CN104646994A - Automatic assembling device for static sheet of valve element - Google Patents

Abstract

The invention discloses an automatic assembly device for a valve core static piece, which comprises a feeding module, a turning material loading module, a static piece orientation module, a material moving module and an assembly module; The feeding module, the flipping feeding module turns the static piece workpiece upside down, so that the smooth surface of the static piece workpiece is facing down; the material transfer module transports the turned static piece workpiece from the flip feeding module to the static piece orientation module; the static piece orientation The module performs initial orientation and precise orientation on the static piece workpiece to realize the precise circumferential positioning of the static piece workpiece; the assembly module grabs the precisely oriented static piece workpiece and assembles the static piece workpiece with the valve body. The invention adopts mechanical positioning combined with sensor technology to realize precise positioning of the ceramic static plate, so as to realize automatic assembly of the ceramic static plate. The invention can reduce the waste of human resources and improve assembly efficiency and assembly quality.

Description

Automatic assembly device for spool static plate

technical field

The present invention relates to an automatic assembly equipment, in particular to an automatic assembly device for a valve core static piece.

Background technique

The ceramic valve core is a bathroom product that controls the on-off and flow of water flow through the valve stem. Because of its excellent sealing performance and long service life, it is widely used at the outlet of the faucet. The ceramic static plate is an important part of the ceramic valve core, and the on-off and flow rate of the water flow are controlled through the cooperation of the ceramic static plate and the ceramic moving plate.

The ceramic static plate is flat and cylindrical, and its front is a smooth surface. As shown in Figure 1, there are two mutually symmetrical fan-shaped through holes 100-1 in the static plate 100, and a pair of symmetrically distributed along the axis The microtia 100-2 extending toward the direction is relatively irregular in shape.

The assembly of the ceramic static plate not only requires the front and back sides, but also requires precise positioning in the circumferential direction in order to meet the requirements for matching with the inner wall of the valve during assembly. At present, the assembly work of the static film is mostly done manually, and the labor efficiency is low.

Contents of the invention

The technical problem to be solved by the present invention is to provide an automatic assembly device for the static plate of the valve core, which can realize precise positioning in the circumferential direction of the ceramic static plate and orderly and automatic assembly.

In order to solve the above-mentioned technical problems, the technical solution of the automatic assembly device of the spool static plate of the present invention is:

Including feeding module 1, flipping feeding module 2, static sheet orientation module 3, material shifting module 4, and assembly module 5; feeding module 1 is used to realize the automatic and orderly feeding function of static sheet, and the discharge end of feeding module 1 is set Flip feeding module 2, flip feeding module 2 is used to realize the up and down flip of the static sheet; static sheet orientation module 3 completes the circumferential precise positioning of the static sheet; material shifting module 4 is arranged above the static sheet orientation module 3 for realizing The transportation of the static sheet between the flipping feeding module 2 and the static sheet orientation module 3 and the movement of the static sheet in the static sheet orientation module 3; the assembly module 5 is set at one end of the static sheet orientation module 3, and is used to realize the connection between the static sheet and the valve The assembly of the body; the feeding module 1 transports the static sheet workpiece with the smooth surface facing upward to the flip feeding module 2, and the flip loading module 2 turns the static sheet workpiece up and down so that the smooth surface of the static sheet workpiece faces downward; the material transfer module 4 Transport the flipped static piece workpiece from the flip feeding module 2 to the static piece orientation module 3; the static piece orientation module 3 performs initial orientation and precise orientation on the static piece workpiece to realize the precise circumferential positioning of the static piece workpiece; the assembly module 5 Grab the precisely oriented stationary piece and assemble the stationary piece 100 with the valve body 101 .

The feeding module 1 includes a static vibrating plate 1-1, a feeding chute 1-2, a synchronous belt transmission mechanism 1-3, and a feeding motor 1-4, and the feeding motor 1-4 is connected to the feeding chute through the synchronous belt transmission mechanism 1-3 1-2, the inlet of the feeding trough 1-2 is connected to the outlet of the static vibrating plate 1-1, and the outlet of the feeding trough 1-2 is connected to the inlet of the flip feeding module 2; The sheet workpiece is conveyed to the feeding chute 1-2; the feeding motor 1-4 drives the feeding chute 1-2 to run through the synchronous belt transmission mechanism 1-3, so that the static sheet workpiece in the feeding chute 1-2 is conveyed to the flipping feeding module 2; By controlling the rotating speed of the feeding motor 1-4, the conveying speed of the static sheet in the feeding trough 1-2 can be adjusted.

The flipping and feeding module 2 includes a steering cylinder 2-1, a flipping tray 2-2, a trough block 2-7, a feeding cylinder 2-8, a feeding cylinder 2-9, and the axis of the flipping tray 2-2 Extending along the horizontal direction, one end of the flipping tray 2-2 is connected to the outlet of the feeding chute 1-2, and the other end of the flipping tray 2-2 is provided with a trough block 2-7; Driven by 1, it can rotate around its horizontal axis, so that the static sheet workpiece moves from one end of the flipping tray 2-2 to the other end; the flipping tray 2-2 is provided with a discharge mechanism; the discharge mechanism includes a discharge spring 2 -3, unloading linear guide rail 2-4, unloading plate 2-5, unloading cylinder 2-6, unloading plate 2-5 is provided with unloading spring 2-3; unloading plate 2-5 is set on On the unloading linear guide rail 2-4, the unloading plate 2-5 is connected to the unloading cylinder 2-6; the unloading cylinder 2-6 can drive the unloading plate 2-5 to move along the unloading linear guide rail 2-4, thereby turning over The static sheet workpiece at the other end of the feed tray 2-2 is pushed from the flip feed tray 2-2 to the bottom of the chute block 2-7; 8 is connected to the feeding cylinder 2-9; the trough block 2-7 is provided with a static film channel extending up and down; driven by the feeding cylinder 2-9, the feeding cylinder 2-8 can be made to move along the chute block 2-7 The inner static sheet passage moves upwards, pushing the static sheet workpieces at the bottom of the chute block 2-7 upwards.

Described static sheet orientation module 3 comprises orientation platform 3-1, orientation rotary shaft 3-2, large synchronous belt pulley 3-3, small synchronous belt pulley 3-4, synchronous belt 3-5, orientation motor 3-6, waits for Load storage platform 3-7, diffuse reflection sensor 3-9, directional rotary shaft 3-2 is vertically arranged on the directional platform 3-1, and the large synchronous pulley 3-3 is fixedly arranged on the directional rotary shaft 3-2, large Synchronous belt pulley 3-3 connects small synchronous belt pulley 3-4 by synchronous belt 3-5, and small synchronous belt pulley 3-4 realizes driving by directional motor 3-6; Groove, for placing the workpiece of the static film; the diffuse reflection sensor 3-9 is arranged in the groove of the static film; one side of the orientation table 3-1 is provided with the storage table 3-7 to be loaded, and the storage table 3-7 to be loaded There is a material storage groove, the diameter of the material storage groove is slightly larger than the diameter of the static plate; the circular arc of the material storage groove is provided with small ear grooves for precise orientation of the static plate.

Both sides of the flipping tray 2-2 are respectively provided with through-beam sensors 2-10, and the through-beam sensors 2-10 are used to detect whether the static sheet workpiece is in place.

The large synchronous pulley 3-3 is provided with a through-beam sensor 3-8; the storage table 3-7 to be loaded is provided with another over-beam sensor 3-8.

The material transfer module 4 includes a material transfer table 4-1, a material transfer cylinder 4-2, a material transfer linear guide 4-3, a slider output plate 4-4, a first lifting cylinder 4-5, a first material transfer gas Claw 4-6, the second lifting cylinder 4-7, the second material transfer air claw 4-8, the material transfer linear guide 4-3 is fixed on the material transfer table 4-1, and the material transfer linear guide 4-3 is movable A slider output plate 4-4 is provided, the slider output plate 4-4 is connected to the material transfer cylinder 4-2, and the material transfer cylinder 4-2 can drive the slider output plate 4-4 to reciprocate along the material transfer linear guide rail 4-3 ; The bottom surface of the material shifting table 4-1 is arranged side by side with the first lifting cylinder 4-5 and the second lifting cylinder 4-7, the lower end of the first lifting cylinder 4-5 is provided with the first material moving claw 4-6, the second The lower end of the lift cylinder 4-7 is provided with a second material-moving claw 4-8.

The assembly module 5 includes an assembly platform 5-1, an assembly cylinder 5-2, an assembly linear guide rail 5-3, an assembly cylinder output plate 5-4, a third lifting cylinder 5-5, a third air gripper 5-6, and a combination Fixture 5-8, fixture positioning mechanism 5-9, assembly linear guide rail 5-3 is fixedly arranged on the assembly table 5-1, assembly cylinder output plate 5-4 is movable on the assembly linear guide rail 5-3; assembly cylinder output plate 5-4 is connected to the assembly cylinder 5-2; the assembly cylinder 5-2 can drive the assembly cylinder output plate 5-4 to reciprocate along the assembly linear guide rail 5-3; the assembly cylinder output plate 5-4 is fixedly provided with a third lifting cylinder 5 -5, the piston output end of the third lift cylinder 5-5 is connected to the third air claw 5-6, and the third lift cylinder 5-5 can drive the third air claw 5-6 to move up and down; the bottom of the assembly table 5-1 is set There is a clamp positioning mechanism 5-9, and the clamp positioning mechanism 5-9 is provided with a combined clamp 5-8, and the clamp positioning mechanism 5-9 fixes and positions the combined clamp 5-8; the combined clamp 5-8 is used for positioning and clamping Valve body 101.

One side of the third air gripper 5-6 is provided with a static blade cleaning mechanism 5-7.

The feeding module 1 transports the static sheet workpiece with the smooth surface upward to the flipping tray 2-2 of the flipping feeding module 2 through the feeding slot 1-2, and then the steering cylinder 2-1 drives the flipping tray 2-2 to rotate 180 degrees, the static sheet workpiece moves from one end of the flip tray 2-2 to the other end, realizing up and down flipping, so that the smooth surface of the static sheet workpiece faces downward; the unloading cylinder 2-6 drives the unloading plate 2-5 along the unloading The material linear guide rail 2-4 moves, and the unloading plate 2-5 pushes the overturned static piece workpiece from the overturning material tray 2-2 to the bottom of the trough block 2-7; then the feeding cylinder 2-9 drives the feeding Cylinder 2-8 moves upwards, pushes the static sheet workpiece at the bottom of chute block 2-7 to the top of chute block 2-7, and waits for material transfer module 4 to be clamped to static sheet orientation module 3; The first lifting cylinder 4-5 drives the first material-moving claw 4-6 to descend, and grabs the workpiece to be oriented at the top of the trough block 2-7; The material cylinder 4-2 drives the slider output plate 4-4 to move along the material-moving linear guide rail 4-3 until the first material-moving claw 4-6 reaches the top of the large synchronous pulley 3-3; again the first lifting cylinder 4 -5 drives the first material-moving air claw 4-6 to descend, and places the workpiece to be oriented in the static piece groove of the large synchronous pulley 3-3; then resets the first material-moving air claw 4-6; The orientation motor 3-6 drives the large synchronous pulley 3-3 to rotate an angle through the synchronous belt 3-5, so that the static piece workpiece rotates synchronously to the angle required for installation, and completes the initial orientation of the static piece; the rotation angle of the static piece workpiece is determined by diffuse reflection The sensor 3-9 confirms; the second lifting cylinder 4-7 of the material transfer module 4 drives the second material transfer air claw 4-8 to descend, and grabs the static sheet workpiece that has completed the initial orientation on the large synchronous pulley 3-3 , and then the second material-moving air claw 4-8 is raised; the material-moving cylinder 4-2 drives the slider output plate 4-4 to move along the material-moving linear guide rail 4-3 until the second material-moving air claw 4-8 reaches Above the storage table 3-7 to be loaded; make the second lifting cylinder 4-7 drive the second moving claw 4-8 to descend, and place the static sheet workpiece that has completed the initial orientation on the storage table 3-7 to be loaded. Carry out precise orientation in the material storage groove; then reset the second material-moving air claw 4-8; make the material-moving cylinder 4-2 drive the slider output plate 4-4 to reset, and perform the next material-moving work; put the valve to be assembled The body 101 is clamped and positioned by the combined fixture 5-8 of the assembly module 5; the third lifting cylinder 5-5 of the assembly module 5 drives the third air claw 5-6 to descend, and the third air claw 5-6 moves from the static plate orientation module 3. Grasp the precisely oriented static film in the material storage groove of 3; then make the third lifting cylinder 5-5 drive the third air claw 5-6 to rise, and then make the assembly cylinder 5-2 drive the assembly cylinder output plate 5-4 Move horizontally along the assembly linear guide rail 5-3, so that the static piece workpiece 100 reaches the top of the valve body 101, and then the assembly cylinder 5-2 stops; again, the third lifting cylinder 5-5 drives the third air claw 5-6 to descend ; The third air claw 5-6 drives the static piece workpiece 100 to move downward in the process of descending, thereby assembling the static piece workpiece 100 to the valve body 101 Inside; Make the 3rd lift cylinder 5-5 drive the 3rd air claw 5-6 to rise afterwards, make the cylinder output plate 5-4 reset, carry out next assembly.

The technical effect that the present invention can reach is:

The invention adopts mechanical positioning combined with sensor technology to realize precise positioning of the ceramic static plate, so as to realize automatic assembly of the ceramic static plate.

The invention can reduce the waste of human resources and improve assembly efficiency and assembly quality.

Description of drawings

Below in conjunction with accompanying drawing and specific embodiment the present invention will be described in further detail:

Fig. 1 is the schematic diagram of the static sheet of ceramic spool;

Fig. 2 is the schematic diagram of the automatic assembly device of spool static sheet of the present invention;

Fig. 3 is the schematic diagram of feeding module of the present invention;

Fig. 4 is the schematic diagram of the flip feeding module of the present invention;

Fig. 5 is a side view of Fig. 4;

Fig. 6 is a schematic diagram of the static sheet orientation module of the present invention;

Fig. 7 is a schematic diagram of the material transfer module of the present invention;

Fig. 8 is a schematic diagram of an assembly module of the present invention.

Explanation of the reference signs in the figure:

1 is the feeding module, 2 is the flip feeding module,

3 is the static film orientation module, 4 is the material transfer module,

5 is the assembly module,

1-1 is the vibrating plate of the static plate, 1-2 is the feeding chute,

1-3 is the synchronous belt transmission mechanism, 1-4 is the feeding motor,

2-1 is the steering cylinder, 2-2 is the turning tray,

2-3 is the unloading spring, 2-4 is the unloading linear guide,

2-5 is the unloading plate, 2-6 is the unloading cylinder,

2-7 is the trough block, 2-8 is the feeding cylinder,

2-9 is the feeding cylinder, 2-10 is the shooting sensor,

3-1 is the orientation table, 3-2 is the orientation rotary axis,

3-3 is a large synchronous pulley, 3-4 is a small synchronous pulley,

3-5 is the synchronous belt, 3-6 is the directional motor,

3-7 is the storage table to be loaded, 3-8 is the through-beam sensor,

3-9 are diffuse reflection sensors,

4-1 is the material transfer table, 4-2 is the material transfer cylinder,

4-3 is the material transfer linear guide, 4-4 is the slider output plate,

4-5 is the first lifting cylinder, 4-6 is the first moving claw,

4-7 is the second lifting cylinder, 4-8 is the second moving claw,

5-1 is the assembly platform, 5-2 is the assembly cylinder,

5-3 is for assembling the linear guide rail, 5-4 is for assembling the output plate of the cylinder,

5-5 is the third lift cylinder, 5-6 is the third air claw,

5-7 is a static film cleaning mechanism, 5-8 is a combined fixture,

5-9 are fixture positioning mechanism,

100 is a static sheet workpiece, and 101 is a valve body.

Detailed ways

As shown in Figure 2, the automatic assembly device of the valve core static plate of the present invention includes a feeding module 1, a flip feeding module 2, a static piece orientation module 3, a material moving module 4, and an assembly module 5; the feeding module 1 is used to realize static The automatic and orderly feeding function of the sheet, the discharge end of the feeding module 1 is set with the flip feeding module 2, which is used to realize the 180-degree up and down flip of the static sheet; the static sheet orientation module 3 completes the static sheet according to the assembly requirements The installation angle is precisely oriented; the material transfer module 4 is set above the static sheet orientation module 3, and is used to realize the transportation of the static sheet between the flip feeding module 2 and the static sheet orientation module 3 and the static sheet in the static sheet orientation module 3 The movement; the assembly module 5 is arranged on the front end of the static plate orientation module 3, and is used to realize the assembly of the static plate and the valve body;

The feeding module 1 transports the static sheet workpiece with the clean surface facing upwards to the flip feeding module 2, and the flip loading module 2 turns the static sheet workpiece upside down so that the smooth surface of the static sheet workpiece faces downward; the material transfer module 4 turns the turned workpiece The static piece workpiece is transported from the flipping and loading module 2 to the static piece orientation module 3; the static piece orientation module 3 performs initial orientation and precise orientation on the static piece workpiece to realize the circumferential precise positioning of the static piece workpiece; the assembly module 5 grasps the precise orientation The static piece workpiece and the assembly of the static piece workpiece 100 and the valve body 101 are carried out.

As shown in Figure 3, the feeding module 1 includes a static vibrating plate 1-1, a feeding trough 1-2, a synchronous belt transmission mechanism 1-3, and a feeding motor 1-4, and the feeding motor 1-4 passes through a synchronous belt transmission mechanism 1-4. 3. Connect the feeding chute 1-2, the inlet of the feeding chute 1-2 is connected to the outlet of the static vibrating plate 1-1, and the outlet of the feeding chute 1-2 is connected to the inlet of the flip feeding module 2;

The static vibrating plate 1-1 transports the static workpiece to the feeding chute 1-2 during the vibration process; the feeding motor 1-4 drives the feeding chute 1-2 to run through the synchronous belt transmission mechanism 1-3, so that the feed chute 1-2 The workpiece of the static sheet is transported to the flipping loading module 2; by controlling the rotation speed of the feeding motor 1-4, the transportation speed of the static sheet in the feeding trough 1-2 can be adjusted.

As shown in Fig. 4 and Fig. 5, the flipping feeding module 2 includes a steering cylinder 2-1, a flipping tray 2-2, a trough block 2-7, a feeding cylinder 2-8, a feeding cylinder 2-9, Shooting sensor 2-10, the axis of the flipping tray 2-2 extends horizontally, one end of the flipping tray 2-2 is connected to the outlet of the feeding chute 1-2, and the other end of the flipping tray 2-2 is provided with a trough block 2 -7; the overturning material tray 2-2 can rotate around its horizontal axis under the drive of the steering cylinder 2-1, so that the static sheet workpiece moves from one end of the overturning material tray 2-2 to the other end; the overturning material tray 2-2 The two sides are respectively provided with through-beam sensors 2-10, and the through-beam sensors 2-10 are used to detect whether the static film workpiece is in place;

A discharge mechanism is arranged on the flip tray 2-2; the discharge mechanism includes a discharge spring 2-3, a discharge linear guide rail 2-4, a discharge plate 2-5, a discharge cylinder 2-6, and a discharge plate 2 -5 is provided with a discharge spring 2-3; the discharge plate 2-5 is movable on the discharge linear guide rail 2-4, and the discharge plate 2-5 is connected to the discharge cylinder 2-6; the discharge cylinder 2-6 It can drive the unloading plate 2-5 to move along the unloading linear guide rail 2-4, thereby pushing the static piece workpiece moved to the other end of the flipping tray 2-2 from the flipping tray 2-2 to the side of the chute block 2-7 bottom;

A feeding cylinder 2-8 is arranged below the trough block 2-7, and the feeding cylinder 2-8 is connected to the feeding cylinder 2-9; a static sheet channel extending up and down is provided in the chute block 2-7; Driven by 2-9, the feeding cylinder 2-8 can be moved upwards along the static sheet passage in the chute block 2-7, and the static sheet workpiece at the bottom of the chute block 2-7 is pushed upwards.

The working principle of flip loading module 2 is as follows:

After the static sheet workpiece with the smooth surface facing up in the feeding trough 1-2 is delivered to the flipping tray 2-2 of the flipping feeding module 2, the steering cylinder 2-1 drives the flipping tray 2-2 to rotate 180 degrees, and the static sheet workpiece Move from one end of the flip tray 2-2 to the other end to realize 180-degree flip, so that the smooth surface of the static workpiece faces downward;

The unloading cylinder 2-6 drives the unloading plate 2-5 to move along the unloading linear guide rail 2-4, and the unloading plate 2-5 pushes the overturned static piece workpiece from the overturning tray 2-2 to the trough block 2 bottom of -7;

Then make the feeding cylinder 2-9 drive the feeding cylinder 2-8 to move upwards, push the static sheet workpiece at the bottom of the chute block 2-7 to the top of the chute block 2-7, and wait for the material transfer module 4 to be clamped to the static position. Sheet Orientation Module3.

As shown in Figure 6, the static film orientation module 3 includes an orientation table 3-1, an orientation rotary shaft 3-2, a large synchronous pulley 3-3, a small synchronous pulley 3-4, a synchronous belt 3-5, and an orientation motor 3 -6. Storage table 3-7 to be installed, through-beam sensor 3-8, diffuse reflection sensor 3-9, orientation rotary shaft 3-2 is vertically arranged on the orientation table 3-1, and fixed on the orientation rotary shaft 3-2 A large synchronous belt pulley 3-3 is provided, and the large synchronous belt pulley 3-3 is connected to the small synchronous belt pulley 3-4 through the synchronous belt 3-5, and the small synchronous belt pulley 3-4 is driven by the directional motor 3-6;

The large synchronous belt pulley 3-3 is provided with a static piece groove, which is used to place the static piece workpiece; the diffuse reflection sensor 3-9 is arranged in the static piece groove; the large synchronous belt pulley 3-3 is also provided with a shooting sensor 3-8;

One side of the orientation table 3-1 is provided with a material storage platform 3-7 to be loaded, and a material storage groove is provided on the material storage platform 3-7 to be loaded, and the diameter of the material storage groove is slightly greater than the diameter of the static sheet; There is a small lug groove on the circular arc of the groove, and the direction of the small lug groove is set according to the installation requirements of the static film, which is used to precisely orient the static film; another shooting sensor 3 is arranged on the storage platform 3-7 to be loaded -8.

The working principle of static film orientation module 3 is as follows:

The material shifting module 4 places the overturned static sheet workpiece in the static sheet groove of the large synchronous pulley 3-3, and the through-beam sensor 3-8 on the large synchronous pulley 3-3 detects whether the static sheet is in place;

Make the orientation motor 3-6 drive the large synchronous pulley 3-3 to rotate an angle through the synchronous belt 3-5, so that the static piece workpiece is synchronously rotated to the angle required for installation, and the initial orientation of the static piece is completed; The reflection sensor 3-9 is determined;

Then, the material-moving module 4 transports the static sheet workpiece that has completed the initial orientation to the storage groove of the storage platform 3-7 to be loaded, and the through-beam sensor 3-8 on the storage platform 3-7 to be loaded detects the static workpiece. Whether the film is in place;

Precise orientation of the static sheet workpiece is achieved through the small lug groove of the material storage groove.

As shown in Figure 7, the material transfer module 4 includes a material transfer table 4-1, a material transfer cylinder 4-2, a material transfer linear guide 4-3, a slider output plate 4-4, a first lifting cylinder 4-5, a A material-moving claw 4-6, a second lift cylinder 4-7, a second material-moving claw 4-8, a material-moving linear guide 4-3 fixedly arranged on the material-moving table 4-1, a material-moving linear guide 4 -3 is equipped with a slider output plate 4-4, the slider output plate 4-4 is connected to the material transfer cylinder 4-2, and the material transfer cylinder 4-2 can drive the slider output plate 4-4 along the material transfer linear guide rail 4 -3 reciprocating motion;

The bottom surface of the material shifting table 4-1 is provided with a first lifting cylinder 4-5 and a second lifting cylinder 4-7 in parallel, the lower end of the first lifting cylinder 4-5 is provided with a first material moving claw 4-6, and the second lifting cylinder The lower end of the cylinder 4-7 is provided with a second material-moving air claw 4-8.

The working principle of material shifting module 4 is as follows:

Make the first lifting cylinder 4-5 drive the first material-moving air claw 4-6 to descend, grab the workpiece to be oriented at the top of the trough block 2-7, and then make the first material-moving air claw 4-6 rise;

At the same time, make the second lifting cylinder 4-7 drive the second moving claw 4-8 to descend, and grab another static workpiece that has completed the initial orientation on the large synchronous pulley 3-3, and then make the second moving Material air claw 4-8 rises;

Then make the material-moving cylinder 4-2 drive the slider output plate 4-4 to move along the material-moving linear guide rail 4-3 until the first material-moving claw 4-6 reaches the top of the large synchronous pulley 3-3, and the second material-moving The air claw 4-8 stops after reaching the storage table 3-7 to be loaded;

Make the first lifting cylinder 4-5 drive the first material-moving air claw 4-6 to descend again, and place the workpiece to be oriented in the static piece groove of the large synchronous pulley 3-3; Claw 4-6 reset;

At the same time, make the second lifting cylinder 4-7 drive the second moving claw 4-8 to descend, and place another static piece workpiece that has completed the initial orientation into the storage groove of the storage table 3-7 to be loaded Precise orientation in the interior; then reset the second material transfer claw 4-8;

The material-moving cylinder 4-2 drives the slider output plate 4-4 to reset, and the material-moving work is carried out next time.

As shown in Figure 8, the assembly module 5 includes an assembly table 5-1, an assembly cylinder 5-2, an assembly linear guide rail 5-3, an assembly cylinder output plate 5-4, a third lifting cylinder 5-5, and a third air gripper 5 -6, static film cleaning mechanism 5-7, combined fixture 5-8, fixture positioning mechanism 5-9, the assembly linear guide rail 5-3 is fixedly arranged on the assembly platform 5-1, and the assembly linear guide rail 5-3 is movable and provided with Assembly cylinder output plate 5-4; assembly cylinder output plate 5-4 is connected to assembly cylinder 5-2; assembly cylinder 5-2 can drive assembly cylinder output plate 5-4 to reciprocate along assembly linear guide rail 5-3; assembly cylinder output plate 5-4 is fixedly provided with a third lift cylinder 5-5, the piston output end of the third lift cylinder 5-5 is connected to the third air claw 5-6, and the third lift cylinder 5-5 can drive the third air claw 5-5. 6 up and down movement; one side of the third air claw 5-6 is provided with a static sheet cleaning mechanism 5-7;

A fixture positioning mechanism 5-9 is provided below the assembly table 5-1, and a combined fixture 5-8 is arranged on the fixture positioning mechanism 5-9, and the fixture positioning mechanism 5-9 fixes and positions the combined fixture 5-8; the combined fixture 5 -8 is used for positioning and clamping the valve body 101.

Assembly module 5 works as follows:

The valve body 101 to be assembled is clamped and positioned by the combination fixture 5-8;

The third lifting cylinder 5-5 drives the third air claw 5-6 to descend, and the third air claw 5-6 grabs the precisely oriented static sheet from the storage groove of the static sheet orientation module 3; The lifting cylinder 5-5 drives the third air claw 5-6 to rise, and then the assembly cylinder 5-2 drives the assembly cylinder output plate 5-4 to move horizontally along the assembly linear guide rail 5-3, so that the static piece workpiece 100 reaches the valve body 101. Right above, then assemble the cylinder 5-2 to stop the action; make the third lifting cylinder 5-5 drive the third air claw 5-6 to descend again, and make the static sheet cleaning mechanism 5-7 work at the same time to ensure that the surface of the static sheet is clean, so as to improve assembly quality;

In the process of descending, the third air claw 5-6 drives the static piece workpiece 100 to move downward, thereby assembling the static piece workpiece 100 into the valve body 101; then the third lift cylinder 5-5 drives the third air claw 5 -6 rises, the cylinder output plate 5-4 is reset, and the next assembly is carried out.

Claims (10)

1. an automatic assembling apparatus for spool still, is characterized in that: comprise feeding module, upset feeding module, still orientation module, move material module, load module; Feeding module is for realizing the automatic order material loading function of still, and the discharge end of feeding module arranges upset feeding module, and upset feeding module is for realizing spinning upside down of still; Still orientation module completes the circumferential precise positioning of still; Move material module installation in the top of still orientation module, for realizing still in the transport overturn between feeding module to still orientation module and the movement of still in still orientation module; Load module is arranged at one end of still orientation module, for realizing the assembling of still and valve body;

Bright and clean supine still workpiece is delivered to upset feeding module by feeding module, and still workpiece spins upside down by upset feeding module, makes the smooth surface of still workpiece down; Move material module and the still workpiece after upset is delivered to still orientation module from upset feeding module; Still orientation module carries out initial orientation and accurate orientation to still workpiece, realizes the circumferential precise positioning of still workpiece; Load module captures precisely directed still workpiece and carries out the assembling of still workpiece and valve body.

2. the automatic assembling apparatus of spool still according to claim 1, it is characterized in that: described feeding module comprises still vibrating disk, chute feeder, synchronous belt drive mechanism, feeding motor, feeding motor connects chute feeder by synchronous belt drive mechanism, the entrance of chute feeder connects the outlet of still vibrating disk, and the outlet of chute feeder connects the entrance of upset feeding module;

Still workpiece is flowed to chute feeder at vibration processes by still vibrating disk; Feeding motor drives chute feeder to run by synchronous belt drive mechanism, makes the still workpiece in chute feeder be delivered to upset feeding module; By controlling the rotating speed of feeding motor, the travelling speed of still in chute feeder can be regulated.

3. the automatic assembling apparatus of spool still according to claim 1, it is characterized in that: described upset feeding module comprise turn to cylinder, upset charging tray, hopper block, material loading cylinder, material loading cylinder, the axis of upset charging tray extends in the horizontal direction, one end of upset charging tray connects the outlet of chute feeder, and the other end of upset charging tray is provided with hopper block; Upset charging tray can rotate around its horizontal axis under the drive turning to cylinder, makes still workpiece move to the other end from one end of upset charging tray;

Upset charging tray is provided with shedding mechanism; Shedding mechanism comprises discharging spring, discharging line slideway, stripper, discharging cylinder, stripper is provided with discharging spring; Stripper is movably set on discharging line slideway, and stripper connects discharging cylinder; Discharging cylinder can drive stripper to move along discharging line slideway, thus the still workpiece of the upset charging tray other end is pushed to the bottom of hopper block from upset charging tray;

The below of hopper block arranges material loading cylinder, and material loading cylinder connects material loading cylinder; The still passage of downward-extension is offered in hopper block; Under material loading cylinder drives, material loading cylinder can be made to move upward along the still passage in hopper block, the still workpiece bottom hopper block is upwards pushed.

4. the automatic assembling apparatus of spool still according to claim 1, it is characterized in that: described still orientation module comprises orientation device, directed gyroaxis, large synchronous pulley, small synchronous pulley, Timing Belt, directed motor, storing stand to be installed, diffuse reflection sensor, directed gyroaxis is vertically installed on orientation device, directed gyroaxis is fixedly installed large synchronous pulley, large synchronous pulley connects small synchronous pulley by Timing Belt, and small synchronous pulley realizes driving by directed motor;

Large synchronous pulley offers still groove, for placing still workpiece; Diffuse reflection sensor is provided with in still groove;

The side of orientation device is provided with storing stand to be installed, storing stand to be installed offers storing groove, and the diameter of storing groove is slightly larger than the diameter of still; The circular arc circumference of storing groove offers microtia groove, for accurate pointing still.

5. the automatic assembling apparatus of spool still according to claim 3, is characterized in that: the both sides of described upset charging tray are respectively arranged with opposite type sensor, and whether opposite type sensor puts in place for detecting still workpiece.

6. the automatic assembling apparatus of spool still according to claim 4, is characterized in that: described large synchronous pulley is provided with opposite type sensor; Storing stand to be installed is provided with another opposite type sensor.

7. the automatic assembling apparatus of spool still according to claim 1, it is characterized in that: described in move material module comprise move material platform, move material cylinder, move material line slideway, slide block output board, the first lift cylinder, first move material gas pawl, the second lift cylinder, second moves material gas pawl, move material line slideway be fixedly installed on move material platform on, move on material line slideway and be movably set with slide block output board, the connection of slide block output board moves material cylinder, moves material cylinder and movable slider output board can be with to move back and forth along moving material line slideway;

The bottom surface moving material platform is set side by side with the first lift cylinder and the second lift cylinder, and the lower end of the first lift cylinder arranges first and moves material gas pawl, and the lower end of the second lift cylinder arranges second and moves material gas pawl.

8. the automatic assembling apparatus of spool still according to claim 1, it is characterized in that: described load module comprises assembly bench, assembling cylinder, assembling line slideway, assembling cylinder output board, the 3rd lift cylinder, the 3rd gas pawl, built-up jig, clamp positioning mechanism, assembling line slideway is fixedly installed on assembly bench, assembling line slideway is movably set with assembling cylinder output board; Assembling cylinder output board is linked and packed cylinder; Assembling cylinder can drive assembling cylinder output board to move back and forth along assembling line slideway; Assembling cylinder output board is fixedly installed the 3rd lift cylinder, and the piston output of the 3rd lift cylinder connects the 3rd gas pawl, and the 3rd lift cylinder can drive the 3rd gas pawl to move up and down;

The below of assembly bench is provided with clamp positioning mechanism, and clamp positioning mechanism is provided with built-up jig, and built-up jig is fixed and located by clamp positioning mechanism; Built-up jig is used for locating and clamping valve body.

9. the automatic assembling apparatus of spool still according to claim 8, is characterized in that: the side of described 3rd gas pawl is provided with still cleaning mechanism.

10. the automatic assembling apparatus of spool still according to claim 1, it is characterized in that: after bright and clean supine still workpiece to be flowed to the upset charging tray of upset feeding module by chute feeder by described feeding module, make to turn to cylinder to drive upset charging tray to revolve turnback, still workpiece moves to the other end from one end of upset charging tray, realization spins upside down, and makes the smooth surface of still workpiece down;

Make discharging cylinder drive stripper to move along discharging line slideway, the still workpiece after upset is pushed to the bottom of hopper block by stripper from upset charging tray; Then make material loading cylinder drive material loading cylinder to move upward, the still workpiece bottom hopper block is pushed to the top of hopper block, wait for that moving material module clip is taken to still orientation module;

Make the first lift cylinder moving material module drive first to move material gas pawl to decline, what capture hopper block top treats directed still workpiece; Then make first to move material gas pawl to rise, make to move material cylinder band movable slider output board and move along moving material line slideway, until first moves material gas pawl and arrive above large synchronous pulley; Again make the first lift cylinder drive first to move material gas pawl to decline, will treat that directed still workpiece is placed in the still groove of large synchronous pulley; Make first to move material gas pawl afterwards to reset;

Make directed motor drive large synchronous pulley to rotate an angle by Timing Belt, make still workpiece synchronous axial system to installation requirement angle, complete the initial orientation of still; The rotational angle of still workpiece is determined by diffuse reflection sensor;

Make the second lift cylinder moving material module drive second to move material gas pawl to decline, capture the still workpiece large synchronous pulley having completed initial orientation, then make second to move material gas pawl and rise; Make to move material cylinder band movable slider output board to move along moving material line slideway, until second moves material gas pawl and arrive above storing stand to be installed; Make the second lift cylinder drive second to move material gas pawl to decline, in the storing groove still workpiece completing initial orientation being placed into storing stand to be installed, carry out accurate orientation; Make second to move material gas pawl afterwards to reset; Make to move material cylinder band movable slider output board to reset, move material work next time;

By the built-up jig clamping and positioning of valve body to be assembled by load module;

Make the 3rd lift cylinder of load module drive the 3rd gas pawl to decline, the 3rd gas pawl captures the still after accurate orientation in the storing groove of still orientation module; Then make the 3rd lift cylinder drive the 3rd gas pawl to rise, then make assembling cylinder drive assembling cylinder output board to move horizontally along assembling line slideway, make still workpiece arrive directly over valve body, assemble cylinder afterwards and stop action;

The 3rd lift cylinder is again made to drive the 3rd gas pawl to decline; 3rd gas pawl, in the process declined, drives still workpiece to move downward, thus is assembled in valve body by still workpiece; Make the 3rd lift cylinder drive the 3rd gas pawl to rise afterwards, cylinder output board is resetted, assembles next time.