WO2024016116A1 - 呼吸阀自动装配机 - Google Patents

呼吸阀自动装配机 Download PDF

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Publication number
WO2024016116A1
WO2024016116A1 PCT/CN2022/106282 CN2022106282W WO2024016116A1 WO 2024016116 A1 WO2024016116 A1 WO 2024016116A1 CN 2022106282 W CN2022106282 W CN 2022106282W WO 2024016116 A1 WO2024016116 A1 WO 2024016116A1
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WO
WIPO (PCT)
Prior art keywords
station
positioning
assembly
spring
loading
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PCT/CN2022/106282
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English (en)
French (fr)
Inventor
程先锋
罗宿
陈国平
蔡林虎
薛建琦
Original Assignee
苏州通锦精密工业股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 苏州通锦精密工业股份有限公司 filed Critical 苏州通锦精密工业股份有限公司
Priority to PCT/CN2022/106282 priority Critical patent/WO2024016116A1/zh
Publication of WO2024016116A1 publication Critical patent/WO2024016116A1/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D90/00—Component parts, details or accessories for large containers
    • B65D90/22—Safety features
    • B65D90/32—Arrangements for preventing, or minimising the effect of, excessive or insufficient pressure

Definitions

  • the invention relates to the technical field of breathing valve assembly, and in particular to an automatic breathing valve assembly machine.
  • the breathing valve is a ventilation valve used in the hydraulic oil tank to communicate with the air.
  • the breathing valve is usually installed on the oil tank to ensure that the air pressure in the oil tank is stable when the hydraulic oil is pumped out of the oil tank.
  • the breathing valve generally includes a mounting seat, exhaust valve stem, large spring, valve plate, small pressure plate, small sealing gasket, protective cover, lock nut, small spring, positioning seat, and countersunk head screws. and other major components.
  • breathing valve products basically include a base body, a sealing positioning component, an anti-loosening component, a spring component and a fixed component; the base body has a mounting seat, an exhaust valve stem, a large spring, and a valve plate; the sealing positioning component is a belt A sheet-like structure with a central matching hole, at least one piece, and the sealing and positioning assembly is sleeved on the exhaust valve stem.
  • the sealing and positioning assembly includes a small pressure plate, a small sealing gasket, and a protective cover;
  • the anti-loosening component can be a locking nut.
  • the anti-loosening component is sleeved on the exhaust valve stem and locked to the designated position; the spring component is sleeved on the exhaust valve stem.
  • the spring component is a small spring, the diameter of the small spring is larger than the spring, and one active end of the spring component offsets the outward side of the sealing and positioning component; the fixing component is generally fixed after the above components are assembled.
  • the fixing components can be positioning seats and countersunk screws.
  • the mounting base will have flange mounting holes corresponding to the positioning seats.
  • the base body is assembled, and the exhaust valve stem, large spring, and valve plate are manually installed on the mounting seat to form the base body;
  • the small pressure plate, small sealing gasket, and protective cover are manually installed on the exhaust valve stem of the base body. Since the assembly fit gap between the small sealing gasket and the exhaust valve stem is relatively tight, but It is also necessary to ensure that the position of the exhaust valve stem is accurate during assembly;
  • the small spring is manually connected to the exhaust valve stem
  • the invention provides an automatic assembly machine for a breathing valve, which can realize automatic assembly of the breathing valve, and can have a self-checking function to avoid misassembly and missing assembly, and improve production efficiency and assembly quality.
  • an automatic assembly machine for a breathing valve which is used for automatic assembly of the breathing valve.
  • the breathing valve includes a base body, a sealing positioning component, an anti-loosening component, a spring component and a
  • the fixed component in the assembled state, has an exhaust valve stem assembled on the base body.
  • the sealing and positioning component is a sheet structure with a central matching hole.
  • the sealing and positioning component is at least one piece.
  • the sealing and positioning component is sleeved on the exhaust valve.
  • the automatic assembly machine includes a frame and at least 5 workstations arranged on the frame, and the 5 workstations are the first workstation, the second workstation, and the third workstation in order according to the flow direction of the process.
  • the third station, the fourth station and the fifth station among which,
  • the first station is a loading and unloading station for the base body; the first station has a tooling for placing and positioning the base body and a gland for fixing the base body, and is provided on one side of the tooling for placing the gland. The gland is placed in the position, and the tooling is transferred between the 5 stations;
  • the second station is an assembly station for sealing and positioning components; the second station is provided with a material loading mechanism, a material taking mechanism, a centering mechanism and an alignment visual detection mechanism, and the material loading mechanism is used for As for the mechanism that provides materials, the material loading mechanism is provided with a material warehouse for accommodating materials, and the logistics warehouse is provided with a material loading detection sensor for detecting whether the materials are in place; the material retrieval mechanism is used for moving A mechanism for planting materials.
  • the material taking mechanism is provided with a material taking head for clamping materials and a taking movement module for driving the movement of the material taking head; the centering mechanism is used for centering the exhaust valve stem.
  • the centering mechanism is provided with a centering clamp and a centering movement module that drives the centering clamp;
  • the alignment visual detection mechanism is a mechanism for selectively detecting and aligning the central matching hole of the sealing and positioning component,
  • the alignment visual detection mechanism has an alignment CCD camera, and the alignment CCD camera is located on the movement path of the material pickup head;
  • the third station is an assembly station for the anti-loosening component; the third station is provided with an anti-loosening component loading mechanism, a locking anti-loosening component mechanism and a pressing mechanism.
  • the loading mechanism is a mechanism for providing an anti-loosening component.
  • the lock anti-loosing component mechanism includes a lock anti-loosening component gun and a lock anti-loosening component movement module that drives the lock anti-loosening component gun;
  • the pressing mechanism is a mechanism used to prevent the base from loosening.
  • the pressing mechanism has a pressing block and a pressing movement module that drives the pressing block.
  • the pressing movement module drives the pressing block to press the gland towards the gland. ;
  • the fourth station is the assembly station of the spring assembly; the fourth station is provided with a gland retrieving mechanism, a spring feeding mechanism, a spring pushing mechanism and a spring placing mechanism; the gland retrieving mechanism
  • the capping retrieving movement module includes a capping retrieving clamping jaw and a capping retrieving movement module that drives the capping driving clamping claw;
  • the spring feeding mechanism is a mechanism for providing a spring component;
  • the spring pushing mechanism is for pushing the spring component to The mechanism on the spring placement mechanism;
  • the spring placement mechanism includes an air blowing module and a blowing tube.
  • the blowing tube has a feeding nozzle, and the feeding nozzle is aligned with the spring assembly position on the fourth station;
  • the fifth station is an assembly station for fixed components; the fifth station is provided with a positioning base loading mechanism, a positioning base retrieval mechanism, a positioning visual inspection mechanism, a screw feeding mechanism and a screw locking mechanism;
  • the positioning seat loading mechanism includes a material cart and a loading tray. The material cart is used to load the loading tray, and the loading tray is used to load the positioning seat.
  • the positioning seat retrieval mechanism includes a positioning seat grabbing clamp and a The positioning seat retrieval drive module drives the positioning seat grabbing clamping claw action. The positioning seat grabbing clamping claw can be rotated and installed on the positioning seat retrieval drive module; the positioning visual detection mechanism includes a first positioning CCD camera, a second positioning CCD camera, and a second positioning CCD camera.
  • the first positioning CCD camera follows the movement of the positioning seat retrieval drive module, and the second positioning CCD camera is located on the movement path of the positioning seat grabbing clamp;
  • the screw feeding mechanism has a screw bin;
  • the screw locking mechanism includes a screw locking gun, which grabs the clamping jaw from the positioning seat and moves it back and above the base body at the fifth station.
  • a machine that has a self-checking function and can quickly and accurately complete the automatic assembly of the breathing valve.
  • the designed set of automatic work stations has clear sequences, smooth connections, reasonable movements, and does not occupy too much space. It also has the advantage of saving labor as an automated equipment.
  • a turntable is provided on the main frame, and the first, second, third, fourth and fifth workstations are arranged in sequence around the turntable, so The tooling is located on the upper surface of the mounting plate, and the tooling is cyclically displaced at each station driven by the assembly; the turntable also has a sixth station as an empty position.
  • a flange mounting hole is provided on the base body, a positioning hole is provided on the tooling, and a latch corresponding to the flange mounting hole and the positioning hole is protruding downward on the lower surface of the gland.
  • the material loading mechanism also includes a material rack body, a screw rod, a stepper motor and a guide rod.
  • the material rack body is fixedly installed on the main frame.
  • the material rack body At least one material bin is installed on the top.
  • the material bin is a cylindrical structure that runs up and down.
  • the lower part of the screw rod is connected to a guide rod for guidance.
  • a stepper motor is used to drive the screw rod to move up and down after spiraling.
  • the screw rod moves from the bottom of the material barrel. The bottom is penetrated; the loading detection sensor is set flush with the top of the material bin;
  • the material picking movement module in the material picking mechanism is a four-axis robot, and the material picking head is located at the execution end of the four-axis robot.
  • the centering motion module of the material centering mechanism is a two-axis cylinder group module.
  • the two-axis cylinder group module drives the centering jaws to move in the righting one's head;
  • the alignment CCD camera is installed on one side of the material rack, and an alignment ring light is provided above the alignment CCD camera.
  • the anti-loosening component loading mechanism includes a nut vibrating plate installed on the main frame and a nut direct vibrating table that is cooperatively connected with the nut vibrating plate.
  • a nut discharging position is set at the end of the nut direct vibrating table;
  • the lock anti-loosening component movement module in the lock anti-loosening component mechanism is a two-axis sliding table drive structure installed on the main frame.
  • the two-axis sliding table driving structure drives the lock anti-loosening component gun to move in the XY plane.
  • the lock anti-loosening component gun is set at the execution end of the lock anti-loosening component movement module, and the nut retrieval position is set on the movement path of the lock anti-loosening component gun;
  • the compression movement module in the compression mechanism is a compression cylinder.
  • the telescopic end of the compression cylinder is connected to the compression block.
  • the compression cylinder drives the compression block to move up and down so that the compression block acts on the third station from above. Press lid on.
  • the capping and retrieving motion module in the capping and retrieving mechanism is a manipulator structure.
  • the capping and retrieving movement module drives the gland and retrieving clamping claw to move in the Z direction and the XY plane.
  • the clamping jaw is provided with a lower handle that is embedded in the upper handle, and the gland retrieval mechanism takes out the gland on the base body at the fourth station and places it in the gland placement position;
  • the spring loading mechanism includes a spring vibrating plate installed on the main frame and a spring direct vibrating table that is connected to the spring vibrating plate.
  • the spring component is loaded by the spring vibrating plate, and is transmitted to the spring pusher through the spring direct vibrating table. Institutional Department.
  • the spring pushing mechanism includes a pneumatic sliding table and a pushing head, and the pneumatic sliding table drives the pushing head to push the spring assembly into the blowing pipe;
  • the blow tube in the spring placing mechanism is provided with a spring detection sensor for detecting whether there is a spring component in the blow tube.
  • the positioning seat loading mechanism also includes an empty pallet placement position, a loading pallet loading position, and a lifting mechanism installed on the feeder truck.
  • the feeder truck is set up on one side of the main frame, and the bottom of the feeder truck is provided with a Pulley; the lifting mechanism acts on the loading pallet in the empty pallet placement position and the loading pallet loading position; the pallet handling clamp is driven by a two-axis pallet manipulator installed on the main frame. The clamping claw moves the loading tray between the empty tray placement position and the loading tray loading position.
  • the positioning seat retrieval drive module in the positioning seat retrieval mechanism is a three-axis manipulator, and the three-axis manipulator drives the positioning seat grabbing jaw to grab the positioning seat and the first positioning CCD camera movement
  • the positioning seat retrieval drive module is provided with a drive motor that drives the positioning seat grabbing jaw to rotate around the Z axis;
  • the positioning seat grabbing jaw is provided with a positioning seat detection for detecting whether the positioning seat is in place. sensor.
  • the up and down direction is defined as the Z direction
  • the direction perpendicular to the Z direction is the X direction
  • the direction perpendicular to the X-Z plane is the Y direction.
  • connection can be a fixed connection or a removable connection.
  • Detachable connection, or integration it can be a mechanical connection, a direct connection, or an indirect connection through an intermediary, or an internal connection between two elements or an interaction between two elements, unless otherwise clearly limited.
  • connection can be a fixed connection or a removable connection.
  • Detachable connection, or integration it can be a mechanical connection, a direct connection, or an indirect connection through an intermediary, or an internal connection between two elements or an interaction between two elements, unless otherwise clearly limited.
  • the specific meanings of the above terms in this application can be understood according to specific circumstances.
  • the terms "upper”, “lower”, “inner”, “outer”, etc. indicate the orientation or positional relationship based on the orientation or positional assembly relationship shown in the drawings, and are only for the convenience of describing the present invention.
  • the application and simplified description are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation on the present application.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as “first” and “second” may explicitly or implicitly include at least one of these features. In the description of this application, “plurality” means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.
  • the present invention has the following advantages and effects compared with the prior art:
  • Figure 1 is a cross-sectional view of the breathing valve assembled in the embodiment of the present invention.
  • Figure 2 is a schematic diagram of the assembly process of the breathing valve assembled in the embodiment of the present invention.
  • Figure 3 is a axial side view of the automatic breathing valve assembly machine according to the embodiment of the present invention.
  • Figure 4 is a top view of the breathing valve automatic assembly machine according to the embodiment of the present invention.
  • Figure 5 is a schematic structural diagram of the first workstation according to the embodiment of the present invention.
  • Figure 6 is a schematic diagram of the assembly of the gland, base body and tooling in the first station according to the embodiment of the present invention.
  • Figure 7 is a schematic structural diagram of the second station according to the embodiment of the present invention.
  • Figure 8 is a schematic structural diagram of the material loading mechanism in the second station according to the embodiment of the present invention.
  • Figure 9 is a schematic structural diagram of the centering mechanism in the second station according to the embodiment of the present invention.
  • Figure 10 is a schematic structural diagram of the third station according to the embodiment of the present invention.
  • Figure 11 is a schematic structural diagram of the fourth station according to the embodiment of the present invention.
  • Figure 12 is a partially enlarged schematic diagram of Figure 11;
  • Figure 13 is a schematic structural diagram of the fifth station according to the embodiment of the present invention.
  • Figure 14 is a schematic diagram of the positioning seat retrieval mechanism in the fifth station according to the embodiment of the present invention.
  • Figure 15 is a schematic diagram of the positioning seat loading mechanism in the fifth station according to the embodiment of the present invention.
  • Lock anti-loosening component mechanism 321. Lock anti-loosening component gun; 322. Lock anti-loosening component movement module;
  • Gland retrieval mechanism 411. Gland retrieval clamp; 4111. Lower handle; 412. Gland retrieval movement module;
  • Positioning base retrieval mechanism 521. Positioning base grabbing clamp; 522. Positioning base retrieval drive module; 523. Drive motor; 524. Positioning base detection sensor;
  • Positioning visual inspection mechanism 531. First positioning CCD camera; 532. Second positioning CCD camera;
  • Screw locking mechanism 551. Screw locking gun;
  • the embodiment of the present invention discloses an automated assembly of a breathing valve 900.
  • the breathing valve 900 includes a base 91, a sealing positioning assembly 92, an anti-loosening assembly, a spring assembly 94 and a fixed assembly.
  • Component 95 in the assembled state, has an exhaust valve stem 912 assembled on the base 91.
  • the sealing and positioning component 92 is a sheet structure with a central matching hole.
  • the sealing and positioning component 92 is at least one piece.
  • the sealing and positioning component 92 It is sleeved on the exhaust valve stem 912; it is characterized in that: the automatic assembly machine includes a frame and at least 5 workstations arranged on the frame, and the 5 workstations are the first workstation 100 in sequence according to the flow direction of the process. , the second station is 200, the third station is 300, the fourth station is 400, and the fifth station is 500.
  • the first workstation 100 is a loading and unloading station for the base 91; the first workstation 100 has a tooling 110 for placing and positioning the base 91 and a tool for fixing the base 91.
  • a gland placement position 130 for placing the gland is provided on one side of the tooling 110, and the tooling 110 circulates between five workstations;
  • the second station 200 is an assembly station for the sealing and positioning assembly 92; the second station 200 is provided with a material loading mechanism 210, a material taking mechanism Mechanism, centering mechanism and alignment visual detection mechanism 240.
  • the material loading mechanism 210 is a mechanism for providing materials.
  • the material loading mechanism 210 is provided with a material bin 211 for accommodating materials.
  • the logistics bin is A material loading detection sensor 212 is provided for detecting whether the material is in place; the material pickup mechanism is a mechanism for transplanting materials, and the material pickup mechanism is provided with a material pickup head 221 for clamping materials and a material pickup head 221 for clamping materials.
  • a material taking movement module that drives the movement of the material taking head 221;
  • the centering mechanism is a mechanism for centering the exhaust valve stem 912.
  • the centering mechanism is provided with a centering clamp 231 and a centering movement that drives the centering clamp 231.
  • the alignment visual detection mechanism 240 is a mechanism for selectively detecting and aligning the central matching hole of the sealing positioning assembly 92.
  • the alignment visual detection mechanism 240 has an alignment CCD camera.
  • the quasi-CCD camera is located on the movement path of the material picking head 221;
  • the third workstation 300 is an assembly station for anti-loosening components; the third workstation 300 is provided with an anti-loosening component loading mechanism 310 and a locking anti-loosening component mechanism 320. and a pressing mechanism 330.
  • the anti-loosening component loading mechanism 310 is a mechanism for providing anti-loosening components.
  • the lock anti-loosening component mechanism 320 includes a lock anti-loosening component gun 321 and a driving lock anti-loosening component.
  • the assembly gun 321 acts to lock and prevent the assembly movement module 322 from loosening;
  • the pressing mechanism 330 is a mechanism for preventing the base from loosening.
  • the pressing mechanism 330 has a pressing block 332 and a pressing member that drives the pressing block 332.
  • the pressing movement module 331 drives the pressing block 332 to press towards the gland;
  • the fourth station 400 is an assembly station for the spring assembly 94; the fourth station 400 is provided with a capping retrieval mechanism 410, a spring loading mechanism 420, Spring pushing mechanism 430 and spring placement mechanism 440; the cap picking mechanism 410 includes a cap picking clamp 411 and a cap picking movement module 412 that drives the cap driving clamp to move; the spring loading mechanism 420 is a mechanism for providing the spring assembly 94; the spring pushing mechanism 430 is a mechanism for pushing the spring assembly 94 to the spring placement mechanism 440; the spring placement mechanism 440 includes a blowing module and a blowing tube 441.
  • the feed pipe 441 has a feed pipe opening 442, which is aligned with the spring assembly position on the fourth station 400; as shown in Figures 13 and 14, the fifth station 500 is a fixed assembly 95 The assembly station; the fifth station 500 is provided with a positioning base loading mechanism 510, a positioning base retrieval mechanism 520, a positioning visual detection mechanism 530, a screw feeding mechanism 540 and a screw locking mechanism 550; the positioning base
  • the loading mechanism 510 includes a loading cart 511 and a loading tray.
  • the loading cart 511 is used to load the loading tray, and the loading tray is used to load the positioning seat.
  • the positioning seat retrieval mechanism 520 includes a positioning seat grabbing clamp. 521 and the positioning seat retrieval drive module 522 that drives the positioning seat grabbing jaw action.
  • the positioning seat grabbing jaw 521 is rotatably installed on the positioning seat retrieval drive module 522;
  • the positioning visual detection mechanism 530 includes a first Positioning CCD camera 531 and second positioning CCD camera 532.
  • the first positioning CCD camera grabs the clamping claw 521 from the positioning base and moves it back and above the base 91 on the fifth station 500.
  • the second positioning CCD camera is located at the positioning base.
  • the screw feeding mechanism 540 has a screw bin 541;
  • the screw locking mechanism 550 includes a screw gun 551, and the screw gun 551 grabs the clamp 521 from the positioning seat and After that, it is moved to the top of the base 91 on the fifth station 500 .
  • a self-checking function is designed that can quickly and accurately complete the breathing valve 900.
  • the automatic assembly machine has a designed set of automatic work stations with clear sequence, smooth connection, reasonable movements, and does not occupy too much space on the site. It also has the advantage of saving labor as an automated equipment.
  • the main frame 700 is provided with a turntable 710, and the first workstation 100, the second workstation 200, and the third workstation 300.
  • the fourth station 400 and the fifth station 500 are arranged in sequence around the turntable 710.
  • the tooling 110 is located on the upper surface of the mounting plate.
  • the tooling 110 is cyclically displaced at each station driven by the assembly. ;
  • the turntable 710 also has a sixth station 600 as an empty position.
  • a flange mounting hole 9111 is provided on the base 91, and a positioning hole 1111 is provided on the tooling 110.
  • the lower surface of the cover protrudes downward and is provided with a latch 121 corresponding to the flange mounting hole 9111 and the positioning hole 1111.
  • the gland has a plate-like structure.
  • An assembly cavity 122 for assembling various components of the breathing valve 900 is provided in the middle part, and is provided with upper handles 123 on both sides of the upper surface of the gland to facilitate quick placement and removal of the gland.
  • the material loading mechanism 210 also includes a material rack body 213, a screw rod 214, a stepper motor 215 and a guide rod 216.
  • the material rack body 213 is fixedly installed on the main frame 700.
  • the material rack At least one material bin 211 is installed on the body 213.
  • the material bin 211 is a cylindrical structure that runs up and down.
  • the lower part of the screw rod 214 is connected to a guide rod 216 for guidance.
  • the stepper motor 215 is used to drive the screw rod 214 to spiral up and down. displacement, the screw rod 214 penetrates from the bottom of the material barrel; the loading detection sensor 212 is arranged at a position flush with the top of the material bin 211.
  • the material picking movement module in the material picking mechanism is a four-axis robot, and the material picking head 221 is located at the execution end of the four-axis robot.
  • the centering motion module 232 of the material centering mechanism is a two-axis cylinder group module.
  • the two-axis cylinder group module drives the centering jaw 231 to move in the XY plane.
  • the centering jaw 231 has a centering head for cooperating with the exhaust valve stem 912. 2311.
  • the alignment CCD camera is installed on one side of the material rack body 213, and an alignment ring light 242 is provided above the alignment CCD camera.
  • the anti-loosening component loading mechanism 310 includes a nut vibrating plate 311 installed on the main frame 700 and a nut direct vibrating table 312 cooperatively connected to the nut vibrating plate 311. A nut discharging position is provided at the end of the nut direct vibrating table 312. 313.
  • the lock anti-loosening component movement module in the lock anti-loosening component mechanism 320 is a two-axis sliding table drive structure installed on the main frame 700.
  • the two-axis sliding table driving structure drives the lock anti-loosening component gun 321 in the XY plane. Displacement, a lock anti-loosening component gun 321 is set at the execution end of the lock anti-loosening component movement module, and the nut pickup position 313 is set on the movement path of the lock anti-loosening component gun 321; the lock anti-loosening component gun is a lock nut gun.
  • the compression movement module 331 in the compression mechanism 330 is a compression cylinder.
  • the telescopic end of the compression cylinder is connected to the compression block 332.
  • the compression cylinder drives the compression block 332 to move up and down so that the compression block 332 acts on the On the gland of the third station 300.
  • the capping and retrieving motion module 412 in the capping and retrieving mechanism 410 is a robot structure.
  • the capping and retrieving movement module 412 drives the capping and retrieving clamp 411 to move in the Z direction and the XY plane.
  • the gland picking clamp 411 is provided with a lower handle 4111 that is embedded in the upper handle 123.
  • the gland picking mechanism 410 takes out the gland on the base 91 located at the fourth station 400 and places it into The gland is placed at position 130.
  • the spring loading mechanism 420 includes a spring vibration plate 421 installed on the main frame 700 and a spring direct vibration platform 422 connected to the spring vibration plate.
  • the spring assembly 94 is loaded through the spring vibration plate 421 and undergoes direct vibration of the spring.
  • the stage 422 is transmitted to the spring pushing mechanism 430.
  • the spring pushing mechanism 430 includes a pneumatic sliding table 431 and a pushing head 432.
  • the pneumatic sliding table 431 drives the pushing head 432 to push the spring assembly 94 into the blowing pipe 441.
  • the blow pipe 441 in the spring placement mechanism 440 is provided with a spring detection sensor 443 for detecting whether there is a spring assembly 94 in the blow pipe 441.
  • the positioning seat loading mechanism 510 also includes an empty pallet placement position 514, a loading tray discharging position 515, and a lifting mechanism 516 installed on the material cart 511.
  • the material cart 511 is set up on one side of the main frame 700. , the bottom of the material truck 511 is provided with a pulley 5111; the lifting mechanism acts on the loading pallet in the empty pallet placement position 514 and the loading pallet discharge position 515; the pallet handling clamp 513 is installed on the main frame
  • the pallet two-axis manipulator 517 on the 700 is driven, and the pallet handling clamp 513 displaces the loading pallet between the empty pallet placement position 514 and the loading pallet discharge position 515.
  • the positioning seat retrieval drive module 522 in the positioning seat retrieval mechanism 520 is a three-axis manipulator.
  • the three-axis manipulator drives the positioning seat grabbing jaw 521 to grasp the positioning seat movement.
  • the positioning seat retrieval drive module 522 A driving motor 523 is provided on the positioning seat grabbing jaw 521 to rotate around the Z axis; the positioning seat grabbing jaw 521 is provided with a positioning seat detection sensor 524 for detecting whether the positioning seat is in place.
  • a certain positioning CCD camera is located at the end of the three-axis manipulator and follows the movement of the three-axis manipulator. Or the three-axis manipulator drives the positioning base grabbing clamp (521) to grab the movement of the first positioning CCD camera 531.
  • the base 91 has an installation Seat 911, exhaust valve stem 912, large spring 913, valve plate 914, sealing and positioning assembly 92 includes small pressure plate 921, small sealing gasket 922, protective cover 923, small pressure plate 921, small sealing gasket 922, protective cover 923 There is a central matching hole in the center.
  • the anti-loosening component is a locking nut 931.
  • the spring component 94 is a small spring 941.
  • the fixing component 95 includes a positioning seat 951 and a countersunk head screw 952.
  • the positioning seat 951 has a method for mounting on the mounting seat 911. Connecting flange holes corresponding to the flange mounting holes.
  • the breathing valve 900 assembly machine has a total of 6 work stations, which are:
  • the first station 100 base body 91 (composed of "mounting seat 911", “exhaust valve stem 912”, “big spring 913”, “valve plate 914") loading/unloading station;
  • the second station 200 the station for assembling the "small pressure plate 921", “small sealing gasket 922”, and "protective cover 923";
  • the third station 300 Assembling the "lock nut 931M3" station
  • 5Fifth station 500 Assemble the "positioning seat” and lock the "white hexagon countersunk head screws 952M3x10 (rubber-coated)" station;
  • Base 91 consists of "mounting seat 911”, “exhaust valve stem 912”, “large spring 913”, and “valve plate 914";
  • the four-axis robot moves the material picking head to the top of the material to pick up the material through vacuum.
  • the design of the material picking head can take into account the picking of three types of materials: "small pressure plate 921", “small sealing gasket 922", and "protective cover 923".
  • the two-axis centering mechanism drives the centering clamp to withdraw to prevent the material from being installed at the root of the "exhaust valve stem 912";
  • the "locking nut 931M3" is loaded through the nut vibrating plate 311, and is transmitted to the nut discharging position 313 through the nut direct vibrating table 312;
  • the lock and anti-loosening component gun 321 moves to the nut retrieval point through a two-axis slide. Under the push of the cylinder, the nut is taken into the sleeve at the head of the lock nut gun;
  • the lock and anti-loosening assembly gun 321 is driven by the two-axis slide table and moves to the top of the "exhaust valve stem 912".
  • the lock anti-loosening assembly gun 321 is driven by the cylinder and rotates the nut while moving downward until the nut is locked to the designated position.
  • the nut vibration plate 311 is equipped with a sensor and has a material shortage alarm function.
  • the "small spring 941" feeds materials through the spring vibration plate 421, and is transmitted to the pushing mechanism through the spring direct vibration table 422;
  • the pneumatic slide 431 pushes the blowing tube close to the spring assembly position above the "base 91";
  • the spring pushing mechanism 430 pushes the "small spring 941" into the blowing pipe 441 and blows it to the feeding pipe opening 442 through high-pressure gas, and then drops directly to the spring assembly position through the feeding pipe opening 442.
  • the “positioning seat” is loaded using the feeding cart 511.
  • For the feeding principle of the feeding cart 511 please refer to "Positioning Seat Feeding Cart Attached Figure 15";
  • the three-axis manipulator moves the first positioning CCD camera 531 at the end above the "base body 91" of the turntable 710 to detect the coordinate position of the mounting flange hole 9111 connected to the "positioning base” on the "base body 91";
  • the three-axis manipulator takes the "positioning seat” from the material cart 511 and moves it to the second positioning CCD camera 532 to detect the position coordinates of the connecting flange hole on the "positioning seat”.
  • the positioning seat at the end of the three-axis manipulator grabs the clamp
  • the claw has a rotation function (see the positioning seat retrieval mechanism 520 diagram), and the position of the connecting flange hole of the "positioning seat” is rotated and corrected based on the detection results of the first positioning CCD camera 531 and the second positioning CCD camera 532;
  • the three-axis manipulator moves the adjusted "positioning seat” to "product base 91" for installation;
  • the three-axis manipulator moves the locking screw gun 551 at the end above the product, and the screw feeding mechanism 540 automatically completes the loading of "white hexagon countersunk head screws 952M3x10 (rubber-coated)";
  • the screw gun 551 automatically locks the connecting screws between the "positioning seat” and the "product base 91";
  • the material detection sensor detects the material
  • the drive motor 523 drives the pneumatic clamping jaw to rotate at a certain angle according to the CCD vision instructions to correct the position of the "positioning seat" mounting flange hole.
  • the lifting mechanism 516 lifts the loading tray 515 carrying materials to the designated position, and the three-axis manipulator (see the figure of station 5) completes the picking of the "positioning seat";
  • the two-axis manipulator drives the clamping claw to pick up and place the pallet to the empty pallet placement position 514.
  • the finished product can be taken and placed into the finished product unloading line body 720 .
  • the equipment in the embodiment of the present invention at least has the following characteristics:
  • the equipment is a special machine used for assembling the breathing valve 900. It has a high degree of automation. The entire assembly process only needs one person to operate it, which greatly liberates the production labor force.
  • the assembly process of the breathing valve 900 is programmed through equipment to avoid quality problems caused by traditional manual misassembly and missing assembly.
  • Each station of the equipment needs to be equipped with sensors. When there is a shortage of materials or a failure occurs, the equipment will automatically alarm and prompt the operator how to deal with it, which is more intelligent.
  • the equipment can be compatible with the production of 5 product models by simply changing the tooling 110.
  • Various product production procedures can be switched with one click. Compared with traditional manual operations, the cost of manual training is reduced.

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Abstract

一种呼吸阀自动装配机，包含机架及设置在机架上的至少5个工位，5个工位按照工序流水方向依次为第一工位（100）、第二工位（200）、第三工位（300）、第四工位（400）和第五工位（500）；第一工位为基体（91）的上下料工位，第二工位为密封定位组件（92）的组装工位，第三工位为防松脱组件（93）的组装工位，第四工位为弹簧组件（94）的组装工位，第五工位为固定组件（95）的组装工位。该装配机具备自检功能且能快速、精确地完成呼吸阀自动装配，各工位顺序明确、衔接流畅、动作合理，不会过多占用场地空间，能节约人工。

Description

呼吸阀自动装配机 技术领域
本发明涉及呼吸阀装配技术领域，特别涉及一种呼吸阀自动装配机。
背景技术
呼吸阀是用于液压油箱中与空气连通的通气阀，呼吸阀通常安装在油箱上以保证液压油在泵出油箱时，油箱中的气压稳定。如附图1所示，呼吸阀一般包含有安装座、排气阀杆、大弹簧、阀板、小压板、小密封垫、保护盖板、防松螺母、小弹簧、定位座、沉头螺钉等主要部件。
大致上来讲，呼吸阀产品基本上包含有基体、密封定位组件、防松脱组件、弹簧组件及固定组件；基体上具有安装座、排气阀杆、大弹簧、阀板；密封定位组件为带有中心配合孔的片状结构，至少为一片，密封定位组件套接在排气阀杆上，如图1所示的呼吸阀中，密封定位组件包括小压板、小密封垫、保护盖板；防松脱组件可以是一个防松螺母，在装好密封定位组件后再将防松脱组件套接到排气阀杆上，并锁紧到指定位置；弹簧组件套接在排气阀杆上，弹簧组件是一个小弹簧，小弹簧的直径较大弹簧来的小，弹簧组件的一作用端与密封定位组件的朝外一侧相抵；固定组件一般是将上述各组件组装完成后再进行固定的部件，固定组件可以是定位座、沉头螺钉，安装座会有与定位座对应的法兰安装孔。
在现有技术中，通常是采用人工作业来完成以上各组件的组装，大体上需要由多个人工的流水线作业来经过以下工序以使呼吸阀装配完成：
1、在第一个工序上，进行基体组装，由人工在安装座上装上排气阀杆、大弹簧、阀板，组成基体；
2、在第二个工序上，由人工分别将小压板、小密封垫、保护盖板装到基体的排气阀杆上，由于小密封垫与排气阀杆的组装配合间隙比较紧密，但是又需要确保组装的时候排气阀杆位置精确；
3、在第三个工序上，由人工将防松螺母拧到排气阀杆上，并将防松螺母锁紧到指定位置；
4、在第四个工序上，由人工将小弹簧套接在排气阀杆上；
5、在第五个工序上，由人工将定位座放置于与安装座对应的安装法兰孔位置，然后使用沉头螺钉将定位座与基体锁附。
由上述几个工序可知，现有的呼吸阀装配过程工序复杂、需要多人协同作业，耗费的人工工时高，同时，发明人还发现现有方式在人工装配时还至少存在有以下问题：
1、在整个装配过程中，在完成第一个工序，将安装座、排气阀杆、大弹簧、阀板组成基体后，对于里面排气阀杆的居中位置是其中的重点，要求在后续工序中，排气阀杆要能居中，人工作业时靠工人经验，容易出错；
2、在第二个工序中，对于小压板、小密封垫、保护盖板的放置是有顺序要求及装配要求的，由于小压板、小密封垫、保护盖板的个头小、形状接近，人工拿去、安放时容易出现错装、漏装的问题；
3、由于呼吸阀的装配要求高，需要对工人进行培训上岗才能进行操作，假如有几种产品型号，就需要对工人进行几次的培训上岗，成本高，同时由于工人熟练度不同，装配出来的效果也参差不齐。
有鉴于此，如何解决现有技术中存在的上述问题，便成为本发明所要研究解决的课题。
发明内容
本发明提供一种呼吸阀自动装配机，以实现呼吸阀的自动组装，并且能够具备自检功能，避免错装、漏装，提高生产效率、组装质量。
为达到上述目的，本发明采用的一种技术方案是：一种呼吸阀自动装配机，用于呼吸阀的自动化组装，所述呼吸阀包括基体、密封定位组件、防松脱组件、弹簧组件及固定组件，在组装完成状态下，其中基体上装配有排气阀杆，所述密封定位组件为带有中心配合孔的片状结构，密封定位组件至少为一片，密封定位组件套接在排气阀杆上；其特征在于：所述自动装配机包含机架及设置在机架上的至少5个工位，5个工位按照工序流水方向依次为第一工位、第二工位、第三工位、第四工位、第五工位，其中，
所述第一工位为基体的上下料工位；所述第一工位上具有用于放置、定位基体的工装及用于固定基体的压盖，在工装的一侧设置用于放置压盖的压盖放置位，所述工装在5个工位间流转；
所述第二工位为密封定位组件的组装工位；所述第二工位上设置有物料上料机构、取料机构、扶正机构及对准视觉检测机构，所述物料上料机构为用于提供物料的机构，所述物料上料机构上设置有用于容纳物料的物料仓，所述物流仓上设置有用于检测物料是否到位的物料上料检测传感器；所述取料机构为用于移栽物料的机构，所述取料机构上设置有用于夹持物料的物料取料头及用于驱动物料取料头动作的取料运动模块；所述扶正机构为用于扶正排气阀杆的机构，所述扶正机构上设置有扶正夹爪及驱动扶正夹爪动作的扶正运动模块；所述对准视觉检测机构为用于选择性地检测、对准密封定位组件的中心配合孔的机构，所述对准视觉检测机构具有一对准CCD相机，所述对准CCD相机位于所述物料取料头的运动路径上；
所述第三工位为防松脱组件的组装工位；所述第三工位上设置有防松脱组件上料机构、锁防松脱组件机构及压紧机构，所述防松脱组件上料机构为用于提供防松脱组件的机构，所述锁防松脱组件机构包括锁防松脱组件枪及驱动锁防松脱组件枪动作的锁防松脱组件运动模块；所述压紧机构为用于防止基座松动的机构，所述压紧机构具有压紧块和驱动压紧块动作的压紧运动模块，所述压紧运动模块带动压紧块朝向所述压盖压紧；
所述第四工位为弹簧组件的组装工位；所述第四工位上设置有压盖取料机构、弹簧上料机构、弹簧推料机构及弹簧放置机构；所述压盖取料机构包括压盖取料夹爪及驱动压盖驱动夹爪动作的压盖取料运动模块；所述弹簧上料机构为用于提供弹簧组件的机构；所述弹簧推料机构为将弹簧组件推送至弹簧放置机构上的机构；所述弹簧放置机构包括吹气模块、吹料管，吹料管具有入料管口，入料管口对准第四工位上的弹簧装配位置；
所述第五工位为固定组件的组装工位；所述第五工位上设置有定位座上料机构、定位座取料机构、定位视觉检测机构、螺丝供料机构及锁螺丝机构；所述定位座上料机构包括料车、载 料托盘，所述料车用于装载载料托盘，载料托盘用于装载定位座；所述定位座取料机构包括包括定位座抓取夹爪及驱动定位座抓取夹爪动作的定位座取料驱动模块，定位座抓取夹爪可转动得安装于定位座取料驱动模块上；所述定位视觉检测机构包括第一定位CCD相机、第二定位CCD相机，第一定位CCD相机跟随所述定位座取料驱动模块运动，第二定位CCD相机位于定位座抓取夹爪的运动路径上；所述螺丝供料机构具有一螺丝料仓；所述锁螺丝机构包括锁螺丝枪，锁螺丝枪由定位座抓取夹爪并将后并将位移至第五工位上的基体上方。
本发明的有关内容解释如下：
1.在本发明中，通过对呼吸阀的结构特点、组装顺序及人工组装中可能出现的问题进行研究，设计出了一种具备自检功能且能快速、精确得完成呼吸阀自动装配的机器，所设计的一套自动作业工位，顺序明确、衔接流畅、动作合理，且不会过多占用场地空间，本身也有作为自动化设备的节约人工的优点。
2.在本发明中，所述主机架上设置有转盘，所述第一工位、第二工位、第三工位、第四工位、第五工位按顺序围绕该转盘设置，所述工装位于所述装盘的上表面上，所述工装在装配的带动下在各工位循环位移；所述转盘上还具有第六工位作为空位。
3.在本发明中，在所述基体上设置有法兰安装孔，在所述工装上设置定位孔，压盖的下表面向下突出设置有与法兰安装孔、定位孔对应的插销，通过插入插销使压盖、基体、工装快速定位，压盖为板状结构，压盖的中间部位开设有上下贯通的用于呼吸阀各部件装配的装配腔，压盖的上表面两侧设置有上提手，方便压盖的快速放置、取下。
4.在本发明中，所述第二工位中，所述物料上料机构还包括物料架体、丝杆、步进电机和导杆，物料架体固定安装在主机架上，物料架体上安装至少一个物料仓，所述物料仓为上下贯通的筒状结构，丝杆的下方连接用于导向的导杆，步进电机用于驱动丝杆螺旋后上下位移，丝杆从物料筒的底部穿进；上料检测传感器设置于物料仓顶部平齐的位置；
所述取料机构中的取料运动模块为四轴机器人，所述物料取料头位于所述四轴机器人的执行端。
5.在本发明中，所述物料扶正机构的扶正运动模块为两轴气缸组模块，两轴气缸组模块带动扶正夹爪在XY平面位移，扶正夹爪上具有用于与排气阀杆配合的扶正头；
所述对准CCD相机安装于物料架体的一侧，所述对准CCD相机的上方设置有对准环形灯。
6.在本发明中，在所述第三工位中：
所述防松脱组件上料机构包括安装在主机架上的螺母振动盘及与螺母振动盘配合连接的螺母直振台，在螺母直振台的末端设置螺母取料位；
所述锁防松脱组件机构中的锁防松脱组件运动模块为安装在主机架上的两轴滑台驱动结构，两轴滑台驱动结构带动锁防松脱组件枪在XY平面位移，在锁防松脱组件运动模块的执行末端设置锁防松脱组件枪，螺母取料位设置于锁防松脱组件枪的运动路径上；
所述压紧机构中的压紧运动模块为压紧气缸，压紧气缸的伸缩端连接压紧块，压紧气缸驱动压紧块上下运动以使压紧块从上方作用于第三工位的压盖上。
7.在本发明中，在第四工位中：
所述压盖取料机构中的压盖取料运动模块为机械手结构，所述压盖取料运动模块带动压盖取料夹爪在Z方向上及XY平面上位移，所述压盖取料夹爪上设置有与上提手配合嵌入的下提手，所述压盖取料机构将位于第四工位上的基体上的压盖取出并放置到压盖放置位；
所述弹簧上料机构包括安装在主机架上的弹簧振动盘及与弹簧振动盘配合连接的弹簧直振台，弹簧组件通过弹簧振动盘的方式上料，经过弹簧直振台传输至弹簧推料机构处。
8.在本发明中，所述弹簧推料机构包括一气动滑台、一推料头，所述气动滑台带动所述推料头将所述弹簧组件推至吹料管中；
所述弹簧放置机构中的吹料管处设置有用于检测吹料管中是否有弹簧组件的弹簧检测传感器。
9.在本发明中，在第五工位中：
所述定位座上料机构中还包含安装于料车上的空托盘放置位、载料托盘放料位、托举机构，所述料车设立于主机架的一侧，料车的底部设置有滑轮；所述托举机构作用于空托盘放置位、载料托盘放料位中的载料托盘上；所述托盘搬运夹爪由安装在主机架上的托盘两轴机械手驱动，所述托盘搬运夹爪将载料托盘在空托盘放置位、载料托盘放料位之间位移。
10.在本发明中，所述定位座取料机构中的定位座取料驱动模块为三轴机械手，由三轴机械手驱动定位座抓取夹爪来抓取定位座、第一定位CCD相机运动，所述定位座取料驱动模块上设置有带动所述定位座抓取夹爪绕Z轴旋转的驱动电机；所述定位座抓取夹爪上设置有用于检测定位座是否到位的定位座检测传感器。
11.在本发明中，定义上下的方向为Z方向，则与Z方向垂直的方向则为X方向，与X-Z平面相垂直的方向则为Y方向。
12.在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
13.在本发明中，术语、“上”、“下”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置装配关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
14.此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
由于上述方案的运用，本发明与现有技术相比具有以下优点和效果：、
1.相比现有技术，实现了自动化组装，从原来的5人操作缩减为1人，节约了人力成本。
2.相比原来人工作业，避免由于人员疏忽造成的错装、漏装的问题。
3.相比原来的人工作业，提高效率50％，且作业时间不受限制。
4.相比原来的人工作业，工人熟练度不同，装配出来的效果参差不齐，而自动化组装能够确保产品的质量稳定可靠。
附图说明
附图1为本发明实施例中所组装的呼吸阀剖视图。
附图2为本发明实施例中所组装的呼吸阀组装工序示意图；
附图3为本发明实施例呼吸阀自动装配机的轴侧视图。
附图4为本发明实施例呼吸阀自动装配机的俯视图；
附图5为本发明实施例第一工位的结构示意图；
附图6为本发明实施例第一工位中压盖、基体、工装装配的示意图；
附图7为本发明实施例第二工位的结构示意图；
附图8为本发明实施例第二工位中物料上料机构的结构示意图；
附图9为本发明实施例第二工位中扶正机构的结构示意图；
附图10为本发明实施例第三工位的结构示意图；
附图11为本发明实施例第四工位的结构示意图；
附图12为附图11的局部放大示意图；
附图13为本发明实施例第五工位的结构示意图；
附图14为本发明实施例第五工位中定位座取料机构的示意图；
附图15为为本发明实施例第五工位中定位座上料机构的示意图。
以上附图各部位表示如下：
100、第一工位；
110、工装；1111、定位孔；
120、压盖；121、插销；122、装配腔；123、上提手；
130、压盖放置位；
200、第二工位；
210、物料上料机构；211、物料仓；212、上料检测传感器；213、物料架体；214、丝杆；215、步进电机；216、导杆；
220、物料取料机构；221、物料取料头；222、取料运动模块；
230、物料扶正机构；231、扶正夹爪；2311、扶正头；232、扶正运动模块；
240、对准视觉检测机构；241、对准CCD相机；242、对准环形灯；
300、第三工位；
310、防松脱组件上料机构；311、螺母振动盘；312、螺母直振台；313、螺母取料位；
320、锁防松脱组件机构；321、锁防松脱组件枪；322、锁防松脱组件运动模块；
330、压紧机构；331、压紧运动模块；332、压紧块；
400、第四工位；
410、压盖取料机构；411、压盖取料夹爪；4111、下提手；412、压盖取料运动模块；
420、弹簧上料机构；421、弹簧振动盘；422、弹簧直振台；
430、弹簧推料机构；431、气动滑台；432、推料头；
440、弹簧放置机构；441、吹料管；442、入料管口；443、弹簧检测传感器；
500、第五工位；
510、定位座上料机构；511、料车；5111、滑轮；512、载料托盘；513、托盘搬运夹爪；514、空托盘放置位；515、载料托盘放料位；516、托举机构；517、托盘两轴机械手；
520、定位座取料机构；521、定位座抓取夹爪；522、定位座取料驱动模块；523、驱动电机；524、定位座检测传感器；
530、定位视觉检测机构；531、第一定位CCD相机；532、第二定位CCD相机；
540、螺丝供料机构；541、螺丝料仓；
550、锁螺丝机构；551、锁螺丝枪；
600、第六工位；
700、主机架；710、转盘；720、成品下料线体；
900、呼吸阀；
91、基体；911、安装座；9111、法兰安装孔；912、排气阀杆；913、大弹簧；914、阀板；
92、密封定位组件；921、小压板；922、小密封垫；923、保护盖板；
93、防松脱组件；931、防松螺母；
94、弹簧组件；941、小弹簧；
95、固定组件；951、定位座；952、沉头螺钉。
具体实施方式
以下将以图式及详细叙述对本案进行清楚说明，任何本领域技术人员在了解本案的实施例后，当可由本案所教示的技术，加以改变及修饰，其并不脱离本案的精神与范围。
如附图1至附图15所示，本发明实施例公开的用于呼吸阀900的自动化组装，所述呼吸阀900包括基体91、密封定位组件92、防松脱组件、弹簧组件94及固定组件95，在组装完成状态下，其中基体91上装配有排气阀杆912，所述密封定位组件92为带有中心配合孔的片状结构，密封定位组件92至少为一片，密封定位组件92套接在排气阀杆912上；其特征在于：所述自动装配机包含机架及设置在机架上的至少5个工位，5个工位按照工序流水方向依次为第一工位100、第二工位200、第三工位300、第四工位400、第五工位500。
如附图5和附图6所示，所述第一工位100为基体91的上下料工位；所述第一工位100上具有用于放置、定位基体91的工装110及用于固定基体91的压盖，在工装110的一侧设置用于放置压盖的压盖放置位130，所述工装110在5个工位间流转；
如附图7、附图8和附图9所示，所述第二工位200为密封定位组件92的组装工位；所述第二工位200上设置有物料上料机构210、取料机构、扶正机构及对准视觉检测机构240，所述物料上料机构210为用于提供物料的机构，所述物料上料机构210上设置有用于容纳物料的物料仓211，所述物流仓上设置有用于检测物料是否到位的物料上料检测传感器212；所述取料机构为用于移栽物料的机构，所述取料机构上设置有用于夹持物料的物料取料头221及 用于驱动物料取料头221动作的取料运动模块；所述扶正机构为用于扶正排气阀杆912的机构，所述扶正机构上设置有扶正夹爪231及驱动扶正夹爪231动作的扶正运动模块232；所述对准视觉检测机构240为用于选择性地检测、对准密封定位组件92的中心配合孔的机构，所述对准视觉检测机构240具有一对准CCD相机，所述对准CCD相机位于所述物料取料头221的运动路径上；
如附图10所示，所述第三工位300为防松脱组件的组装工位；所述第三工位300上设置有防松脱组件上料机构310、锁防松脱组件机构320及压紧机构330，所述防松脱组件上料机构310为用于提供防松脱组件的机构，所述锁防松脱组件机构320包括锁防松脱组件枪321及驱动锁防松脱组件枪321动作的锁防松脱组件运动模块322；所述压紧机构330为用于防止基座松动的机构，所述压紧机构330具有压紧块332和驱动压紧块332动作的压紧运动模块331，所述压紧运动模块331带动压紧块332朝向所述压盖压紧；
如附图11和附图12所示，所述第四工位400为弹簧组件94的组装工位；所述第四工位400上设置有压盖取料机构410、弹簧上料机构420、弹簧推料机构430及弹簧放置机构440；所述压盖取料机构410包括压盖取料夹爪411及驱动压盖驱动夹爪动作的压盖取料运动模块412；所述弹簧上料机构420为用于提供弹簧组件94的机构；所述弹簧推料机构430为将弹簧组件94推送至弹簧放置机构440上的机构；所述弹簧放置机构440包括吹气模块、吹料管441，吹料管441具有入料管口442，入料管口442对准第四工位400上的弹簧装配位置；如附图13和附图14所示，所述第五工位500为固定组件95的组装工位；所述第五工位500上设置有定位座上料机构510、定位座取料机构520、定位视觉检测机构530、螺丝供料机构540及锁螺丝机构550；所述定位座上料机构510包括料车511、载料托盘，所述料车511用于装载载料托盘，载料托盘用于装载定位座；所述定位座取料机构520包括包括定位座抓取夹爪521及驱动定位座抓取夹爪动作的定位座取料驱动模块522，定位座抓取夹爪521可转动得安装于定位座取料驱动模块522上；所述定位视觉检测机构530包括第一定位CCD相机531、第二定位CCD相机532，第一定位CCD相机由定位座抓取夹爪521并将后并将位移至第五工位500上的基体91上方，第二定位CCD相机位于定位座抓取夹爪521的运动路径上；所述螺丝供料机构540具有一螺丝料仓541；所述锁螺丝机构550包括锁螺丝枪551，锁螺丝枪551由定位座抓取夹爪521并将后并将位移至第五工位500上的基体91上方。
在本发明的上述实施例中，通过对呼吸阀900的结构特点、组装顺序及人工组装中可能出现的问题进行研究，设计出了一种具备自检功能且能快速、精确得完成呼吸阀900自动装配的机器，所设计的一套自动作业工位，顺序明确、衔接流畅、动作合理，且不会过多占用场地空间，本身也有作为自动化设备的节约人工的优点。
下面再对本发明实施例中的整体结构及几个工位中的机构进行更加详细的介绍。
在本发明实施例的整体机构上，如附图3和附图4所示，所述主机架700上设置有转盘710，所述第一工位100、第二工位200、第三工位300、第四工位400、第五工位500按顺序围绕该转盘710设置，所述工装110位于所述装盘的上表面上，所述工装110在装配的带动下在各工位循环位移；所述转盘710上还具有第六工位600作为空位。
如附图5和附图6所示，在本发明实施例的第一工位100中，在所述基体91上设置有法兰安装孔9111，在所述工装110上设置定位孔1111，压盖的下表面向下突出设置有与法兰安装孔9111、定位孔1111对应的插销121，通过插入插销121使压盖、基体91、工装110快速定位，压盖为板状结构，压盖的中间部位开设有上下贯通的用于呼吸阀900各部件装配的装配腔122，压盖的上表面两侧设置有上提手123，方便压盖的快速放置、取下。
如附图7、附图8和附图9所示，在本发明实施例的第二工位200中：
所述第二工位200中，所述物料上料机构210还包括物料架体213、丝杆214、步进电机215和导杆216，物料架体213固定安装在主机架700上，物料架体213上安装至少一个物料仓211，所述物料仓211为上下贯通的筒状结构，丝杆214的下方连接用于导向的导杆216，步进电机215用于驱动丝杆214螺旋后上下位移，丝杆214从物料筒的底部穿进；上料检测传感器212设置于物料仓211顶部平齐的位置。
所述取料机构中的取料运动模块为四轴机器人，所述物料取料头221位于所述四轴机器人的执行端。
所述物料扶正机构的扶正运动模块232为两轴气缸组模块，两轴气缸组模块带动扶正夹爪231在XY平面位移，扶正夹爪231上具有用于与排气阀杆912配合的扶正头2311。
所述对准CCD相机安装于物料架体213的一侧，所述对准CCD相机的上方设置有对准环形灯242。
如附图10所示，在本发明实施例的第三工位300中：
所述防松脱组件上料机构310包括安装在主机架700上的螺母振动盘311及与螺母振动盘311配合连接的螺母直振台312，在螺母直振台312的末端设置螺母取料位313。
所述锁防松脱组件机构320中的锁防松脱组件运动模块为安装在主机架700上的两轴滑台驱动结构，两轴滑台驱动结构带动锁防松脱组件枪321在XY平面位移，在锁防松脱组件运动模块的执行末端设置锁防松脱组件枪321，螺母取料位313设置于锁防松脱组件枪321的运动路径上；锁防松脱组件枪为锁螺母枪。
所述压紧机构330中的压紧运动模块331为压紧气缸，压紧气缸的伸缩端连接压紧块332，压紧气缸驱动压紧块332上下运动以使压紧块332从上方作用于第三工位300的压盖上。
如附图11和附图12所示，在本发明实施例的第四工位400中：
所述压盖取料机构410中的压盖取料运动模块412为机械手结构，所述压盖取料运动模块412带动压盖取料夹爪411在Z方向上及XY平面上位移，所述压盖取料夹爪411上设置有与上提手123配合嵌入的下提手4111，所述压盖取料机构410将位于第四工位400上的基体91上的压盖取出并放置到压盖放置位130。
所述弹簧上料机构420包括安装在主机架700上的弹簧振动盘421及与弹簧振动盘配合连接的弹簧直振台422，弹簧组件94通过弹簧振动盘421的方式上料，经过弹簧直振台422传输至弹簧推料机构430处。
所述弹簧推料机构430包括一气动滑台431、一推料头432，所述气动滑台431带动所述推料头432将所述弹簧组件94推至吹料管441中。
所述弹簧放置机构440中的吹料管441处设置有用于检测吹料管441中是否有弹簧组件94的弹簧检测传感器443。
如附图13、附图14和附图15所示，在本发明实施例的第五工位500中：
所述定位座上料机构510中还包含安装于料车511上的空托盘放置位514、载料托盘放料位515、托举机构516，所述料车511设立于主机架700的一侧，料车511的底部设置有滑轮5111；所述托举机构作用于空托盘放置位514、载料托盘放料位515中的载料托盘上；所述托盘搬运夹爪513由安装在主机架700上的托盘两轴机械手517驱动，所述托盘搬运夹爪513将载料托盘在空托盘放置位514、载料托盘放料位515之间位移。
所述定位座取料机构520中的定位座取料驱动模块522为三轴机械手，由三轴机械手驱动定位座抓取夹爪521来抓取定位座运动，所述定位座取料驱动模块522上设置有带动所述定位座抓取夹爪521绕Z轴旋转的驱动电机523；所述定位座抓取夹爪521上设置有用于检测定位座是否到位的定位座检测传感器524，所述第一定位CCD相机位于三轴机械手的端部，跟随三轴机械手运动。或者由三轴机械手驱动定位座抓取夹爪(521)来抓取第一定位CCD相机531运动。
以装配如附图1所示的呼吸阀900为例，其中各部件的装配顺序可参考图2所示的组装工序图，在该呼吸阀900中，针对上述本发明实施例，基体91具有安装座911、排气阀杆912、大弹簧913、阀板914，密封定位组件92包括小压板921、小密封垫922、保护盖板923，小压板921、小密封垫922、保护盖板923的中心均具有中心配合孔，防松脱组件是一个防松螺母931，弹簧组件94是一个小弹簧941，固定组件95包括定位座951、沉头螺钉952，定位座951具备与安装座911上法兰安装孔相对应的连接法兰孔。
具体的，呼吸阀900装配机总共设有6个工位，分别为：
①第一工位100：基体91(由“安装座911”、“排气阀杆912”、“大弹簧913”、“阀板914”组成)上料/下料工位；
②第二工位200：组装“小压板921”、“小密封垫922”、“保护盖板923”工位；
③第三工位300：组装“防松螺母931M3”工位；
④第四工位400：组装“小弹簧941”工位；
⑤第五工位500：组装“定位座”并锁“白内六角沉头螺钉952M3x10(包胶)”工位；
⑥第六工位600：空位。
本发明实施例的工作过程可参考如下：
所述第一工位100中：
1.人工将“基体91”放入工装110定位；
2.“基体91”由“安装座911”、“排气阀杆912”、“大弹簧913”、“阀板914”组成；
3.从“压盖放置位130”取压盖放在“基体91”上方后完成上料。
所述第二工位200中：
1.“小压板921”、“小密封垫922”、“保护盖板923”均通过料筒串料的方式上料；
2.“小压板921”、“小密封垫922”、“保护盖板923”分别通过3个独立的步进电机215驱动 至取料点；
3.上料检测传感器212检测到“小压板921”、“小密封垫922”、“保护盖板923”到位后，四轴机器人将物料取料头移至料件上方通过真空的型式取料，物料取料头设计可以兼顾“小压板921”、“小密封垫922”、“保护盖板923”三种料件的取料。
4.由于“小密封垫922”与“排气阀杆912”组装配合间隙比较紧密，为了能够顺利完成组装，此处设计了物料扶正机构(参见物料扶正机构附图9)，确保组装的时候排气阀杆912位置精确，“小密封垫922”装入“排气阀杆912”前由四轴机器人驱动放在对准CCD相机上方检测“小密封垫922”中心配合孔的精确位置，由此引导四轴机器人装入“排气阀杆912”的准确座标。
所述第二工位200的物料上料机构210中：
1.“小压板921”、“小密封垫922”、“保护盖板923”均通过步进电机215带动丝杆214，使料件向上移动；
2.当“小压板921”、“小密封垫922”、“保护盖板923”向上移动至取料位置，上料检测传感器212检测到料件的存在时，发送指令信号给四轴机器人进行取料；
3.当“小压板921”、“小密封垫922”、“保护盖板923”料件用完时，上料检测传感器212在一定时间内无法检测到料件存在时，发送信号告知处于缺料状态，提醒补料；
所述第二工位200的物料扶正机构中：
1.“小压板921”、“小密封垫922”、“保护盖板923”三种料件在装入“排气阀杆912”前，两轴物料扶正机构驱动扶正夹爪位置，使扶正夹爪将“排气阀杆912”定位在一个准确的位置以保证上料顺利；
2.当料件装入“排气阀杆912”后，两轴扶正机构驱动扶正夹爪撤回，避让料件装到“排气阀杆912”根部位置；
所述第三工位300中：
1.“防松螺母931M3”通过螺母振动盘311的方式上料，经过螺母直振台312传输至螺母取料位313处；
2.锁防松脱组件枪321通过两轴滑台移至螺母取料处在气缸的推动下，将螺母取至锁螺母枪头部的套筒内；
3.锁防松脱组件枪321在两轴滑台的驱动下，移至“排气阀杆912”上方。
4.锁防松脱组件枪321在气缸的推动下，一边向下移动一边旋转螺母，直至将螺母锁紧到指定位置。
5.螺母振动盘311内装有传感器，具有缺料报警功能。
所述第四工位400中：
1.“小弹簧941”通过弹簧振动盘421的方式上料，经过弹簧直振台422传输至推料机构处；
2.气动滑台431推动吹料管靠近“基体91”上方的弹簧装配位置；
3.弹簧推料机构430将“小弹簧941”推入吹料管441内通过高压气体吹至入料管口442，经入料管口442直接落到弹簧装配位置。
4.装入弹簧前压盖取料机构410上的压盖取料夹爪411将压盖取下，放到压盖放置处，为后面装“定位座”做好准备。
所述第五工位500中：
1.“定位座”采用料车511摆盘的方式上料，料车511上料原理参见“定位座料车附图15”；
2.三轴机械手将端部的第一定位CCD相机531移至转盘710“基体91”的上方检测“基体91”上与“定位座”连接的安装法兰孔9111的座标位置；
3.三轴机械手从料车511上取“定位座”移至第二定位CCD相机532处检测“定位座”上连接法兰孔的位置座标，三轴机械手端部的定位座抓取夹爪具有旋转功能(参见定位座取料机构520图)，根据第一定位CCD相机531、第二定位CCD相机532的检测结果旋转校正“定位座”的连接法兰孔位置；
4.三轴机械手将调整好位置的“定位座”移至“产品基体91”处安装；
5.三轴机械手将端部的锁螺丝枪551移至产品上方，螺丝供料机构540自动完成“白内六角沉头螺钉952M3x10(包胶)”的上料；
6.锁螺丝枪551自动锁紧“定位座”与“产品基体91”的连接螺钉；
所述第五工位500的定位座取料机构520中：
1.气动夹爪抓取“定位座”后，物料检测传感器检测到物料；
2.驱动电机523根据CCD视觉的指令带动气动夹爪旋转一定的角度，使“定位座”安装法兰孔位置校正。
所述第五工位500的定位座上料机构510中：
1.料车511上有两个托盘放置位，一个是载有“定位座”物料的载料托盘放料位515，一个是空托盘的空托盘放置位514；
2.载有物料托盘的小车推入设备指定位置(此时空托盘放置位514上是没有托盘的)；
3.托举机构516将载有物料的载料托盘515举升到指定位置，三轴机械手(参见工位5图)完成“定位座”的取料；
4.当载料托盘515上的“料位座”物料被取完时，两轴机械手驱动夹爪将托盘取放至空托盘放置位514。
在完成产品组装后，可将成品取放到成品下料线体720中。
通过对呼吸阀900的结构特点、组装顺序及人工组装中可能出现的问题进行研究，本发明实施例中的设备至少具有以下特点：
①设备用于呼吸阀900装配的专用机器，自动化程度高，整个装配过程仅需配备1人操作，极大解放生产劳动力。
②呼吸阀900装配过程通过设备程式化运行，避免传统人工错装、漏装而产生的质量问题。
③设备各工位需设置传感器，缺料时或发生故障时，设备均会自动报警并提示操作人员如何处理，较为智能化。
④设备工作节拍仅需20s，与传统人工作业比较，提高了产品生产效率。
⑤设备仅需简单更换工装110即可兼容5种产品型号的生产，各种产品生产程序可以一键切换，与传统人工作业的方式比较，缩减了对人工培训上岗的成本。
上述实施例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本发明的内容并据以实施，并不能以此限制本发明的保护范围。凡根据本发明精神实质所作的等效变化或修饰，都应涵盖在本发明的保护范围之内。

Claims (10)

  1. 一种呼吸阀自动装配机，用于呼吸阀(900)的自动化组装，所述呼吸阀(900)包括基体(91)、密封定位组件(92)、防松脱组件(93)、弹簧组件(94)及固定组件(95)，在组装完成状态下，其中基体(91)上装配有排气阀杆(912)，所述密封定位组件(92)为带有中心配合孔的片状结构，密封定位组件(92)至少为一片，密封定位组件(92)套接在排气阀杆(912)上；其特征在于：所述自动装配机包含主机架(700)及设置在主机架(700)上的至少5个工位，5个工位按照工序流水方向依次为第一工位(100)、第二工位(200)、第三工位(300)、第四工位(400)、第五工位(500)；其中，
    所述第一工位(100)为基体(91)的上下料工位；所述第一工位(100)上具有用于放置、定位基体(91)的工装(110)及用于固定基体(91)的压盖，在工装(110)的一侧设置用于放置压盖的压盖放置位(130)，所述工装(110)在5个工位间流转；
    所述第二工位(200)为密封定位组件(92)的组装工位；所述第二工位(200)上设置有物料上料机构(210)、物料取料机构(220)、物料扶正机构(230)及对准视觉检测机构(240)，所述物料上料机构(210)为用于提供物料的机构，所述物料上料机构(210)上设置有用于容纳物料的物料仓(211)，所述物流仓上设置有用于检测物料是否到位的上料检测传感器(212)；所述物料取料机构(220)为用于移栽物料的机构，所述物料取料机构(220)上设置有用于夹持物料的物料取料头(221)及用于驱动物料取料头(221)动作的取料运动模块(222)；所述物料扶正机构(230)为用于扶正排气阀杆(912)的机构，所述物料扶正机构(230)上设置有扶正夹爪(231)及驱动扶正夹爪(231)动作的扶正运动模块(232)；所述对准视觉检测机构(240)为用于选择性地检测、对准密封定位组件(92)的中心配合孔的机构，所述对准视觉检测机构(240)具有一对准CCD相机，所述对准CCD相机位于所述物料取料头(221)的运动路径上；
    所述第三工位(300)为防松脱组件(93)的组装工位；所述第三工位(300)上设置有防松脱组件上料机构(310)、锁防松脱组件机构(320)及压紧机构(330)，所述防松脱组件上料机构(310)为用于提供防松脱组件(93)的机构，所述锁防松脱组件机构(320)包括锁防松脱组件枪(321)及驱动锁防松脱组件枪(321)动作的锁防松脱组件运动模块(322)；所述压紧机构(330)为用于防止基座松动的机构，所述压紧机构(330)具有压紧块(332)和驱动压紧块(332)动作的压紧运动模块(331)，所述压紧运动模块(331)带动压紧块(332)朝向所述压盖压紧；
    所述第四工位(400)为弹簧组件(94)的组装工位；所述第四工位(400)上设置有压盖取料机构(410)、弹簧上料机构(420)、弹簧推料机构(430)及弹簧放置机构(440)；所述压盖取料机构(410)包括压盖取料夹爪(411)及驱动压盖驱动夹爪动作的压盖取料运动模块(412)；所述弹簧上料机构(420)为用于提供弹簧组件(94)的机构；所述弹簧推料机构(430)为将弹簧组件(94)推送至弹簧放置机构(440)上的机构；所述弹簧放置机构(440)包括吹料管(441)，吹料管(441)具有入料管口(442)，入料管口(442)对准第四工位(400)上的弹簧装配位置；
    所述第五工位(500)为固定组件(95)的组装工位；所述第五工位(500)上设置有定位座上料机构(510)、定位座取料机构(520)、定位视觉检测机构(530)、螺丝供料机构(540)及锁螺丝机 构(550)；所述定位座上料机构(510)包括料车(511)、载料托盘(512)、托盘搬运夹爪(513)；所述定位座取料机构(520)包括包括定位座抓取夹爪(521)及驱动定位座抓取夹爪动作的定位座取料驱动模块(522)，定位座抓取夹爪(521)可转动得安装于定位座取料驱动模块(522)上；所述定位视觉检测机构(530)包括第一定位CCD相机(531)、第二定位CCD相机(532)，第一定位CCD相机(531)跟随所述定位座取料驱动模块(522)运动，第二定位CCD相机(532)位于定位座抓取夹爪(521)的运动路径上；所述螺丝供料机构(540)具有一螺丝料仓(541)；所述锁螺丝机构(550)包括锁螺丝枪(551)，锁螺丝枪(551)由定位座抓取夹爪(521)并将后并将位移至第五工位(500)上的基体(91)上方。
  2. 根据权利要求1所述的一种呼吸阀自动装配机，其特征在于：所述主机架(700)上设置有转盘(710)，所述第一工位(100)、第二工位(200)、第三工位(300)、第四工位(400)、第五工位(500)按顺序围绕该转盘(710)设置，所述工装(110)位于所述装盘的上表面上，所述工装(110)在装配的带动下在各工位循环位移；所述转盘(710)上还具有第六工位(600)作为空位。
  3. 根据权利要求1所述的一种呼吸阀自动装配机，其特征在于：在所述基体(91)上设置有法兰安装孔(9111)，在所述工装(110)上设置定位孔(1111)，压盖的下表面向下突出设置有与法兰安装孔(9111)、定位孔(1111)对应的插销(121)，通过插入插销(121)使压盖、基体(91)、工装(110)快速定位，压盖为板状结构，压盖的中间部位开设有上下贯通的用于呼吸阀(900)各部件装配的装配腔(122)，压盖的上表面两侧设置有上提手(123)，方便压盖的快速放置、取下。
  4. 根据权利要求1所述的一种呼吸阀自动装配机，其特征在于：
    所述第二工位(200)中，所述物料上料机构(210)还包括物料架体(213)、丝杆(214)、步进电机(215)和导杆(216)，物料架体(213)固定安装在主机架(700)上，物料架体(213)上安装至少一个物料仓(211)，所述物料仓(211)为上下贯通的筒状结构，丝杆(214)的下方连接用于导向的导杆(216)，步进电机(215)用于驱动丝杆(214)螺旋后上下位移，丝杆(214)从物料筒的底部穿进；上料检测传感器(212)设置于物料仓(211)顶部平齐的位置；
    所述取料机构中的取料运动模块为四轴机器人，所述物料取料头(221)位于所述四轴机器人的执行端。
  5. 根据权利要求4所述的一种呼吸阀自动装配机，其特征在于：
    所述物料扶正机构(23)的扶正运动模块(232)为两轴气缸组模块，两轴气缸组模块带动扶正夹爪(231)在XY平面位移，扶正夹爪(231)上具有用于与排气阀杆(912)配合的扶正头(2311)；
    所述对准CCD相机(241)安装于物料架体(213)的一侧，所述对准CCD相机(241)的上方设置有对准环形灯(242)。
  6. 根据权利要求1所述的一种呼吸阀自动装配机，其特征在于，在所述第三工位(300)中：所述防松脱组件上料机构(310)包括安装在主机架(700)上的螺母振动盘(311)及与螺母振动盘(311)配合连接的螺母直振台(312)，在螺母直振台(312)的末端设置螺母取料位(313)； 所述锁防松脱组件机构(320)中的锁防松脱组件运动模块(322)为安装在主机架(700)上的两轴滑台驱动结构，两轴滑台驱动结构带动锁防松脱组件枪(321)在XY平面位移，在锁防松脱组件运动模块(322)的执行末端设置锁防松脱组件枪(321)，螺母取料位(313)设置于锁防松脱组件枪(321)的运动路径上；
    所述压紧机构(330)中的压紧运动模块(331)为压紧气缸，压紧气缸的伸缩端连接压紧块(332)，压紧气缸驱动压紧块(332)上下运动以使压紧块(332)从上方作用于第三工位(300)的压盖上。
  7. 根据权利要求1所述的一种呼吸阀自动装配机，其特征在于，在第四工位(400)中：
    所述压盖取料机构(410)中的压盖取料运动模块(412)为机械手结构，所述压盖取料运动模块(412)带动压盖取料夹爪(411)在Z方向上及XY平面上位移，所述压盖取料夹爪(411)上设置有与上提手(123)配合嵌入的下提手(4111)，所述压盖取料机构(410)将位于第四工位(400)上的基体(91)上的压盖取出并放置到压盖放置位(130)；
    所述弹簧上料机构(420)包括安装在主机架(700)上的弹簧振动盘(421)及与弹簧振动盘配合连接的弹簧直振台(422)，弹簧组件(94)通过弹簧振动盘(421)的方式上料，经过弹簧直振台(422)传输至弹簧推料机构(430)处。
  8. 根据权利要求7所述的一种呼吸阀自动装配机，其特征在于，
    所述弹簧推料机构(430)包括一气动滑台(431)、一推料头(432)，所述气动滑台(431)带动所述推料头(432)将所述弹簧组件(94)推至吹料管(441)中；
    所述弹簧放置机构(440)中的吹料管(441)处设置有用于检测吹料管(441)中是否有弹簧组件(94)的弹簧检测传感器(443)。
  9. 根据权利要求1所述的一种呼吸阀自动装配机，其特征在于，在第五工位(500)中：
    所述定位座上料机构(510)中还包含安装于料车(511)上的空托盘放置位(514)、载料托盘放料位(515)、托举机构(516)，所述料车(511)设立于主机架(700)的一侧，料车(511)的底部设置有滑轮(5111)；所述托举机构作用于空托盘放置位(514)、载料托盘放料位(515)中的载料托盘上；所述托盘搬运夹爪(513)由安装在主机架(700)上的托盘两轴机械手(517)驱动，所述托盘搬运夹爪(513)将载料托盘在空托盘放置位(514)、载料托盘放料位(515)之间位移。
  10. 根据权利要求9所述的一种呼吸阀自动装配机，其特征在于，
    所述定位座取料机构(520)中的定位座取料驱动模块(522)为三轴机械手，由三轴机械手驱动定位座抓取夹爪(521)来抓取定位座、第一定位CCD相机(531)运动，所述定位座取料驱动模块(522)上设置有带动所述定位座抓取夹爪(521)绕Z轴旋转的驱动电机(523)；所述定位座抓取夹爪(521)上设置有用于检测定位座是否到位的定位座检测传感器(524)。
PCT/CN2022/106282 2022-07-18 2022-07-18 呼吸阀自动装配机 WO2024016116A1 (zh)

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