CN210255052U

CN210255052U - Robot-controlled screw hole ball valve assembly machine

Info

Publication number: CN210255052U
Application number: CN201921126104.1U
Authority: CN
Inventors: 金龙; 梅海波; 金依能; 徐建华; 颜灵江; 敬江
Original assignee: Zhejiang Yuanbang Intelligent Equipment Co ltd
Current assignee: Zhejiang Yuanbang Intelligent Equipment Co ltd
Priority date: 2019-07-17
Filing date: 2019-07-17
Publication date: 2020-04-07
Anticipated expiration: 2029-07-17

Abstract

The utility model provides a robot control's screw ball valve assembly machine belongs to ball valve production facility technical field. It has solved the problem of how to improve ball valve production efficiency. The assembly machine comprises a workbench, a seal ring feeding device, a valve core feeding device, an injection mold, a manipulator and an insert assembly mechanism, wherein the insert assembly mechanism comprises a positioning vertical plate provided with a positioning hole, a positioning seat and a positioning jacket; the manipulator can transfer the valve core output by the valve core feeding device, the valve core insert assembly output by the insert assembly mechanism and the ball valve assembly output by the injection mold. Through the design, the assembly machine realizes the full automation of the plastic ball valve manufacturing production.

Description

Robot-controlled screw hole ball valve assembly machine

Technical Field

The utility model belongs to the technical field of the ball valve production facility, a robot control's screw ball valve assembly machine is related to.

Background

Plastic pipes are widely used in more and more industries, especially in gas and water supply network engineering, today with vigorous development of plastic technology. At present, most of valves used in PE plastic pipelines are still made of metal materials, and plastic ball valves are favored by users due to the advantages of corrosion resistance, light weight and low cost of the plastic materials.

The plastic ball valve has various structures and processing forms, and the processing steps of the currently applied more embedded valve core type plastic ball valve are firstly adding the valve core, then using the valve core as an insert, processing a valve body by an injection molding method, and finally assembling a sealing ring and a handle to form the complete ball valve. Specifically, as in chinese patent [ application No.: 201020595881.3 discloses an effective sealing plastic ball valve, which comprises a valve body, a valve core sealing ring, a handle hold-down screw, a valve handle sealing ring and a valve core, wherein the valve core sealing ring is embedded in the valve body and tightly pressed at the left end and the right end of the valve core, the valve core and the valve handle of the plastic ball valve are integrated, the valve handle sealing ring is tightly sleeved in a groove between the valve handle and the valve body, the handle is fastened on the valve handle through the handle hold-down screw, and the valve handle can be rotated through the handle to drive the valve core to rotate.

In the processing process of the plastic ball valve with the structure, the valve handle sealing ring, the valve core, the valve handle and the valve core sealing ring are all used as inserts to be pre-installed in an injection molding mold of the valve body, and are integrated after injection molding, and finally the handle is assembled to form the complete ball valve. However, in order to process the plastic ball valve, the valve core and the valve core sealing ring are often preassembled in the injection molding mold of the valve body in a manual mode in the prior art, so that time and labor are wasted, and the production efficiency is low and the production cost is high.

Disclosure of Invention

The utility model aims at having the above-mentioned problem to current technique, provided a robot control's screw ball valve assembly machine, the utility model provides a technical problem be the production efficiency who how improves the ball valve.

The purpose of the utility model can be realized by the following technical proposal: a screw hole ball valve assembly machine controlled by a robot comprises a workbench, a sealing ring feeding device, a valve core feeding device and an injection mold, the assembling machine is characterized by further comprising a manipulator and an insert assembling mechanism, wherein the insert assembling mechanism comprises a positioning vertical plate which is fixed on the workbench and provided with a positioning hole, positioning seats which are positioned on the front side and the rear side of the positioning vertical plate and can move back and forth relative to the positioning vertical plate and are used for positioning the core bar insert, and positioning clamping sleeves which are positioned on the left side and the right side of the positioning vertical plate and are used for clamping the screw rod insert and can drive the screw rod insert to rotate, the workbench at the left side and the right side of the positioning vertical plate is connected with a supporting seat which can move left and right relative to the positioning vertical plate in a sliding way, the positioning jacket is rotationally arranged on the supporting seat and can swing to the position above the output station of the sealing ring feeding device, the sealing ring feeding device can convey the sealing ring and sleeve the sealing ring on the screw insert clamped by the positioning jacket; the positioning seat, the supporting seat and the positioning jacket are driven by a driving structure; the manipulator can transfer the valve core output by the valve core feeding device, the valve core insert assembly output by the insert assembly mechanism and the ball valve assembly output by the injection mold.

The assembly and assembly machine is mainly used for manufacturing the plastic ball valve with the water inlet and the water outlet as threaded holes, and the adopted manufacturing method is that four parts, namely a sealing ring, a valve core, a core rod insert for forming the core rod through hole on the valve body and a screw insert for forming the inlet and the outlet threaded holes of the valve body, are pre-installed in a mold cavity of an injection mold for forming the valve body, after injection molding, a ball valve assembly consisting of the valve body, the sealing ring, the valve core, the core rod insert and the screw insert is finally formed, and finally the core rod insert and the screw insert are taken out, so that the manufacturing of the ball valve is finished, wherein the core rod insert is sleeve-shaped and can be sleeved on the rod part of the valve; specifically, the working principle of the assembly machine is as follows: initially, a core bar insert and a screw rod insert are placed on a positioning seat and a positioning clamping sleeve of the insert assembling mechanism in advance so as to be automatically recycled later; firstly, controlling the positioning jacket to swing relative to the supporting seat and swing to a position right opposite to an output station of the sealing ring feeding device, and then automatically conveying the sealing ring by the sealing ring feeding device and sleeving the sealing ring on the screw insert so as to complete automatic feeding of the sealing ring; meanwhile, the valve core output by the valve core feeding device is clamped to an assembling station at the positioning vertical plate through a mechanical arm, and at the moment, the driving structure drives the positioning seat to drive the core bar insert to move back and forth relative to the positioning vertical plate, so that the core bar insert is sleeved on the core bar of the valve core, and the core bar insert and the valve core are assembled and matched; then, the mechanical arm loosens the valve core and withdraws, at the moment, the valve core continues to remain in the assembling mechanism, then the driving structure controls the positioning jacket to swing to the horizontal position and enables the screw insert with the sealing ring to face the water through hole of the valve core, and then the supporting seat is controlled to move relative to the positioning vertical plate, so that the screw insert is inserted into the water through hole, and automatic assembling of the sealing ring, the screw insert and the valve core is realized; after the assembly is completed, the mechanical arm moves the assembled valve core insert assembly into a mold cavity of an injection mold, so that the automatic preassembly of the sealing ring, the valve core, the core rod insert and the screw rod insert is completed; after the preassembly is completed, closing the injection mold, and finally forming a ball valve assembly consisting of a valve body, a sealing ring, a valve core, a core rod insert and a screw insert; then, the ball valve assembly is taken out and moved to a positioning vertical plate of an insert assembling mechanism through a manipulator, the ball valve assembly is positioned in a positioning hole and a positioning seat, the manipulator is withdrawn, the positioning seat moves to pull out the core rod insert, and a positioning jacket clamps the screw rod insert and drives the screw rod insert to rotate and take out, so that the plastic ball valve consisting of a valve body, a sealing ring and a valve core is finally obtained; through the analysis of the working principle of the assembling machine, the assembling machine can automatically realize the whole operation process of the feeding of the sealing ring, the feeding of the valve core, the assembling of the valve core, the sealing ring, the core rod insert and the screw rod insert and the pre-assembling of the four parts into the injection mold, namely, the full automation of the plastic ball valve manufacturing production is realized through the assembling machine, so that the labor is saved, and the production efficiency of the ball valve is greatly improved.

In foretell robot control's screw ball valve assembly machine, seal ring loading attachment has two and is used for the feed of location riser left and right sides positioning jacket respectively, seal ring loading attachment includes sealing washer vibration dish, material loading tongs and station tray, have on the station tray and just right just to and be used for holding the chamber that holds of sealing washer with the positioning jacket position, the material loading tongs can press from both sides the sealing washer of sealing washer vibration dish output and get the intracavity that holds on carrying the station tray, the station tray can the rebound under the drive that pushes away the cylinder. Through the design, automatic feeding of the sealing ring is realized, and the production efficiency is improved; firstly, utilizing a sealing ring vibrating disc to output sealing rings one by one, then clamping and conveying the sealing rings into a containing cavity of a station tray through a feeding gripper, and after a positioning jacket swings in place, pushing a pushing cylinder to drive the station tray to move upwards so that the sealing rings in the containing cavity of the station tray are sleeved on a screw insert clamped by the positioning jacket; alternatively, the sealing ring vibration disc can be replaced by a conveyor belt.

In foretell robot control's screw ball valve assembly machine, have a plurality of chambers that hold that evenly arrange along circumference on the station tray, the material loading tongs is including fixing the revolving cylinder on the workstation, be provided with the pneumatic tight claw that rises that is used for the centre gripping sealing washer on revolving arm of revolving cylinder, the top pushes away the cylinder and is fixed with step motor on the workstation and on the piston rod, step motor's motor shaft links firmly with the station tray and is used for driving station tray intermittent type and rotates. Through the structural design, the feeding gripper can realize the conveying of the sealing ring only by swinging once, so that the production efficiency is improved.

In the robot-controlled screw ball valve assembling machine, the manipulator is a six-degree-of-freedom manipulator, the clamping end of the manipulator is rotatably provided with a clamping frame, the clamping frame is provided with an upper side, a lower side, a left side and a right side, and four sides of the clamping frame are respectively provided with a first chuck for clamping a valve core insert assembly, a second chuck for clamping a valve core, a third chuck for clamping a ball valve assembly and a fourth chuck for clamping a ball valve. Wherein, the first chuck and the third chuck can adopt electromagnetic suction heads or air clamping jaws, the second chuck can adopt air clamping jaws, and the fourth chuck can adopt air clamping jaws or an air clamping sleeve; through the design of the clamping end of the manipulator, the manipulator does not need to repeatedly move back and forth, so that the whole manufacturing process can be smooth and free from stagnation, the production time is greatly saved, and the production efficiency is improved; for example, when the manipulator transfers the core insert into the mold cavity, the ball valve assembly in the mold cavity may be taken out first, and then the core insert is transferred to the mold cavity, at this time, the ball valve assembly enters the next station along with the retraction of the manipulator.

In foretell robot control's screw ball valve assembly machine, case loading attachment includes case vibration dish, the slide ejection of compact department of case vibration dish is equipped with connects the material seat, connect to have on the material seat to be used for holding the case connect the silo, the top that connects the silo is equipped with the tong, connect one side of material seat still to be equipped with the station platform, be equipped with on the station platform and correspond with the arrangement position of chuck two and be used for the case positioning seat of location case, the tong can transfer the case that connects in the silo and lay on the case positioning seat. Through the design, not only is automatic feeding of the valve element practiced, but also the valve element is conveniently clamped by a manipulator in a positioning way, so that the production efficiency is improved; alternatively, the valve core vibrating disk can be replaced by a conveyor belt.

In the robot-controlled screw hole ball valve assembling machine, the assembling machine further comprises a core bar rotating mechanism, the core bar rotating mechanism comprises a positioning base which is connected to the workbench in a sliding mode and used for positioning the ball valve assembly and a rotating sleeve which is arranged on the workbench in a sliding mode and can drive a valve core on the ball valve assembly to rotate, and the positioning base is driven by a driving piece. Through the design of the core rod rotating mechanism, the ball valve assembly with the insert taken out is sent to the positioning base by the manipulator, then the rotating sleeve is sleeved on the core rod of the ball valve assembly through sliding and then rotates, so that the valve core can rotate, the problem that the ball valve cannot be used due to the fact that the valve core cannot rotate in the later period is avoided, and the production quality of the ball valve is further guaranteed; moreover, the process is full-automatic, and the improvement of the production efficiency can be ensured.

In foretell robot control's screw ball valve assembly machine, sliding connection has the sliding seat that can remove to the location base on the workstation of location base one side, the swivel mount rotates to be connected on the sliding seat, the gear has been linked firmly on the swivel mount, sliding connection has the drive rack of being connected with gear engagement on the sliding seat, the sliding seat passes through driving piece one drive, the drive rack passes through driving piece two drives. Through the above design transmission and driving structure, the movement and rotation of the rotary sleeve are realized.

In the robot-controlled screw ball valve assembly machine, a fixing plate fixedly connected with a workbench is arranged above the positioning base, a vertical guide rod is fixed on the fixing plate, a cutter base plate is connected onto the vertical guide rod in a sliding manner and can slide up and down along the vertical guide rod under the driving of a driving piece III, and a cutter is arranged on the cutter base plate; the positioning device is characterized in that a waste material port is formed in the workbench below the positioning base, and a blanking port communicated with the waste material port is formed in the positioning base. After the ball valve assembly finishes the rotation operation of the valve core, the cutter moves downwards to cut off the injection molding pouring strip, and the cut pouring strip is discharged from the waste material port through the blanking port; and after the cutting-off operation is finished, the positioning base is driven to move out of the coverage range of the fixing plate, so that the final ball valve finished product can be taken out by the manipulator.

The first driving part, the second driving part and the third driving part can adopt cylinders or oil cylinders or linear motors.

In the robot-controlled screw ball valve assembling machine, the cutter substrate is provided with the positioning column in a penetrating and sliding connection mode, the lower end of the positioning column is provided with the positioning table, and the spring is arranged between the positioning table and the cutter substrate. Through above design, the location platform can support the one end at the ball valve so that the ball valve location, then utilizes the buffering of spring for the cutter is cuted and can not be influenced the ball valve body, guarantees that the ball valve can not be impaired.

In the robot-controlled screw hole ball valve assembling machine, the driving structure comprises front and rear air cylinders which are positioned at the front and rear sides of the positioning vertical plate and are fixed on the workbench, a moving motor and a swinging motor which are fixed on a supporting seat, and the positioning seat is fixed on a piston rod corresponding to the front and rear air cylinders; a guide rack arranged along the left-right direction is fixed on the workbench, and the moving motor is meshed with the guide rack through a gear; the supporting seat is rotatably connected with a jacket mounting frame, the jacket mounting frame swings under the drive of a swing motor, the positioning jacket is rotatably connected to the jacket mounting frame, the jacket mounting frame is fixedly connected with a driving motor, and the driving motor is connected with a rotating shaft of the positioning jacket through gear transmission. Through the design above the drive structure to realize the automatic drive of location riser, supporting seat and location cover. Alternatively, the cylinder in the driving structure can be replaced by an oil cylinder or a screw rod motor.

Compared with the prior art, the screw hole ball valve assembly machine controlled by the robot has the following advantages: the assembly machine realizes the full automation of the plastic ball valve manufacturing production, not only greatly improves the production efficiency of the ball valve by replacing manpower, but also reduces the production cost and improves the production quality.

Drawings

Fig. 1 is a schematic layout of the present robotically controlled screw hole ball valve assembly machine.

Fig. 2 is a schematic diagram of the arrangement of the gasket feeding device and the insert assembling mechanism in the assembling machine.

Fig. 3 is a partially enlarged schematic view at a in fig. 2.

Fig. 4 is a schematic view of a part of the structure of a seal ring feeding device in the present assembling machine.

Fig. 5 is a first schematic structural view of the gripper end of the robot in the present assembly machine.

Fig. 6 is a second schematic structural view of the robot gripping end of the present assembly machine.

Fig. 7 is a schematic view of the core rotating mechanism of the present assembling machine.

Fig. 8 is a partially enlarged schematic view of B in fig. 7.

Fig. 9 is a schematic structural diagram of a valve core loading device in the assembly machine.

Fig. 10 is an exploded view of the ball valve assembly.

In the figure, 1, a workbench; 2. a seal ring feeding device; 2a, a sealing ring vibrating disk; 2b, feeding grippers; 2b1, rotary cylinder; 2b2, a pneumatic tensioning claw; 2c, a station tray; 2c1, a containing cavity; 2d, pushing the air cylinder; 2e, a stepping motor; 3. a valve core feeding device; 31. a valve core vibrating disk; 32. a receiving seat; 321. a material receiving groove; 33. a material clamping hand; 34. a station platform; 35. a valve core positioning seat; 4. injection molding a mold; 5. a manipulator; 51. a clamping frame; 52. a first chuck; 53. a second chuck; 54. a third chuck; 55. a fourth chuck; 6. an insert assembling mechanism; 61. positioning a vertical plate; 611. positioning holes; 62. positioning seats; 63. a positioning jacket; 64. a supporting seat; 7. a core bar rotating mechanism; 71. a positioning base; 72. a rotating sleeve; 73. a sliding seat; 74. a drive rack; 8. a fixing plate; 9. a vertical guide rod; 10. a cutter substrate; 11. a cutter; 12. a waste material port; 13. a blanking port; 14. a positioning column; 15. a positioning table; 16. a spring; 17. front and rear cylinders; 18. a moving motor; 19. a swing motor; 20. a guide rack; 21. a jacket mounting bracket; 22. a drive motor; a. a seal ring; b. a valve core; c. a core rod insert; d. a screw insert; e. a valve body.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

Specifically, as shown in fig. 1 and 10, the robot-controlled screw ball valve assembling machine includes a table 1, a seal ring loading device 2, a valve core loading device 3, an injection mold 4, a robot arm 5, an insert assembling mechanism 6, a core bar rotating mechanism 7, and a driving structure. The robot 5 can transfer the valve element b output from the valve element loading device 3, the valve element insert unit output from the insert assembling mechanism 6, and the ball valve unit output from the injection mold 4.

As shown in fig. 2 and 3, the insert assembling mechanism 6 includes a positioning vertical plate 61 fixed on the worktable 1 and provided with a positioning hole 611, positioning seats 62 located on the front and rear sides of the positioning vertical plate 61 and capable of moving back and forth relative to the positioning vertical plate 61 and positioning core inserts c, and positioning jackets 63 located on the left and right sides of the positioning vertical plate 61 and capable of clamping screw inserts d and driving the screw inserts d to rotate, a supporting seat 64 capable of moving left and right relative to the positioning vertical plate 61 is slidably connected to the worktable 1 on the left and right sides of the positioning vertical plate 61, the positioning jackets 63 are rotatably disposed on the supporting seat 64 and capable of swinging to the upper side of an output station of the seal ring feeding device 2, and the seal ring feeding device 2 can convey and sleeve the seal ring a on the screw inserts d clamped by the; the positioning seat 62, the supporting seat 64 and the positioning jacket 63 are driven by a driving structure; in this embodiment, the driving structure includes front and rear cylinders 17 located on front and rear sides of the positioning vertical plate 61 and fixed on the worktable 1, a moving motor 18 and a swing motor 19 fixed on a supporting seat 64, and a positioning seat 62 is fixed on a piston rod corresponding to the front and rear cylinders 17; a guide rack 20 arranged along the left-right direction is fixed on the workbench 1, and the moving motor 18 is meshed with the guide rack 20 through a gear; the supporting seat 64 is rotatably connected with a jacket mounting rack 21, the jacket mounting rack 21 is driven to swing through a swing motor 19, the positioning jacket 63 is rotatably connected to the jacket mounting rack 21, the jacket mounting rack 21 is further fixedly connected with a driving motor 22, and the driving motor 22 is connected with a rotating shaft of the positioning jacket 63 through gear transmission. The positioning seat 62 can adopt a magnetic type positioning seat, and the positioning jacket 63 can adopt a chuck structure of the existing electric drill.

As shown in fig. 2, 3 and 4, the seal ring feeding device 2 has two feeding devices for feeding the positioning jackets 63 on the left and right sides of the positioning riser 61, the seal ring feeding device 2 includes a seal ring vibration disc 2a, a feeding gripper 2b and a station tray 2c, the station tray 2c has an accommodating cavity 2c1 capable of being aligned with the positioning jackets 63 and accommodating the seal ring a, the feeding gripper 2b can grip the seal ring a output by the seal ring vibration disc 2a and convey the seal ring a to the accommodating cavity 2c1 on the station tray 2c, and the station tray 2c can move upward under the driving of the pushing cylinder 2 d. The station tray 2c is provided with a plurality of containing cavities 2c1 uniformly arranged along the circumferential direction, the feeding gripper 2b comprises a rotary cylinder 2b1 fixed on the workbench 1, a rotary arm of the rotary cylinder 2b1 is provided with a pneumatic tensioning claw 2b2 used for clamping a sealing ring a, the pushing cylinder 2d is fixed on the workbench 1, a piston rod of the pushing cylinder is fixed with a stepping motor 2e, and a motor shaft of the stepping motor 2e is fixedly connected with the station tray 2c and used for driving the station tray 2c to intermittently rotate.

As shown in fig. 5 and 6, in this embodiment, the robot 5 is a six-degree-of-freedom robot 5, the clamping end of the robot 5 is rotatably provided with a clamping frame 51, the clamping frame 51 has four side surfaces, i.e., an upper side surface, a lower side surface, a left side surface, a right side surface, and a first clamping head 52 for clamping the valve element insert assembly, a second clamping head 53 for clamping the valve element b, a third clamping head 54 for clamping the ball valve assembly, and a fourth clamping head 55 for clamping the ball valve, are respectively provided on the four side surfaces of.

As shown in fig. 7 and 8, the valve core feeding device 3 includes a valve core vibration disc 31, a receiving seat 32 is disposed at a slide discharging position of the valve core vibration disc 31, a receiving groove 321 for accommodating the valve core b is disposed on the receiving seat 32, a material clamping hand 33 is disposed above the receiving groove 321, a station table 34 is further disposed on one side of the receiving seat 32, a valve core positioning seat 35 corresponding to the arrangement position of the second chuck 53 and used for positioning the valve core b is disposed on the station table 34, and the valve core b in the receiving groove 321 can be transferred and placed on the valve core positioning seat 35 by the material clamping hand 33.

The core bar rotating mechanism 7 comprises a positioning base 71 which is connected on the workbench 1 in a sliding manner and used for positioning the ball valve assembly, and a rotating sleeve 72 which is arranged on the workbench 1 in a sliding manner and can drive a valve core b on the ball valve assembly to rotate, wherein the positioning base 71 is driven by a driving piece. The workbench 1 on one side of the positioning base 71 is connected with a sliding seat 73 capable of moving towards the positioning base 71 in a sliding mode, the rotating sleeve 72 is connected to the sliding seat 73 in a rotating mode, the rotating sleeve 72 is fixedly connected with a gear, the sliding seat 73 is connected with a driving rack 74 meshed with the gear in a sliding mode, the sliding seat 73 is driven through a first driving piece, and the driving rack 74 is driven through a second driving piece. A fixing plate 8 fixedly connected with the workbench 1 is arranged above the positioning base 71, a vertical guide rod 9 is fixed on the fixing plate 8, a cutter base plate 10 is connected onto the vertical guide rod 9 in a sliding manner, the cutter base plate 10 can slide up and down along the vertical guide rod 9 under the driving of a driving piece III, and a cutter 11 is arranged on the cutter base plate 10; a waste material port 12 is arranged on the workbench 1 below the positioning base 71, and a blanking port 13 communicated with the waste material port 12 is arranged on the positioning base 71. A positioning column 14 penetrates through and is connected to the cutter substrate 10 in a sliding mode, a positioning table 15 is arranged at the lower end of the positioning column 14, and a spring 16 is arranged between the positioning table 15 and the cutter substrate 10.

In addition, in the assembly machine, the injection mold 4 and the manipulator 5 are both of the existing structure and can be designed into two.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Although the present disclosure largely uses the working table 1, the seal ring loading device 2, the seal ring vibration disc 2a, the loading gripper 2b, the rotary cylinder 2b1, the pneumatic tensioning claw 2b2, the station tray 2c, the containing cavity 2c1, the pushing cylinder 2d, the stepping motor 2e, the valve core loading device 3, the valve core vibration disc 31, the receiving seat 32, the receiving groove 321, the material clamping hand 33, the station table 34, the valve core positioning seat 35, the injection mold 4, the manipulator 5, the clamping frame 51, the first chuck 52, the second chuck 53, the third chuck 54, the fourth chuck 55, the insert assembling mechanism 6, the positioning riser 61, the positioning hole 611, the positioning seat 62, the positioning jacket 63, the supporting seat 64, the core bar rotating mechanism 7, the positioning base 71, the rotary sleeve 72, the sliding seat 73, the driving rack 74, the fixing plate 8, the vertical guide rod 9, the cutter base plate 10, the cutter 11, the waste port 12, the blanking port 13, the positioning column 14, positioning table 15, spring 16, front and rear cylinders 17, moving motor 18, swing motor 19, guide rack 20, jacket mounting frame 21, driving motor 22, sealing ring a, valve core b, core pin insert c, screw insert d, valve body e, etc., but the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.

Claims

1. A robot-controlled screw hole ball valve assembling machine comprises a workbench (1), a sealing ring feeding device (2), a valve core feeding device (3) and an injection mold (4), and is characterized by further comprising a mechanical arm (5) and an insert assembling mechanism (6), wherein the insert assembling mechanism (6) comprises a positioning vertical plate (61) which is fixed on the workbench (1) and is provided with a positioning hole (611), positioning seats (62) which are positioned on the front side and the rear side of the positioning vertical plate (61) and can move back and forth relative to the positioning vertical plate (61) and are used for positioning a core rod insert (c), and positioning clamping sleeves (63) which are positioned on the left side and the right side of the positioning vertical plate (61) and are used for clamping a screw rod insert (d) and can drive the screw rod insert (d) to rotate, supporting seats (64) which can move left and right relative to the positioning vertical plate (61) are slidably connected on the workbench (, the positioning jacket (63) is rotatably arranged on the supporting seat (64) and can swing to the position above the output station of the sealing ring feeding device (2), and the sealing ring feeding device (2) can convey the sealing ring (a) and sleeve the sealing ring on the screw insert (d) clamped by the positioning jacket (63); the positioning seat (62), the supporting seat (64) and the positioning jacket (63) are driven by a driving structure; the manipulator (5) can transfer the valve core (b) output by the valve core feeding device (3), the valve core insert assembly output by the insert assembly mechanism (6) and the ball valve assembly output by the injection mold (4).

2. The robot-controlled screw hole ball valve assembling machine as claimed in claim 1, wherein the sealing ring feeding device (2) has two feeds for positioning the positioning jackets (63) on the left and right sides of the vertical plate (61), respectively, the sealing ring feeding device (2) comprises a sealing ring vibrating disk (2a), a feeding gripper (2b) and a station tray (2c), the station tray (2c) is provided with a containing cavity (2c1) which can be aligned with the positioning jackets (63) and is used for containing the sealing ring (a), the feeding gripper (2b) can clamp the sealing ring (a) output from the sealing ring vibrating disk (2a) and convey the sealing ring (a) into the containing cavity (2c1) on the station tray (2c), and the station tray (2c) can move upwards under the driving of the pushing cylinder (2 d).

3. The robot-controlled screw hole ball valve assembling machine according to claim 2, wherein the station tray (2c) is provided with a plurality of accommodating cavities (2c1) uniformly arranged along the circumferential direction, the feeding gripper (2b) comprises a rotary cylinder (2b1) fixed on the workbench (1), a rotary arm of the rotary cylinder (2b1) is provided with a pneumatic tensioning claw (2b2) for clamping the sealing ring (a), the pushing cylinder (2d) is fixed on the workbench (1) and a piston rod of the pushing cylinder is fixed with a stepping motor (2e), and a motor shaft of the stepping motor (2e) is fixedly connected with the station tray (2c) and is used for driving the station tray (2c) to intermittently rotate.

4. The robot-controlled screw hole ball valve assembling machine according to claim 1, 2 or 3, wherein the manipulator (5) is a six-degree-of-freedom manipulator, a clamping frame (51) is rotatably arranged at a clamping end of the manipulator (5), the clamping frame (51) is provided with four side surfaces, namely an upper side surface, a lower side surface, a left side surface and a right side surface, and a first chuck (52) for clamping the valve core insert assembly, a second chuck (53) for clamping the valve core (b), a third chuck (54) for clamping the ball valve assembly and a fourth chuck (55) for clamping the ball valve are respectively arranged on the four side surfaces of the clamping frame (51).

5. The robot-controlled screw hole ball valve assembling machine according to claim 4, wherein the valve core feeding device (3) comprises a valve core vibrating disk (31), a receiving seat (32) is arranged at a slide discharging position of the valve core vibrating disk (31), a receiving groove (321) for accommodating the valve core (b) is formed in the receiving seat (32), a material clamping hand (33) is arranged above the receiving groove (321), a station table (34) is further arranged on one side of the receiving seat (32), a valve core positioning seat (35) which corresponds to the arrangement position of the second chuck (53) and is used for positioning the valve core (b) is arranged on the station table (34), and the valve core (b) in the receiving groove (321) can be transferred and placed onto the valve core positioning seat (35) by the material clamping hand (33).

6. A robot controlled threaded hole ball valve assembling machine according to claim 1, 2 or 3, characterized in that the assembling machine further comprises a core bar rotating mechanism (7), wherein the core bar rotating mechanism (7) comprises a positioning base (71) which is connected on the workbench (1) in a sliding way and is used for positioning the ball valve assembly, and a rotating sleeve (72) which is arranged on the workbench (1) in a sliding way and can drive a valve core (b) on the ball valve assembly to rotate, and the positioning base (71) is driven by a driving piece.

7. The robot-controlled screw hole ball valve assembling machine according to claim 6, wherein a sliding seat (73) capable of moving towards the positioning base (71) is slidably connected to the workbench (1) on one side of the positioning base (71), the rotating sleeve (72) is rotatably connected to the sliding seat (73), a gear is fixedly connected to the rotating sleeve (72), a driving rack (74) meshed with the gear is slidably connected to the sliding seat (73), the sliding seat (73) is driven by a first driving piece, and the driving rack (74) is driven by a second driving piece.

8. The robot-controlled screw hole ball valve assembling machine according to claim 7, wherein a fixing plate (8) fixedly connected with the workbench (1) is arranged above the positioning base (71), a vertical guide rod (9) is fixed on the fixing plate (8), a cutter base plate (10) is connected onto the vertical guide rod (9) in a sliding manner, the cutter base plate (10) can slide up and down along the vertical guide rod (9) under the driving of a driving piece III, and a cutter (11) is mounted on the cutter base plate (10); the waste material opening (12) is formed in the workbench (1) below the positioning base (71), and the blanking opening (13) communicated with the waste material opening (12) is formed in the positioning base (71).

9. The robot-controlled screw hole ball valve assembling machine according to claim 8, wherein a positioning column (14) is penetrated and connected to the cutter base plate (10) in a sliding manner, a positioning table (15) is arranged at the lower end of the positioning column (14), and a spring (16) is arranged between the positioning table (15) and the cutter base plate (10).

10. The robot-controlled screw hole ball valve assembling machine according to claim 1, 2 or 3, wherein said driving structure comprises a front and a rear cylinders (17) positioned at the front and rear sides of a positioning vertical plate (61) and fixed on the worktable (1), a moving motor (18) and a swinging motor (19) fixed on a supporting seat (64), and said positioning seat (62) is fixed on the piston rod of the corresponding front and rear cylinders (17); a guide rack (20) arranged along the left-right direction is fixed on the workbench (1), and the moving motor (18) is meshed with the guide rack (20) through a gear; the supporting seat (64) is rotatably connected with a jacket mounting rack (21), the jacket mounting rack (21) is driven to swing through a swing motor (19), the positioning jacket (63) is rotatably connected to the jacket mounting rack (21), a driving motor (22) is fixedly connected to the jacket mounting rack (21), and the driving motor (22) is connected with a rotating shaft of the positioning jacket (63) through gear transmission.