the corresponding valve body assembling surface.
12. The valve manifold assembly platform of claim 11, wherein the valve manifold assembly platform comprises a control system configured to:
controlling the moving slide plate (102) to move to the fixed position along the first platform direction;
according to the specification of the valve body (100) of the valve group to be assembled, controlling the tooling quick-change mechanism (105) to switch out the corresponding valve body positioning tooling (700);
clamping and fixing the valve body (100) and the valve body positioning tool (700) on the rotary table (103) at the fixed position;
controlling the moving slide (102) so that the turntable (103) moves to the visual recognition position;
the rotary table (103) is controlled to rotate, so that each valve body assembly surface of the valve body (100) is driven to rotate to the opposite surface of the first vision system, and the first vision system is controlled to recognize the installation point position information on each valve body assembly surface;
controlling the moving slide (102) so that the turntable (103) moves to the fitting position; and controlling the rotary table (103) to rotate, driving each valve body assembly surface to sequentially rotate to the opposite surface of the assembly tightening system, and controlling the assembly manipulator to sequentially complete the assembly of the hydraulic valve block (600).
CN202211469447.4A 2022-11-22 2022-11-22 Valve group assembly platform Pending CN116141245A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211469447.4A CN116141245A (en) 2022-11-22 2022-11-22 Valve group assembly platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211469447.4A CN116141245A (en) 2022-11-22 2022-11-22 Valve group assembly platform

Publications (1)

Publication Number Publication Date
CN116141245A true CN116141245A (en) 2023-05-23

Family

ID=86351474

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211469447.4A Pending CN116141245A (en) 2022-11-22 2022-11-22 Valve group assembly platform

Country Status (1)

Country Link
CN (1) CN116141245A (en)

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