WO2021035965A1 - 液压阀杆装配机 - Google Patents

液压阀杆装配机 Download PDF

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Publication number
WO2021035965A1
WO2021035965A1 PCT/CN2019/116634 CN2019116634W WO2021035965A1 WO 2021035965 A1 WO2021035965 A1 WO 2021035965A1 CN 2019116634 W CN2019116634 W CN 2019116634W WO 2021035965 A1 WO2021035965 A1 WO 2021035965A1
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WIPO (PCT)
Prior art keywords
spring seat
feeding
screw
assembly
module
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PCT/CN2019/116634
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English (en)
French (fr)
Inventor
李德雄
武建伟
朱伟
吴军辉
许方富
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浙江大学台州研究院
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Publication of WO2021035965A1 publication Critical patent/WO2021035965A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • B23P21/006—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table

Definitions

  • the invention relates to a hydraulic valve stem assembly machine.
  • hydraulic valve stems are generally assembled manually, with low assembly accuracy and efficiency, high labor intensity, unstable assembly quality, and low yield.
  • the purpose of the present invention is to solve the current technical problems of low manual assembly accuracy and efficiency of hydraulic valve stems and poor quality consistency.
  • the present invention provides a hydraulic valve stem assembly machine, including a turntable clamp module, a lower spring seat assembly module, a spring assembly module, an upper spring seat assembly module, a screw feeding module, a screw assembly module, and workpiece blanking Module;
  • the turntable clamp module is used to clamp the semi-finished workpiece, the semi-finished workpiece is formed by manually sleeve the dust ring, O-ring and gasket on the valve stem;
  • the lower spring seat assembly module is used for the lower spring seat The automatic feeding of the spring and the installation of the lower spring seat on the valve stem;
  • the spring assembly module is used for the automatic feeding of the spring, and the spring is installed on the valve stem;
  • the seat assembly module is used for automatic feeding of the upper spring seat, and the upper spring seat is installed on the valve stem;
  • the screw feeding module is used for the automatic feeding of screws;
  • the screw assembly module is used for The screw is tightened on the valve stem, so that the dust ring, O-ring, gasket, lower spring seat,
  • the turntable clamp module includes a frame, a turntable mechanism, and a clamp; the lower spring seat assembly module, the spring assembly module, the upper spring seat assembly module, the screw feeding module, A screw assembly module and a workpiece unloading module; the turntable mechanism is sequentially provided with a loading station, a lower spring seat assembly station, a spring assembly station, an upper spring seat assembly station, a screw feeding station, and a screw assembly station. Position, unloading station and reserved space; the turntable mechanism is evenly provided with multiple sets of the fixtures, each of the fixtures is used to position and clamp different semi-finished workpieces at the same time, so that multiple workpieces can be positioned and clamped at the same time. Semi-finished products are processed.
  • the clamp includes a clamp mounting plate, a clamping cylinder, a fixed clamp block and a movable clamp block; the clamp mounting plate is fixed on the turntable mechanism, and the fixed clamp block and the clamping cylinder are installed on the clamp On the mounting plate, put the semi-finished workpiece into the positioning groove of the fixed fixture block, the fixed fixture block is fixed, the clamping cylinder drives the movable fixture block to move to the fixed fixture block, thereby clamping the semi-finished workpiece in the fixed fixture Between the block and the movable fixture block.
  • the lower spring seat assembly module includes a lower spring seat feeding vibrating plate, a lower spring seat feeding linear device, a lower spring seat trough, a lower spring seat distributing mechanism, and a lower spring seat assembly manipulator; the lower spring seat is assembled manually The seat is put into the lower spring seat feeding vibrating plate, the lower spring seat trough is installed on the lower spring seat feeding linear device, the lower spring seat feeding vibrating plate and the lower spring seat feeding linear device are realized Automatic continuous feeding of the lower spring seat; the lower spring seat distributing mechanism is installed at the exit of the lower spring seat material trough, and the lower spring seats are separated one by one to facilitate the subsequent grasping of the lower spring seat assembly manipulator; The lower spring seat assembly manipulator grabs the lower spring seat on the lower spring seat distributing mechanism, sends it to the lower spring seat assembly station, and then assembles the lower spring seat on the valve stem.
  • the spring assembly module includes a spring feeding vibrating plate, a spring feeding linear device, a spring material trough, a spring distributing mechanism, and a spring assembly manipulator; the spring is manually put into the spring feeding vibrating plate, the The spring feeder is installed on the spring feeding linear device, and the spring feeding vibrating plate and the spring feeding linear device realize the automatic continuous feeding of the spring; the spring feeding mechanism is installed at the outlet of the spring feeding slot, and the spring One by one is separated to facilitate the subsequent grasping of the spring assembly manipulator; the spring assembly manipulator grabs the spring on the spring distributing mechanism, sends it to the spring assembly station, and then assembles the spring on the valve stem.
  • the upper spring seat assembly module includes an upper spring seat feeding vibrating plate, an upper spring seat feeding linear device, an upper spring seat material trough, an upper spring seat distributing mechanism, and an upper spring seat assembly manipulator; the upper spring seat is assembled manually The seat is put into the upper spring seat feeding vibrating plate, the upper spring seat trough is installed on the upper spring seat feeding linear device, the upper spring seat feeding vibrating plate and the upper spring seat feeding linear device are realized Automatic and continuous feeding of the upper spring seat; the upper spring seat distributing mechanism is installed at the outlet of the upper spring seat material trough, and the upper spring seats are separated one by one to facilitate the subsequent upper spring seat assembly manipulator grasping ; The upper spring seat assembly manipulator grabs the upper spring seat on the upper spring seat distributing mechanism, sends it to the upper spring seat assembly station, and then assembles the upper spring seat on the valve stem.
  • the screw feeding module includes a screw feeding vibrating plate, a screw feeding linear device, a screw feeding trough, a screw feeding mechanism, and a screw feeding manipulator; the screws are manually put into the screw feeding vibrating plate,
  • the screw feeder is installed on the screw feeder linear device, the screw feeder vibrating plate and the screw feeder linearizer realize automatic continuous feeding of the screws;
  • the screw feeder mechanism is installed at the exit of the screw feeder, The screws are separated one by one to facilitate the subsequent grabbing by the screw feeding manipulator; the screw feeding manipulator grabs the screws on the screw feeding mechanism and sends them to the screw to be screwed on the valve stem.
  • the screw assembly module includes an up-and-down movement mechanism and an electric screwdriver; the up-and-down movement mechanism drives the electric screwdriver to descend, and the electric screwdriver drives the screw into the valve stem to complete the screw assembly.
  • the workpiece blanking module includes a first blanking manipulator, a second blanking manipulator, and a blanking line; after the turntable mechanism sends the finished workpiece to the blanking station, the clamp is released, and the first blanking The manipulator grabs the finished work piece, and then sends the finished work piece to just below the second blanking manipulator. The second blanking manipulator grabs the finished work piece and sends it to the blanking line, and then sends it out from the blanking line.
  • the invention can realize the automatic assembly of the hydraulic valve stem, greatly improves the assembly accuracy and efficiency, reduces labor intensity, and has strong versatility.
  • the parts are assembled together according to the assembly process through automated equipment to reduce labor costs and improve production efficiency and quality.
  • the average assembly efficiency of labor is 30s/set, and the average assembly efficiency of this assembly machine is 10s/set.
  • the efficiency of the machine is three times that of manual assembly, and one machine can replace two people.
  • the screw tightening torque produced by the machine is more stable and reliable than manual, ensuring the quality of assembly.
  • Figure 1 is a schematic structural diagram of an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the structure of the turntable clamp module in an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the fixture structure of the turntable fixture module in an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a lower spring seat assembly module in an embodiment of the present invention.
  • Figure 5 is a schematic structural diagram of a spring assembly module in an embodiment of the present invention.
  • Figure 6 is a schematic structural diagram of an upper spring seat assembly module in an embodiment of the present invention.
  • Figure 7 is a schematic structural diagram of a screw feeding module in an embodiment of the present invention.
  • Figure 8 is a schematic structural diagram of a screw assembly module in an embodiment of the present invention.
  • Fig. 9 is a schematic structural diagram of a workpiece blanking module in an embodiment of the present invention.
  • Fig. 10 is a component diagram of a hydraulic valve stem of an assembly object in an embodiment of the present invention.
  • turntable fixture module 1 frame 1-1; turntable mechanism 1-2; fixture 1-3; fixture mounting plate 1-3-1; clamping cylinder 1-3-2; fixed fixture block 1-3- 3; Moving fixture block 1-3-4;
  • Lower spring seat assembly module 2 lower spring seat feeding vibrating plate 2-1; lower spring seat feeding linear device 2-2; lower spring seat trough 2-3; lower spring seat distributing mechanism 2-4; lower spring Seat assembly manipulator 2-5;
  • Spring assembly module 3 spring feeding vibration plate 3-1; spring feeding linear device 3-2; spring material trough 3-3; spring distributing mechanism 3-4; spring assembly manipulator 3-5;
  • Upper spring seat assembly module 4 upper spring seat feeding vibrating plate 4-1; upper spring seat feeding linear device 4-2; upper spring seat feed slot 4-3; upper spring seat distributing mechanism 4-4; upper spring Seat assembly manipulator 4-5;
  • Screw feeding module 5 Screw feeding vibration plate 5-1; Screw feeding linear device 5-2; Screw feeding groove 5-3; Screw feeding mechanism 5-4; Screw feeding manipulator 5-5;
  • Screw assembly module 6 Up and down movement mechanism 6-1; Electric screwdriver 6-2;
  • Workpiece blanking module 7 first blanking manipulator 7-1; second blanking manipulator 7-2; blanking assembly line 7-3;
  • the assembly process of the hydraulic valve stem is as follows: manually remove the dust ring 102, O-ring 101, and gasket 103 on the valve stem 100 After being assembled with the valve stem 100, put in the turntable fixture 1-3, start the switch, clamp the valve stem 100, and start automatic assembly, and all stations work at the same time. After assembly, the finished product is placed into the finished product blanking assembly line 7-3 horizontally through the blanking station.
  • the assembling machine adopts an eight-station turntable layout, and the eight stations are sequentially arranged on the turntable mechanism 1-2 of the turntable fixture module 1, as follows:
  • the first station the feeding station, the operation in this station includes manually putting the dust ring 102, the O-ring 101 and the gasket 103 on the valve stem 100, as shown in Fig. 10(a). After the three parts are sleeved on the valve stem 100, a semi-finished workpiece is formed, and the semi-finished workpiece is manually installed on the fixture 1-3;
  • the second station the lower spring seat assembly station for automatic feeding and assembly of the lower spring seat 104;
  • the third station spring assembly station for automatic feeding and assembly of spring 105;
  • the fourth station the upper spring seat assembly station for automatic feeding and assembly of the upper spring seat 106;
  • the sixth station screw assembly station, screw 107 on the valve stem 100 with an electric screwdriver 6-2 to obtain a finished hydraulic valve stem workpiece;
  • Eighth station Reserve a space, and you can add corresponding operating stations in this position according to subsequent production needs.
  • an embodiment of the hydraulic valve stem assembly machine of the present invention includes a turntable clamp module 1, a lower spring seat assembly module 2, a spring assembly module 3, an upper spring seat assembly module 4, and a screw feeding module 5 ,
  • the turntable fixture module 1 is used to clamp the semi-finished product of the workpiece, and the semi-finished product of the workpiece is manually sleeved on the valve stem 100 by the dust ring 102, the O-ring 101 and the gasket 103
  • the lower spring seat assembly module 2 is used for automatic feeding of the lower spring seat 104, and the lower spring seat 104 is installed on the valve stem 100;
  • the spring assembly module 3 is used for the spring 105 Automatic feeding, and the spring 105 is installed on the valve stem 100;
  • the upper spring seat assembly module 4 is used for automatic feeding of the upper spring seat 106, and the upper spring seat 106 is installed on the The valve stem 100;
  • the screw feeding module 5 is used for automatic feeding of the
  • the turntable clamp module 1 includes a frame 1-1, a turntable mechanism 1-2, and a clamp 1-3; the lower springs are sequentially installed on the table surface of the frame 1-1 Seat assembly module 2, spring assembly module 3, upper spring seat assembly module 4, screw feeding module 5, screw assembly module 6 and workpiece unloading module 7; the turntable mechanism 1-2 is sequentially provided with feeding stations, Lower spring seat assembly station, spring assembly station, upper spring seat assembly station, screw feeding station, screw assembly station, unloading station and reserved space; the turntable mechanism 1-2 is evenly provided Multiple sets of the clamps 1-3, each of the clamps 1-3 is respectively used for positioning and clamping different semi-finished workpieces at the same time, so as to process multiple semi-finished workpieces.
  • the clamp 1-3 includes a clamp mounting plate 1-3-1, a clamping cylinder 1-3-2, a fixed clamp block 1-3-3, and a movable clamp block 1-3- 4;
  • the fixture mounting plate 1-3-1 is fixed on the turntable mechanism 1-2
  • the fixed fixture block 1-3-3 and the clamping cylinder 1-3-2 are mounted on the fixture mounting plate 1 -3-1, put the semi-finished workpiece into the positioning groove of the fixed fixture block 1-3-3
  • the fixed fixture block 1-3-3 is fixed
  • the clamping cylinder 1-3-2 drives the movement
  • the clamp block 1-3-4 moves to the fixed clamp block 1-3-3, thereby clamping the semi-finished workpiece between the fixed clamp block 1-3-3 and the movable clamp block 1-3-4.
  • the lower spring seat assembly module 2 includes a lower spring seat feeding vibrating plate 2-1, a lower spring seat feeding linear device 2-2, a lower spring seat trough 2-3, and a lower spring seat feeding vibrating plate 2-1.
  • the lower spring seat distributing mechanism 2-4 is installed at the exit of the lower spring seat trough 2-3, and the lower spring seats 104 are separated one by one to facilitate the subsequent grasping of the lower spring seat assembly manipulator 2-5;
  • the spring seat assembly manipulator 2-5 grabs the lower spring seat 104 on the lower spring seat distributing mechanism 2-4, sends it to the lower spring seat assembly station, and then assembles the lower spring
  • the spring assembly module 3 includes a spring feeding vibrating plate 3-1, a spring feeding linear device 3-2, a spring feed slot 3-3, a spring feeding mechanism 3-4, and a spring.
  • the disk 3-1 and the spring feeding linear device 3-2 realize the automatic continuous feeding of the spring 105
  • the spring distributing mechanism 3-4 is installed at the outlet of the spring trough 3-3 to separate the springs 105 one by one ,
  • the spring assembly manipulator 3-5 grabs the spring 105 on the spring distributing mechanism 3-4, sends it to the spring assembly station, and then assembles the spring 105 To the valve stem 100.
  • the upper spring seat assembly module includes an upper spring seat feeding vibrating plate 4-1, an upper spring seat feeding linear device 4-2, an upper spring seat trough 4-3, and an upper spring seat.
  • Seat distributing mechanism 4-4 and upper spring seat assembly manipulator 4-5 manually put the upper spring seat 106 into the upper spring seat feeding vibrating plate 4-1, and the upper spring seat trough 4-3 is installed On the upper spring seat feeding linear device 4-2, the upper spring seat feeding vibrating disk 4-1 and the upper spring seat feeding linear device 4-2 realize the automatic continuous feeding of the upper spring seat 104;
  • the spring seat distributing mechanism 4-4 is installed at the exit of the upper spring seat trough 4-3, and the upper spring seats 106 are separated one by one to facilitate the subsequent grasping of the upper spring seat assembly manipulator 4-5;
  • the spring seat assembly manipulator 4-5 grabs the upper spring seat 106 on the upper spring seat distributing mechanism 4-4, sends it to the upper spring seat assembly station, and then assembles the upper spring seat 106 on the valve stem 100.
  • the screw feeding module 5 includes a screw feeding vibration plate 5-1, a screw feeding linear device 5-2, a screw feeding slot 5-3, a screw feeding mechanism 5-4 and Screw feeding manipulator 5-5; manually put the screw 107 into the screw feeding vibrating plate 5-1, the screw trough 5-3 is installed on the screw feeding linear device 5-2, on the screw
  • the material vibrating plate 5-1 and the screw feeding linear device 5-2 realize the automatic continuous feeding of the screw 107;
  • the screw distributing mechanism 5-4 is installed at the outlet of the screw trough 5-3, and the screws 107 are installed one by one It is separated to facilitate the subsequent grabbing by the screw feeding manipulator 5-5; the screw feeding manipulator 5-5 grabs the screw 107 on the screw feeding mechanism 5-4 and sends it to the screw to be screwed on the valve stem 100.
  • the screw assembly module 6 includes an up-and-down movement mechanism 6-1 and an electric screwdriver 6-2; the up-and-down movement mechanism 6-1 drives the electric screwdriver 6-2 to descend, and the electric screwdriver 6-2 6-2 Screw the screw 107 into the valve stem 100 to complete the assembly of the screw 107.
  • the workpiece blanking module 7 includes a first blanking manipulator 7-1, a second blanking manipulator 7-2, and a blanking line 7-3; considering the problems of equipment structure, interference, etc. , Two sets of blanking manipulators need to be set up to realize the blanking of the finished workpiece; after the turntable mechanism 1-2 sends the finished workpiece to the blanking station, the clamps 1-3 are loosened, and the first blanking manipulator 7-1 grabs the finished workpiece , And then send the finished workpiece to just below the second blanking manipulator 7-2, the second blanking manipulator 7-2 grabs the finished workpiece and sends it to the blanking line 7-3, which is sent out by the blanking line 7-3 .

Abstract

一种液压阀杆装配机，包括转盘夹具模块（1）、下弹簧座装配模块（2）、弹簧装配模块（3）、上弹簧座装配模块（4）、螺钉上料模块（5）、螺钉装配模块（6）和工件下料模块（7）；转盘夹具模块（1）用于夹紧工件半成品，工件半成品通过将防尘圈（102）、O形圈（101）和垫片（103）手工套在阀杆（100）上形成；下弹簧座装配（2）模块用于下弹簧座（104）的自动上料，并将下弹簧座（104）安装至阀杆（100）上；弹簧装配模块（3）用于弹簧（105）的自动上料，并将弹簧（105）安装至阀杆（100）上；上弹簧座装配模块（4）用于上弹簧座（106）的自动上料，并将上弹簧座（106）安装至阀杆（100）上；螺钉上料模块（5）用于螺钉（107）的自动上料；螺钉装配模块（6）用于将螺钉（107）拧紧在阀杆（100）上，形成工件成品；工件下料模块（7）用于进行工件成品的自动下料。该液压阀杆装配机可以实现液压阀杆的自动装配，大大提升装配精度和效率。

Description

液压阀杆装配机 技术领域
本发明涉及一种液压阀杆装配机。
背景技术
目前，液压阀杆一般为人工装配，装配精度和效率低，劳动强度大，装配质量不稳定，成品率低。
发明内容
本发明的目的是解决目前液压阀杆人工装配精度和效率低，质量一致性差的技术问题。
为实现以上发明目的，本发明提供一种液压阀杆装配机，包括转盘夹具模块、下弹簧座装配模块、弹簧装配模块、上弹簧座装配模块、螺钉上料模块、螺钉装配模块和工件下料模块；所述转盘夹具模块用于夹紧工件半成品，所述工件半成品通过将防尘圈、O形圈和垫片手工套在阀杆上形成；所述下弹簧座装配模块用于下弹簧座的自动上料，并将所述下弹簧座安装至所述阀杆上；所述弹簧装配模块用于弹簧的自动上料，并将所述弹簧安装至所述阀杆上；所述上弹簧座装配模块用于上弹簧座的自动上料，并将所述上弹簧座安装至所述阀杆上；所述螺钉上料模块用于螺钉的自动上料；所述螺钉装配模块用于将螺钉拧紧在所述阀杆上，使所述防尘圈、O形圈、垫片、下弹簧座、弹簧、上弹簧座与阀杆紧固为一体，形成工件成品；所述工件下料模块用于进行所述工件成品的自动下料。
进一步地，所述转盘夹具模块包括机架、转盘机构和夹具；所述机架的台面上依次安装有所述下弹簧座装配模块、弹簧装配模块、上弹簧座装配模块、螺钉上料模块、螺钉装配模块和工件下料模块；所述转盘机构上依次设有上料 工位、下弹簧座装配工位、弹簧装配工位、上弹簧座装配工位、螺钉上料工位、螺钉装配工位、下料工位和预留空位；所述转盘机构上均匀设有多套所述夹具，各所述夹具分别用于对不同的所述工件半成品同时进行定位和装夹，以便对多个工件半成品进行加工。
进一步地，所述夹具包括夹具安装板、夹紧气缸、定夹具块和动夹具块；所述夹具安装板固定在所述转盘机构上，所述定夹具块和夹紧气缸安装在所述夹具安装板上，将工件半成品放入定夹具块的定位槽内，定夹具块固定不动，所述夹紧气缸带动所述动夹具块向定夹具块运动，从而将工件半成品夹紧在定夹具块和动夹具块之间。
进一步地，所述下弹簧座装配模块包括下弹簧座上料振动盘、下弹簧座上料直线器、下弹簧座料槽、下弹簧座分料机构和下弹簧座装配机械手；人工将下弹簧座放入所述下弹簧座上料振动盘中，所述下弹簧座料槽安装在所述下弹簧座上料直线器上，下弹簧座上料振动盘和下弹簧座上料直线器实现下弹簧座的自动连续上料；所述下弹簧座分料机构安装在下弹簧座料槽的出口处，将下弹簧座一个个分离出来，以方便后续的所述下弹簧座装配机械手抓取；下弹簧座装配机械手抓取下弹簧座分料机构上的下弹簧座，将其送至下弹簧座装配工位，然后把下弹簧座组装到阀杆上。
进一步地，所述弹簧装配模块包括弹簧上料振动盘、弹簧上料直线器、弹簧料槽、弹簧分料机构和弹簧装配机械手；人工将弹簧放入所述弹簧上料振动盘中，所述弹簧料槽安装在所述弹簧上料直线器上，弹簧上料振动盘和弹簧上料直线器实现弹簧的自动连续上料；所述弹簧分料机构安装在弹簧料槽的出口处，将弹簧一个个分离出来，以方便后续的所述弹簧装配机械手抓取；弹簧装配机械手抓取弹簧分料机构上的弹簧，将其送至弹簧装配工位，然后把弹簧组 装到阀杆上。
进一步地，所述上弹簧座装配模块包括上弹簧座上料振动盘、上弹簧座上料直线器、上弹簧座料槽、上弹簧座分料机构和上弹簧座装配机械手；人工将上弹簧座放入所述上弹簧座上料振动盘中，所述上弹簧座料槽安装在所述上弹簧座上料直线器上，上弹簧座上料振动盘和上弹簧座上料直线器实现上弹簧座的自动连续上料；所述上弹簧座分料机构安装在上弹簧座料槽的出口处，将上弹簧座一个个分离出来，以方便后续的所述上弹簧座装配机械手抓取；上弹簧座装配机械手抓取上弹簧座分料机构上的上弹簧座，将其送至上弹簧座装配工位，然后把上弹簧座组装到阀杆上。
进一步地，所述螺钉上料模块包括螺钉上料振动盘、螺钉上料直线器、螺钉料槽、螺钉分料机构和螺钉上料机械手；人工将螺钉放入所述螺钉上料振动盘中，所述螺钉料槽安装在所述螺钉上料直线器上，螺钉上料振动盘和螺钉上料直线器实现螺钉的自动连续上料；所述螺钉分料机构安装在螺钉料槽的出口处，将螺钉一个个分离出来，以方便后续的所述螺钉上料机械手抓取；螺钉上料机械手抓取螺钉分料机构上的螺钉送到阀杆的待拧螺钉处。
进一步地，所述螺钉装配模块包括上下运动机构和电动螺丝刀；所述上下运动机构带动所述电动螺丝刀下降，同时电动螺丝刀将螺钉拧进阀杆，完成螺钉的组装。
进一步地，所述工件下料模块包括第一下料机械手、第二下料机械手和下料流水线；所述转盘机构将工件成品送至下料工位后，夹具松开，同时第一下料机械手抓取工件成品，然后将工件成品送至第二下料机械手正下方，第二下料机械手抓取工件成品并将其送至下料流水线，由下料流水线送出。
与现有技术相比，本发明的有益效果是：
本发明可实现液压阀杆的自动装配，大大提升装配精度和效率，降低了劳动强度，通用性强。通过自动化设备将各零件按装配工艺依次组装到一起，降低人力成本，提高生产效率和品质。人工的平均装配效率为30s/套，本装配机的平均装配效率为10s/套，机器较人工组装效率提高至3倍，1台机器可替代2人。机器生产的螺钉拧紧扭矩较手工更稳定可靠，保证装配质量。
附图说明
图1是本发明一个实施例的结构示意图；
图2是本发明一个实施例中转盘夹具模块的结构示意图；
图3是本发明一个实施例中转盘夹具模块的夹具结构示意图；
图4是本发明一个实施例中下弹簧座装配模块的结构示意图；
图5是本发明一个实施例中弹簧装配模块的结构示意图；
图6是本发明一个实施例中上弹簧座装配模块的结构示意图；
图7是本发明一个实施例中螺钉上料模块的结构示意图；
图8是本发明一个实施例中螺钉装配模块的结构示意图；
图9是本发明一个实施例中工件下料模块的结构示意图；
图10是本发明一个实施例中装配对象液压阀杆的零件图。
图中，转盘夹具模块1；机架1-1；转盘机构1-2；夹具1-3；夹具安装板1-3-1；夹紧气缸1-3-2；定夹具块1-3-3；动夹具块1-3-4；
下弹簧座装配模块2；下弹簧座上料振动盘2-1；下弹簧座上料直线器2-2；下弹簧座料槽2-3；下弹簧座分料机构2-4；下弹簧座装配机械手2-5；
弹簧装配模块3；弹簧上料振动盘3-1；弹簧上料直线器3-2；弹簧料槽3-3；弹簧分料机构3-4；弹簧装配机械手3-5；
上弹簧座装配模块4；上弹簧座上料振动盘4-1；上弹簧座上料直线器4-2； 上弹簧座料槽4-3；上弹簧座分料机构4-4；上弹簧座装配机械手4-5；
螺钉上料模块5；螺钉上料振动盘5-1；螺钉上料直线器5-2；螺钉料槽5-3；螺钉分料机构5-4；螺钉上料机械手5-5；
螺钉装配模块6；上下运动机构6-1；电动螺丝刀6-2；
工件下料模块7；第一下料机械手7-1；第二下料机械手7-2；下料流水线7-3；
阀杆100；O型圈101；防尘圈102；垫片103；下弹簧座104；弹簧105；上弹簧座106；螺钉107。
具体实施方式
下面结合附图和具体实施例对本发明作优选说明。
如图1-10所示，在本发明液压阀杆装配机的一个实施例中，液压阀杆的装配过程为：人工把阀杆100上的防尘圈102、O型圈101、垫片103与阀杆100装配好后，放入转盘夹具1-3，启动开关，夹紧阀杆100，开始自动装配，所有工位同时工作。装配完后的成品经下料工位横向放入成品下料流水线7-3。
在本发明的一个实施例中，本装配机采用八工位转盘式布局，八个工位依次设置在转盘夹具模块1的转盘机构1-2上，具体如下：
第一工位：上料工位，在此工位的操作包括将防尘圈102、O形圈101和垫片103手工套在阀杆100上，如图10(a)所示。在阀杆100上套好这三个零件后形成工件半成品，人工将该工件半成品安装至夹具1-3上；
第二工位：下弹簧座装配工位，进行下弹簧座104的自动上料及组装；
第三工位：弹簧装配工位，进行弹簧105的自动上料及组装；
第四工位：上弹簧座装配工位，进行上弹簧座106的自动上料及组装；
第五工位：螺钉上料工位，进行螺钉107的自动上料；
第六工位：螺钉装配工位，通过电动螺丝刀6-2将螺钉107拧紧在阀杆100上，得到液压阀杆成品工件；
第七工位：下料工位，进行成品工件的自动下料；
第八工位：预留空位，可以根据后续的生产需要在此位置增加相应的操作工位。
如图1和10所示，本发明液压阀杆装配机的一个实施例，包括转盘夹具模块1、下弹簧座装配模块2、弹簧装配模块3、上弹簧座装配模块4、螺钉上料模块5、螺钉装配模块6和工件下料模块7；所述转盘夹具模块1用于夹紧工件半成品，所述工件半成品通过将防尘圈102、O形圈101和垫片103手工套在阀杆100上形成；所述下弹簧座装配模块2用于下弹簧座104的自动上料，并将所述下弹簧座104安装至所述阀杆100上；所述弹簧装配模块3用于弹簧105的自动上料，并将所述弹簧105安装至所述阀杆100上；所述上弹簧座装配模块4用于上弹簧座106的自动上料，并将所述上弹簧座106安装至所述阀杆100上；所述螺钉上料模块5用于螺钉107的自动上料；所述螺钉装配模块用于将螺钉107拧紧在所述阀杆100上，使所述防尘圈102、O形圈101、垫片103、下弹簧座104、弹簧105、上弹簧座106与阀杆100紧固为一体，形成工件成品；所述工件下料模块7用于进行所述工件成品的自动下料。
优选地，如图2所示，所述转盘夹具模块1包括机架1-1、转盘机构1-2和夹具1-3；所述机架1-1的台面上依次安装有所述下弹簧座装配模块2、弹簧装配模块3、上弹簧座装配模块4、螺钉上料模块5、螺钉装配模块6和工件下料模块7；所述转盘机构1-2上依次设有上料工位、下弹簧座装配工位、弹簧装配工位、上弹簧座装配工位、螺钉上料工位、螺钉装配工位、下料工位和预留空位；所述转盘机构1-2上均匀设有多套所述夹具1-3，各所述夹具1-3分别用于 对不同的所述工件半成品同时进行定位和装夹，以便对多个工件半成品进行加工。
优选地，如图3所示，所述夹具1-3包括夹具安装板1-3-1、夹紧气缸1-3-2、定夹具块1-3-3和动夹具块1-3-4；所述夹具安装板1-3-1固定在所述转盘机构1-2上，所述定夹具块1-3-3和夹紧气缸1-3-2安装在所述夹具安装板1-3-1上，将工件半成品放入定夹具块1-3-3的定位槽内，定夹具块1-3-3固定不动，所述夹紧气缸1-3-2带动所述动夹具块1-3-4向定夹具块1-3-3运动，从而将工件半成品夹紧在定夹具块1-3-3和动夹具块1-3-4之间。
优选地，如图4所示，所述下弹簧座装配模块2包括下弹簧座上料振动盘2-1、下弹簧座上料直线器2-2、下弹簧座料槽2-3、下弹簧座分料机构2-4和下弹簧座装配机械手2-5；人工将下弹簧座104放入所述下弹簧座上料振动盘2-1中，所述下弹簧座料槽2-3安装在所述下弹簧座上料直线器2-2上，下弹簧座上料振动盘2-1和下弹簧座上料直线器2-2实现下弹簧座104的自动连续上料；所述下弹簧座分料机构2-4安装在下弹簧座料槽2-3的出口处，将下弹簧座104一个个分离出来，以方便后续的所述下弹簧座装配机械手2-5抓取；下弹簧座装配机械手2-5抓取下弹簧座分料机构2-4上的下弹簧座104，将其送至下弹簧座装配工位，然后把下弹簧座104组装到阀杆100上。
优选地，如图5所示，所述弹簧装配模块3包括弹簧上料振动盘3-1、弹簧上料直线器3-2、弹簧料槽3-3、弹簧分料机构3-4和弹簧装配机械手3-5；人工将弹簧105放入所述弹簧上料振动盘3-1中，所述弹簧料槽3-3安装在所述弹簧上料直线器3-2上，弹簧上料振动盘3-1和弹簧上料直线器3-2实现弹簧105的自动连续上料；所述弹簧分料机构3-4安装在弹簧料槽3-3的出口处，将弹簧105一个个分离出来，以方便后续的所述弹簧装配机械手3-5抓取；弹簧装配机械手 3-5抓取弹簧分料机构3-4上的弹簧105，将其送至弹簧装配工位，然后把弹簧105组装到阀杆100上。
优选地，如图6所示，所述上弹簧座装配模块包括上弹簧座上料振动盘4-1、上弹簧座上料直线器4-2、上弹簧座料槽4-3、上弹簧座分料机构4-4和上弹簧座装配机械手4-5；人工将上弹簧座106放入所述上弹簧座上料振动盘4-1中，所述上弹簧座料槽4-3安装在所述上弹簧座上料直线器4-2上，上弹簧座上料振动盘4-1和上弹簧座上料直线器4-2实现上弹簧座104的自动连续上料；所述上弹簧座分料机构4-4安装在上弹簧座料槽4-3的出口处，将上弹簧座106一个个分离出来，以方便后续的所述上弹簧座装配机械手4-5抓取；上弹簧座装配机械手4-5抓取上弹簧座分料机构4-4上的上弹簧座106，将其送至上弹簧座装配工位，然后把上弹簧座106组装到阀杆100上。
优选地，如图7所示，所述螺钉上料模块5包括螺钉上料振动盘5-1、螺钉上料直线器5-2、螺钉料槽5-3、螺钉分料机构5-4和螺钉上料机械手5-5；人工将螺钉107放入所述螺钉上料振动盘5-1中，所述螺钉料槽5-3安装在所述螺钉上料直线器5-2上，螺钉上料振动盘5-1和螺钉上料直线器5-2实现螺钉107的自动连续上料；所述螺钉分料机构5-4安装在螺钉料槽5-3的出口处，将螺钉107一个个分离出来，以方便后续的所述螺钉上料机械手5-5抓取；螺钉上料机械手5-5抓取螺钉分料机构5-4上的螺钉107送到阀杆100的待拧螺钉处。
优选地，如图8所示，所述螺钉装配模块6包括上下运动机构6-1和电动螺丝刀6-2；所述上下运动机构6-1带动所述电动螺丝刀6-2下降，同时电动螺丝刀6-2将螺钉107拧进阀杆100，完成螺钉107的组装。
优选地，如图9所示，所述工件下料模块7包括第一下料机械手7-1、第二下料机械手7-2和下料流水线7-3；考虑到设备结构、干涉等问题，需要设置两 套下料机械手实现工件成品下料；转盘机构1-2将工件成品送至下料工位后，夹具1-3松开，同时第一下料机械手7-1抓取工件成品，然后将工件成品送至第二下料机械手7-2正下方，第二下料机械手7-2抓取工件成品并将其送至下料流水线7-3，由下料流水线7-3送出。
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。

Claims (9)

  1. 液压阀杆装配机，其特征在于，包括转盘夹具模块、下弹簧座装配模块、弹簧装配模块、上弹簧座装配模块、螺钉上料模块、螺钉装配模块和工件下料模块；
    所述转盘夹具模块用于夹紧工件半成品，所述工件半成品通过将防尘圈、O形圈和垫片手工套在阀杆上形成；
    所述下弹簧座装配模块用于下弹簧座的自动上料，并将所述下弹簧座安装至所述阀杆上；
    所述弹簧装配模块用于弹簧的自动上料，并将所述弹簧安装至所述阀杆上；
    所述上弹簧座装配模块用于上弹簧座的自动上料，并将所述上弹簧座安装至所述阀杆上；
    所述螺钉上料模块用于螺钉的自动上料；
    所述螺钉装配模块用于将螺钉拧紧在所述阀杆上，使所述防尘圈、O形圈、垫片、下弹簧座、弹簧、上弹簧座与阀杆紧固为一体，形成工件成品；
    所述工件下料模块用于进行所述工件成品的自动下料。
  2. 如权利要求1所述的液压阀杆装配机，其特征在于，所述转盘夹具模块包括机架、转盘机构和夹具；
    所述机架的台面上依次安装有所述下弹簧座装配模块、弹簧装配模块、上弹簧座装配模块、螺钉上料模块、螺钉装配模块和工件下料模块；所述转盘机构上依次设有上料工位、下弹簧座装配工位、弹簧装配工位、上弹簧座装配工位、螺钉上料工位、螺钉装配工位、下料工位和预留空位；
    所述转盘机构上均匀设有多套所述夹具，各所述夹具分别用于对不同的所述工件半成品同时进行定位和装夹。
  3. 如权利要求1或2所述的液压阀杆装配机，其特征在于，所述夹具包括夹 具安装板、夹紧气缸、定夹具块和动夹具块；所述夹具安装板固定在所述转盘机构上，所述定夹具块和夹紧气缸安装在所述夹具安装板上，将工件半成品放入定夹具块的定位槽内，定夹具块固定不动，所述夹紧气缸带动所述动夹具块向定夹具块运动，从而将工件半成品夹紧在定夹具块和动夹具块之间。
  4. 如权利要求1所述的液压阀杆装配机，其特征在于，所述下弹簧座装配模块包括下弹簧座上料振动盘、下弹簧座上料直线器、下弹簧座料槽、下弹簧座分料机构和下弹簧座装配机械手；人工将下弹簧座放入所述下弹簧座上料振动盘中，所述下弹簧座料槽安装在所述下弹簧座上料直线器上，下弹簧座上料振动盘和下弹簧座上料直线器实现下弹簧座的自动连续上料；所述下弹簧座分料机构安装在下弹簧座料槽的出口处，将下弹簧座一个个分离出来；下弹簧座装配机械手抓取下弹簧座分料机构上的下弹簧座，将其送至下弹簧座装配工位，然后把下弹簧座组装到阀杆上。
  5. 如权利要求1所述的液压阀杆装配机，其特征在于，所述弹簧装配模块包括弹簧上料振动盘、弹簧上料直线器、弹簧料槽、弹簧分料机构和弹簧装配机械手；人工将弹簧放入所述弹簧上料振动盘中，所述弹簧料槽安装在所述弹簧上料直线器上，弹簧上料振动盘和弹簧上料直线器实现弹簧的自动连续上料；所述弹簧分料机构安装在弹簧料槽的出口处，将弹簧一个个分离出来；弹簧装配机械手抓取弹簧分料机构上的弹簧，将其送至弹簧装配工位，然后把弹簧组装到阀杆上。
  6. 如权利要求1所述的液压阀杆装配机，其特征在于，所述上弹簧座装配模块包括上弹簧座上料振动盘、上弹簧座上料直线器、上弹簧座料槽、上弹簧座分料机构和上弹簧座装配机械手；人工将上弹簧座放入所述上弹簧座上料振动盘中，所述上弹簧座料槽安装在所述上弹簧座上料直线器上，上弹簧座上料 振动盘和上弹簧座上料直线器实现上弹簧座的自动连续上料；所述上弹簧座分料机构安装在上弹簧座料槽的出口处，将上弹簧座一个个分离出来；上弹簧座装配机械手抓取上弹簧座分料机构上的上弹簧座，将其送至上弹簧座装配工位，然后把上弹簧座组装到阀杆上。
  7. 如权利要求1所述的液压阀杆装配机，其特征在于，所述螺钉上料模块包括螺钉上料振动盘、螺钉上料直线器、螺钉料槽、螺钉分料机构和螺钉上料机械手；人工将螺钉放入所述螺钉上料振动盘中，所述螺钉料槽安装在所述螺钉上料直线器上，螺钉上料振动盘和螺钉上料直线器实现螺钉的自动连续上料；所述螺钉分料机构安装在螺钉料槽的出口处，将螺钉一个个分离出来；螺钉上料机械手抓取螺钉分料机构上的螺钉送到阀杆的待拧螺钉处。
  8. 如权利要求1所述的液压阀杆装配机，其特征在于，所述螺钉装配模块包括上下运动机构和电动螺丝刀；所述上下运动机构带动所述电动螺丝刀下降，同时电动螺丝刀将螺钉拧进阀杆，完成螺钉的组装。
  9. 如权利要求1所述的液压阀杆装配机，其特征在于，所述工件下料模块包括第一下料机械手、第二下料机械手和下料流水线；所述转盘机构将工件成品送至下料工位后，夹具松开，同时第一下料机械手抓取工件成品，然后将工件成品送至第二下料机械手正下方，第二下料机械手抓取工件成品并将其送至下料流水线，由下料流水线送出。
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