Check valve intelligent assembling device and assembling method for petroleum pipeline transportation

Abstract

According to the intelligent assembling device and method for the check valve for petroleum pipeline conveying, an assembling robot module can rapidly and automatically switch corresponding grippers through a rapid changing device, and automatic part grabbing and valve body assembling are achieved; the automatic part conveying line module conveys a valve body to a fixed point for assembly, and the visual detection system module is mainly used for detecting whether part materials are correct or not and whether neglected assembly is conducted or not after assembly is completed. The check valve assembling efficiency and precision are improved through the clamping jaw library module; the electrical control system module can automatically control the assembling process of the check valve, and it is ensured that each step is carried out according to preset programs and parameters. The production management system module can upload production data in real time, confirm, track and check production tasks according to an on-site terminal, and form closed-loop management.

Description

Technical Field

[0001] The present invention relates to the technical field of check valves for oil production, and in particular to an intelligent assembly device and an assembly method for check valves used in oil pipeline transportation. Background Art

[0002] Check valves, also known as non-return valves, one-way valves, or reverse flow valves, are widely used in oil and gas pipeline systems. They are automatic valves primarily used in fluid delivery systems and mechanical equipment to prevent backflow of the medium and reverse rotation of pumps and drive motors. They automatically open and close the valve disc using the flow force of the medium itself, allowing fluid to flow in only one direction, thereby protecting the system from reverse pressure and ensuring the normal flow of the fluid.

[0003] Check valves have several important uses in the oil extraction process: 1) Preventing fluid backflow: Check valves can prevent the backflow of oil and gas caused by factors such as formation pressure and gravity, thereby avoiding damage to the system or unnecessary pressure fluctuations. 2) Protecting system equipment: Check valves can prevent backflow from damaging equipment, pumps, or other process equipment, thereby extending the service life of the equipment. 3) Maintaining stable system operation: Check valves can control pressure fluctuations within the pipeline, ensuring the normal flow of fluids within the pipeline and improving oil extraction efficiency. For example, in natural gas transmission pipelines, check valves can ensure unidirectional gas flow and prevent back pressure from damaging upstream equipment. Additionally, during the oil refining process, check valves can control the flow direction of various liquid media to ensure the continuity and stability of the production process.

[0004] In recent years, domestic and foreign experts and scholars have proposed a series of solutions to the problem of how to improve the efficient and stable mass production of check valves, a key component in oil extraction, but all of them are imperfect. For example, the invention patent with application publication number CN114263769A discloses "a check valve for oil pipeline transportation and its use method", which mainly uses the shut-off plate and sealing plate inside the oil inlet of the check valve to seal after the oil stops being transported, thereby preventing the oil from flowing back, significantly enhancing the interception effect, and also playing a role in pressure reduction. It has a simple structure, low resistance and good sealing effect; the invention patent with application publication number CN111761322B authorizes "a valve assembly device for fluid transportation", which mainly assembles the valve by cooperating with the blanking component and the down-pressing component to achieve the effect of assembling the valve. The device is simple to operate, can improve work efficiency, and save labor costs. With the development of industrial automation and intelligent manufacturing, the demand for check valves in the fields of petrochemicals, energy, etc. has increased year by year. Smart factories have increased the demand for precise, reliable and efficient check valve processing and production equipment. However, the existing traditional valve assembly devices have a low degree of intelligence, a simple structure, and low R&D capabilities and efficiency. Therefore, there is an urgent need to develop an intelligent assembly device for check valves to improve production efficiency, realize remote monitoring, automatic adjustment and fault diagnosis, and other multi-functions, realize the exploration of intelligent manufacturing, and improve the automation and digitalization level of traditional factories. Summary of the Invention

[0005] To solve the above problems, the present invention proposes an intelligent assembly device for check valves for oil pipeline transportation, comprising: a loading robot module, an automatic parts conveying line module, a visual inspection system module, an assembly robot module, a gripper fixture library, a production management system module, and an electrical control system module;

[0006] The production management system module determines the assembly specifications based on the valve body detection information of the check valve and transfers the valve body to the valve body conveying line through the AGV vehicle;

[0007] The visual inspection system module performs valve body assembly inspection through a camera;

[0008] The loading robot module searches and replaces the part grippers in the gripper fixture library based on the detection results of the visual detection system module, and grabs the parts to the part automatic conveyor line module;

[0009] A quick-change device is provided at the end of the assembly robot module to automatically switch the corresponding gripper to realize the assembly of parts and valve body;

[0010] The automatic parts conveying line modules are arranged in parallel and linearly, with the valve body conveying line and the parts conveying line arranged vertically;

[0011] The electrical control system module automatically controls the check valve assembly process, ensuring that each step is carried out according to preset procedures and parameters.

[0012] In a preferred embodiment, the visual inspection system module detects whether the valve body parts are loaded and unloaded correctly and whether there are any missing parts after assembly.

[0013] In a preferred embodiment, the check valve intelligent assembly device further comprises: an automatic thread gluing device, a valve body positioning and assembly jig, a valve body flipping device, a valve body conveying line, and a finished product buffer line;

[0014] The automatic thread glue coating device applies anti-loosening glue to the valve sleeve and the pressure ring;

[0015] A flange fixing fixture is provided on the upper end of the valve body positioning and assembly fixture, which automatically rises and falls to adapt to the height of the valve body. The valve body is conveyed on the valve body conveying line through the valve body positioning and assembly fixture.

[0016] The valve body turning device has a device turning function, which enables the valve body to be accurately positioned with the valve body positioning assembly fixture after turning;

[0017] The valve body conveying line and the finished product buffer line are connected and conveyed by AGV vehicles.

[0018] In a preferred embodiment, the production management system module issues an AGV vehicle scheduling request. When the AGV vehicle arrives at the unloading position, it can transport the finished products in the buffer position to the AGV vehicle; when the buffer position is full, it can alarm and stop production.

[0019] In a preferred embodiment, the production management system module has a data management function, which can record the test results and statistical data in the production process and generate reports, upload production data in real time, and confirm, track and view production tasks based on the on-site terminal to form a closed-loop management.

[0020] In a preferred embodiment, the loading robot module and the assembly robot module are positioned side by side and parallel to the parts conveying line.

[0021] The present invention also proposes a method for intelligently assembling a check valve for oil pipeline transportation, which is implemented using the above-mentioned intelligent assembly device for a check valve and includes the following steps:

[0022] First, material preparation is carried out. The AGV vehicle transports the valve body to be installed to the loading position. The loading robot module loads the valve body, and the visual inspection system module performs valve body assembly inspection.

[0023] The loading robot module searches for matching part grippers in the gripper fixture library based on the detection results, replaces the correct part grippers, and grabs the parts to the automatic part conveyor line module;

[0024] The assembly robot module realizes automatic grasping of parts and assembly of valve bodies;

[0025] The production management system module issues an AGV dispatch request. When the AGV arrives at the unloading location, it automatically transfers the finished products in the buffer to the AGV. When the buffer is full, the production management system module can issue an alarm and stop production. The production tasks are confirmed, tracked, and checked based on the on-site terminal, forming a closed-loop management.

[0026] The electrical control system module automatically controls the check valve assembly process, ensuring that each step is carried out according to preset procedures and parameters, and performs fault detection and protection, and parameter adjustment.

[0027] Compared with the prior art, the present invention has the following beneficial technical effects:

[0028] The present invention provides an intelligent assembly device and an assembly method for check valves for oil pipeline transportation. The device adopts a matrix / unitized assembly structure, wherein the valve body assembly parts are all placed on a horizontal plane and mechanical grippers are used to grasp the parts without increasing the roughness of their outer surfaces. The power components are installed in a concealed manner, which is convenient for maintenance and replacement of accessories. All parts with threaded locking are required to be coated with anti-loosening glue. The intelligent assembly device and the assembly method thereof are reliable in quality, highly versatile, highly efficient in research and development, and have low labor costs. They realize multiple functions such as remote monitoring, automatic adjustment, and fault diagnosis, thereby improving the degree of automation and digitalization of traditional factories. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural diagram of the intelligent assembly device for check valves used in oil pipeline transportation provided by the present invention.

[0030] Figure 2 This is a three-dimensional simulation structure diagram of the intelligent assembly device of the check valve for oil pipeline transportation provided by the present invention.

[0031] Figure 3 The present invention provides an assembly flow chart of an intelligent check valve assembly device for oil pipeline transportation.

[0032] Figure 4 This is a diagram of an automatic gluing device for a check valve used for oil pipeline transportation provided by the present invention.

[0033] Figure 5 This is a diagram of a tool quick-change device for an intelligent assembly robot of a check valve for oil pipeline transportation provided by the present invention.

[0034] Figure 6 This is a diagram of the end gripper of the intelligent assembly robot for check valves used in oil pipeline transportation provided by the present invention.

[0035] Loading robot module 1, automatic parts conveying line module 2, visual inspection system module 3, assembly robot module 4, gripper library module 5, automatic thread gluing device 6, valve body positioning assembly fixture 7, valve body flipping device 8, valve body conveying line and finished product cache line 9, electrical control system module 10, production management system module 11. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] Example 1

[0038] See also Figure 1 The diagram below shows the structure of the intelligent check valve assembly device for oil pipeline transportation. The device includes a loading robot module 1, an automatic parts conveyor line module 2, a visual inspection system module 3, an assembly robot module 4, a gripper fixture library 5, an automatic thread glue coating device 6, a valve body positioning and assembly fixture 7, a valve body flipping device 8, a valve body conveyor line and finished product buffer line 9, an electrical control system module 10, and a production management system module 11.

[0039] See also Figure 2 , which is a three-dimensional simulation structure diagram of the intelligent assembly device of the check valve for oil pipeline transportation of the present invention.

[0040] The loading robot module 1 uses the visual inspection system module 3 to search for a matching part gripper in the gripper fixture library 5, replaces the robot's end-of-line part gripper with the correct part, and then grabs the part and transfers it to the automatic part conveyor line module 2. The production management system module 11 determines the assembly product specifications based on the check valve body inspection information and transfers the part to the part conveyor line via an AGV. The visual inspection system module 3 uses a camera to identify the incoming material type and product location and replaces the corresponding end-of-line part gripper based on the identification results. The assembly robot module 4's end-of-line is connected to the visual inspection system module 3. After each part is assembled, it takes a photo to identify the current status of the check valve and uploads it to the system. The loading and unloading positions of the valve body cannot overlap. The unloading position must have a buffer zone, allowing the production management system module 11 to issue an AGV dispatch request. When the AGV arrives at the unloading position, it automatically transfers the finished product from the buffer zone to the AGV. When the buffer zone is full, an alarm is triggered and production is halted.

[0041] The parts automatic conveying line module 2 conveys the internal parts (4 types) of the valve body. The parts automatic conveying line module 2 adopts a parallel linear distribution, and the valve body conveying line and the parts conveying line are distributed vertically.

[0042] An AGV vehicle transports the valve body to the loading robot module for fixed loading. One loading robot module and one assembly robot module are installed, positioned side by side and parallel to the parts conveyor line. Meanwhile, the valve body's internal parts are transported using a valve body positioning assembly fixture 7, which is then transported along the parts conveyor line. Multiple sizes of positioning holes can be designed in a stepped manner to meet the needs of various valve parts, meeting the production of multiple product types at once. This allows for rapid replacement and positioning, ensuring the required assembly positioning accuracy is met.

[0043] Visual inspection system module 3 uses intelligent analysis technology, mainly used to detect whether the valve body parts are loaded and unloaded correctly, and whether there are any missing parts after assembly. Its detection speed meets the production cycle requirements and can adapt to different product sizes and shapes, as well as different inspection tasks and requirements. In addition, it needs to adapt to different environments and lighting conditions, so as to accurately analyze image information and reduce human intervention and misjudgment.

[0044] The electrical control system module 10 automatically controls the check valve assembly process, ensuring each step is performed according to preset procedures and parameters. It also performs fault detection and protection, parameter adjustment, and other functions to adapt to complex environments and improve production efficiency. Furthermore, it enables the installation of various valve bodies by manually switching between process / flow recipes. Before installation, a handheld barcode scanner verifies whether the current part fixture corresponds to the valve production requirements. If not, the operator is prompted to replace the fixture. The module also communicates with the AGV to automatically load and unload parts such as the valve body, valve core, spring, valve sleeve (with or without threads), and compression ring (with threads).

[0045] The production management system module 11 has data management functions, can record the test results and statistical data in the production process and generate reports, upload production data in real time, and confirm, track and view production tasks based on on-site terminals to form a closed-loop management to facilitate connection with the production management system and quality assessment.

[0046] A quick-change mechanism is installed at the end of assembly robot module 4. This allows for switching between process / flow recipes. This mechanism rapidly and automatically switches the corresponding end-of-line gripper, enabling automated grasping of parts and assembly with the valve body. Each end-of-line gripper has four grippers, capable of gripping and installing the valve core, spring, valve sleeve (with or without threads), and compression ring (with threads). Valves of the same model can be installed without switching grippers (no need to switch grippers). The number of grippers can be determined based on the design and processing plan.

[0047] The gripper fixture library 5 is an important component of the intelligent assembly device; the action of the gripper is precisely controlled by the electrical control system module 10 to ensure that the various components of the check valve can be accurately grasped and assembled, thereby improving assembly efficiency and precision.

[0048] The automatic thread glue coating device 6 applies anti-loosening glue to the valve sleeve (with threads) and the pressure ring to prevent loosening and play a fixing role.

[0049] The valve body positioning assembly fixture 7 is provided with a flange positioning fixture, and the flange positioning fixture on the upper end can be automatically raised and lowered to adapt to the height size of the valve body. The material is required to be lightweight and have strength that meets the requirements, adapt to multiple specifications, and can be quickly replaced.

[0050] The valve body turning device 8 has a device turning function, which enables the valve body to be accurately positioned with the valve body positioning assembly fixture 7 after turning.

[0051] The valve body conveying line and the finished product buffer line 9 realize material conveying connection, parts conveying and automatic assembly line conveying through AGV vehicles, thereby meeting the requirements of valve body assembly positioning accuracy, specifically including the following steps:

[0052] 1) Valve Assembly Material Handling: Valve bodies are manually delivered or automatically delivered from a vertical warehouse (positioned by a material frame carrier) and placed on an AGV. The AGV transports the valve body to the loading station of the automated assembly workstation. The loading station detects incoming material and automatically feeds the valve body into the valve body positioning assembly fixture 7 for assembly. Valve body loading is a separate workstation. Smaller valves are delivered to the loading station by the AGV in batches. Larger valves are automatically assembled at the workstation based on the size of the material frame and valve body, improving AGV transport efficiency.

[0053] 2) Conveying of valve body assembly parts: The four parts of valve core, spring, valve sleeve and pressure ring are first stored on a material frame carrier with initial positioning function. The parts are issued manually or automatically by the vertical warehouse according to the assembly requirements to match the part specifications and quantity. The parts are transported to the loading position of the automatic assembly workstation by the AGV vehicle. After the AGV vehicle arrives at the loading position, it can automatically send the parts to the conveyor belt (two parts loading positions for sealing ring and pressure ring need to be reserved). The parts are then sent to the assembly stop position via the conveyor belt to wait for installation.

[0054] 3) Automatic assembly line delivery: The loading and unloading positions of the valve body cannot overlap. The unloading position must have a buffer position. The production management system module 11 issues an AGV dispatch request. When the AGV arrives at the unloading position, it can automatically transfer the finished product in the buffer position to the AGV. When the buffer position is full, the control system can alarm and stop production.

[0055] See also Figure 3 , is an assembly flow chart of the intelligent assembly device for check valves for oil pipeline transportation of the present invention, comprising the following steps:

[0056] First, use the loading robot module 1 to start material preparation, including: valve body assembly, valve sleeve assembly, valve sleeve retaining ring, coil spring, valve core assembly, sealing ring assembly, valve seat pressure ring, brush, anti-loosening glue, M4 hexagonal fastening screws, etc., and use the automatic parts conveyor line module 2 to load and position the valve body so that the front end flange of the valve body is flat on the workbench.

[0057] Secondly, the visual inspection system module 3 is used to perform valve body assembly inspection. When the assembly robot module 4 assembles the valve sleeve assembly, there is a guide section in front of the valve sleeve assembly that has a matching tolerance relationship with the valve body. After completing the manual valve sleeve assembly, it is directly placed in the valve body positioning assembly fixture 7 for self-positioning; the automatic thread gluing device 6 is used to start gluing the valve sleeve retaining ring. The valve sleeve retaining ring thread needs to be coated with a circle of anti-loosening glue and then pre-threaded with the valve body; since the valve sleeve retaining ring thread section is designed with a "slotted" notch groove, a "slotted T" wrench is used to tighten the valve sleeve retaining ring into the valve body to complete the valve sleeve retaining ring installation and tightening work.

[0058] Secondly, use the valve body turning device 8 to turn the valve body 180°, place it flat on the workbench, grab the coil spring and put it into the valve sleeve assembly, and the coil spring is positioned and placed upright by the boss of the valve sleeve; use the clamping fixture library 5 to grab the valve core assembly, align it with the hole in the valve sleeve assembly installed on the valve body (the boss of the valve core assembly section is also positioned with the inner hole of the spring), and then vertically place the valve core assembly into the inner cavity of the valve body into a self-standing state, and vertically place the valve sleeve pressure ring into the inner cavity of the valve body.

[0059] Again, the sealing ring assembly is grabbed by the gripper fixture library 5 and placed vertically into the inner cavity of the valve body, guided by the inner cavity of the valve body (predetermined tolerance size), and the upper head of the valve core assembly is aligned with the middle fairing hole of the sealing ring. Since the sealing ring is designed with a flat wrench position, a T-type wrench can be used to tighten the sealing ring assembly to the valve body.

[0060] Finally, by brushing butter on the seat pressure ring, the valve seat and pressure ring are assembled and tightened, and the valve performance, strength, high and low pressure sealing, and airtightness are tested before the anti-loosening screws are installed at the upper and lower ends; the valve body is placed flat on the locking screws, and the valve body is turned over and the locking screws are placed flat on it, and the assembly of the check valve product is completed, and it is transported through the valve body conveyor line and the finished product cache line 9; the entire intelligent assembly process is ensured by the electrical control system module 10 that each step is carried out according to the preset procedures and parameters, and performs fault detection and protection, parameter adjustment and other functions, and uses the production management system module 11 to confirm, track and view production tasks according to the on-site terminal to form a closed-loop management.

[0061] Example 2

[0062] See also Figure 4, a schematic diagram of the automatic thread glue coating device 6 of the present invention. After the valve body is positioned, the robot grabs the workpiece that needs glue coating and places it in the corresponding station. The automatic thread glue coating device 6 then applies anti-loosening glue to the valve sleeve (with threads) and pressure ring to prevent loosening and secure them. After gluing is completed, the valve sleeve and pressure ring are assembled to the valve body (the gluing station can rotate and glue the parts, and the glue outlet can move up and down to cover the gluing area).

[0063] Since the check valve is an important fluid control device, its sealing performance directly affects the stable operation and safety of the entire system. Therefore, the automatic glue coating equipment for check valves is widely used in various industrial scenarios that require high-quality sealing, such as petrochemical and other fields.

[0064] The main function of the automatic sealant coating equipment for check valves is to ensure that sealant can be evenly and accurately coated on the check valves during installation, thereby improving the sealing performance and installation quality of the check valves. Its specific functions include:

[0065] 1) Improve sealing performance: Through automatic gluing equipment, sealant can be evenly applied to the key parts of the check valve to ensure that the sealing surface of the valve can fit completely, prevent medium leakage, and improve the safety and reliability of the system.

[0066] 2) Simplify the installation process: Automatic gluing equipment can complete the gluing work quickly and accurately, reducing the unevenness and omission problems of manual gluing and improving installation efficiency.

[0067] 3) Reduce maintenance costs: Good sealing performance can extend the service life of the check valve, reduce the maintenance and replacement frequency caused by leakage, and thus reduce the overall maintenance cost.

[0068] See also Figure 4 , which is a diagram of the automatic gluing equipment for check valves used for oil pipeline transportation of the present invention. The structural parameters of the automatic gluing equipment MMY-7108 are shown in Table 1 below.

[0069] Table 1 Structural parameters of automatic gluing equipment MMY-7108

[0070] Serial number name Indicators or parameters 1 Screw valve size Length: 450mm Width: 40*40mm Φ: 28mm 2 Control box size Length: 270mm Width: 240mm Height: 130mm 3 Product Model MMY-7108 4 weight About 1.5Kg 5 Material Aluminum alloy / corrosion-resistant composite materials 6 Motor specifications Delta AC servo motor 7 Motor speed 10-60 rpm 8 Feed port NPT1 / 4 9 Feed pressure 0.1-0.3MPa 10 Glue discharge pressure Greater than 0.3MPa 11 Applicable colloid viscosity 0-1000,000cps 12 Glue discharge amount 0.1-1.2g / S 13 Accuracy ±1％ 14 Control method Zhongda Youkong display screen + PLC

[0071] Example 3

[0072] See also Figure 5 This diagram shows the quick-change tool system for an intelligent check valve assembly robot used in oil pipeline transportation. This quick-change system utilizes automated technology to change tools in seconds, significantly reducing tool change time on the production line. It also allows for rapid replacement of end effectors based on varying production needs, improving production efficiency, enhancing production flexibility, improving operational safety, and reducing labor costs.

[0073] The intelligent assembly device for check valves used in oil pipeline transportation utilizes the robot module 4 to assemble all parts. Each part is equipped with a different end-of-line gripper. When grasping a different part, the robot quickly and automatically switches to the corresponding gripper to complete the assembly. Furthermore, the device features a self-locking function upon loss of gas pressure, preventing the main and tool trays from separating even if the main tray loses air. Furthermore, a main tray lock / release sensor and a tool tray presence detection sensor are included to determine whether the clamping fixture is in place, preventing accidents that could occur during manual fixture replacement and improving operational safety.

[0074] The end-part gripper of the assembly robot module 4 plays an important role in intelligent manufacturing. During the assembly process, the electric gripper's unique parallel structural design ensures uniform distribution of clamping force, enabling stable and precise clamping regardless of the workpiece shape. It has the advantages of efficient and accurate grasping and placement, adaptability to complex working conditions, improved production efficiency and product quality, reduced manual intervention and operating costs, and adaptability to a variety of application scenarios.

[0075] Figure 6 This invention provides an image of the end gripper of a robot for intelligently assembling check valves for oil pipeline transportation. The device is assembled using a single manipulator, equipped with a different gripper for each part. The manipulator automatically and quickly swaps the corresponding gripper to complete the assembly process. The quick-change mechanism features a self-locking function in the event of a loss of gas pressure, preventing the main and tool trays from separating even if the main tray loses air. A main tray lock / release sensor and a tool tray presence sensor are also included to determine whether the clamping tool is in place.

[0076] See Table 2 for a diagram of the end gripper and a table of model parameters of the intelligent assembly robot module 4 for check valves for oil pipeline transportation according to the present invention.

[0077]

[0078]

[0079]

[0080] The end-gripper of the assembly robot module 4, used in the intelligent assembly of check valves for oil pipeline transportation, utilizes advanced drive technology and a precise transmission design, enabling stable and accurate grasping and placement of workpieces during handling. Different gripping fixtures can be designed to meet the varying part sizes, weights, and gripping requirements, ensuring high-precision part positioning while ensuring convenient installation. The robot also supports contact force detection. For example, as shown in the model parameter table, if the force applied to a part exceeds a threshold, the assembly is readjusted to ensure that the part is not damaged during installation.

[0081] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The embodiments should therefore be considered illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An intelligent assembly device for check valves used in oil pipeline transportation, characterized in that: include: Loading robot module, automatic parts conveyor line module, visual inspection system module, assembly robot module, gripper fixture library, production management system module and electrical control system module; The production management system module determines the assembly specifications based on the valve body detection information of the check valve and transfers the valve body to the valve body conveying line through the AGV vehicle; The visual inspection system module performs valve body assembly inspection through a camera; The loading robot module searches and replaces the part grippers in the gripper fixture library based on the detection results of the visual detection system module, and grabs the parts to the part automatic conveyor line module; A quick-change device is provided at the end of the assembly robot module to automatically switch the corresponding gripper to realize the assembly of parts and valve body; The automatic parts conveying line modules are arranged in parallel and linearly, with the valve body conveying line and the parts conveying line arranged vertically; The electrical control system module automatically controls the check valve assembly process, ensuring that each step is carried out according to preset procedures and parameters.

2. The intelligent assembly device for check valves for oil pipeline transportation according to claim 1, characterized in that: The visual inspection system module detects whether the valve body parts are loaded and unloaded correctly and whether there are any missing parts after assembly.

3. The intelligent assembly device for check valves for oil pipeline transportation according to claim 1, characterized in that: The check valve intelligent assembly device also includes: an automatic thread gluing device, a valve body positioning assembly fixture, a valve body turning device, a valve body conveying line and a finished product buffer line; The automatic thread glue coating device applies anti-loosening glue to the valve sleeve and the pressure ring; A flange fixing fixture is provided on the upper end of the valve body positioning and assembly fixture, which automatically rises and falls to adapt to the height of the valve body. The valve body is conveyed on the valve body conveying line through the valve body positioning and assembly fixture. The valve body turning device has a device turning function, which enables the valve body to be accurately positioned with the valve body positioning assembly fixture after turning; The valve body conveying line and the finished product buffer line are connected and conveyed by AGV vehicles.

4. The intelligent assembly device for check valves for oil pipeline transportation according to claim 1, characterized in that: The production management system module issues an AGV vehicle scheduling request. When the AGV vehicle arrives at the unloading position, it can transport the finished products in the buffer position to the AGV vehicle; when the buffer position is full, it can alarm and stop production.

5. The intelligent assembly device for check valves for oil pipeline transportation according to claim 1, characterized in that: The production management system module has data management functions, can record the test results and statistical data in the production process and generate reports, upload production data in real time, and confirm, track and view production tasks based on on-site terminals to form a closed-loop management.

6. The intelligent assembly device for check valves for oil pipeline transportation according to claim 1, characterized in that: The loading robot module and the assembly robot module are positioned side by side and parallel to the parts conveying line.

7. A method for intelligently assembling a check valve for oil pipeline transportation, implemented by using the intelligent assembly device for a check valve according to any one of claims 1 to 6, characterized in that: The steps include: First, material preparation is carried out. The AGV vehicle transports the valve body to be installed to the loading position. The loading robot module loads the valve body, and the visual inspection system module performs valve body assembly inspection. The loading robot module searches for matching part grippers in the gripper fixture library based on the detection results, replaces the correct part grippers, and grabs the parts to the automatic part conveyor line module; The assembly robot module realizes automatic grasping of parts and assembly of valve bodies; The production management system module issues an AGV dispatch request. When the AGV arrives at the unloading location, it automatically transfers the finished products in the buffer to the AGV. When the buffer is full, the production management system module can issue an alarm and stop production. The production tasks are confirmed, tracked, and checked based on the on-site terminal, forming a closed-loop management. The electrical control system module automatically controls the check valve assembly process, ensuring that each step is carried out according to preset procedures and parameters, and performs fault detection and protection, and parameter adjustment.

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