Automatic assembly equipment for hydraulic valve components

Abstract

A hydraulic valve assembly automatic assembly device comprises a frame, a material storage table and a picking robot, wherein the material storage table is used to store hydraulic valves, the frame comprises a workbench, the workbench comprises a sliding mechanism, an assembly station, a damping press-fitting mechanism, a proportional valve assembly mechanism, a plug assembly mechanism, a shuttle valve assembly mechanism and a tightening mechanism, the assembly station is located on the sliding mechanism, the picking robot clamps the initial hydraulic valve on the material storage table to the assembly station, the picking robot is provided with a rotating part, the picking robot turns the hydraulic valve on the assembly station over through the rotating part, the assembly station moves horizontally on the workbench through the sliding mechanism so that the assembly station passes through the damping press-fitting mechanism, the proportional valve assembly mechanism, the plug assembly mechanism and the shuttle valve assembly mechanism, and the tightening mechanism is located above the sliding mechanism; the advantage of the present invention is that it can automatically assemble the damping, valve seat, proportional valve, plug and shuttle valve on the hydraulic valve.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic valve assembly assembly, in particular to automatic assembly equipment of hydraulic valve assembly. Background Art

[0002] A hydraulic valve is an automated component operated by pressure oil. It is controlled by the pressure oil of a pressure regulating valve and is usually used in combination with an electromagnetic pressure regulating valve. It can be used to remotely control the on / off of oil, gas, and water pipeline systems in a hydropower station. The hydraulic valve in the present invention is a rectangular parallelepiped. There are holes on each surface of the hydraulic valve, such as the damping hole is used to assemble the damping and valve seat, the proportional valve hole is used to assemble the proportional valve, the plug hole is used to assemble the plug, and the shuttle valve hole is used to assemble the shuttle valve hole. These components need to pay attention to the position problem when assembling them. At present, the assembly of hydraulic valves is all manual. The assembly process is to manually put these accessories into the corresponding holes one by one, and some accessories need to be put into the sealing ring first when assembling. The sealing ring is relatively small, and the upper diameter of the hole is larger than the diameter of the sealing ring. Therefore, when the sealing ring is manually put into the sealing ring, the sealing ring is likely to tilt when entering the hole, and the placement position of the sealing ring will be offset, which cannot meet the assembly requirements. The efficiency of manual assembly is also relatively low, and the quality of assembly is also poor. Therefore, in view of this problem, the present invention designs such a high-efficiency automatic assembly device. Summary of the invention

[0003] The object of the present invention is to overcome the deficiencies of the prior art and to provide an assembly device which can automatically assemble a damper, a valve seat, a proportional valve, a plug and a shuttle valve on a hydraulic valve.

[0004] The present invention solves the technical problem by adopting the following technical solutions:

[0005] The automatic assembly equipment of the hydraulic valve assembly comprises a frame, a material storage table and a pick-up manipulator, wherein the material storage table is used to store the hydraulic valve, the frame comprises a workbench, the workbench comprises a sliding mechanism, an assembly station, a damping press-fitting mechanism, a proportional valve assembly mechanism, a plug assembly mechanism, a shuttle valve assembly mechanism and a tightening mechanism, the assembly station is located on the sliding mechanism, the pick-up manipulator clamps the initial hydraulic valve on the material storage table to the assembly station, the pick-up manipulator is provided with a rotating part, the pick-up manipulator turns the hydraulic valve on the assembly station through the rotating part, the assembly station moves horizontally on the workbench through the sliding mechanism so that the assembly station passes through the damping press-fitting mechanism, the proportional valve assembly mechanism, the plug assembly mechanism and the shuttle valve assembly mechanism, and the tightening mechanism is located above the sliding mechanism;

[0006] The damping press-fitting mechanism comprises a first accessory table, a first suction assembly and an edge sealing assembly, wherein a damping and a valve seat are placed on the first accessory table, the first suction assembly is used to drive the damping on the first accessory table into the damping hole of the initial hydraulic valve, and the first suction assembly is also used to drive the valve seat on the first accessory table to the top of the damping hole of the initial hydraulic valve, when the sliding mechanism drives the assembly station to translate to the bottom of the edge sealing assembly, the edge sealing assembly moves downward to the inner bottom surface of the damping hole of the hydraulic valve after the valve seat is assembled, and applies a downward pressure to the inner bottom surface of the damping hole so that an annular valve groove is formed on the inner bottom surface of the damping hole, and when the sliding mechanism drives the assembly station to translate to the bottom of the tightening mechanism, the tightening mechanism applies a rotational force downward to the valve seat so that the valve seat is tightened on the hydraulic valve;

[0007] The proportional valve assembly mechanism includes a second accessory platform, a third accessory platform, a fourth accessory platform, a second suction component, a third suction component and a first blow pipe, an O-ring is placed on the second accessory platform, a first sealing ring is placed on the third accessory platform, a proportional valve is placed on the fourth accessory platform, the first blow pipe includes an inlet end and an outlet end, and the inlet end of the first blow pipe is arranged above the fourth accessory platform. When the sliding mechanism drives the assembly station to translate to the bottom of the second suction component, the second suction component drives the O-ring on the second accessory platform to the hydraulic valve proportional valve after the valve seat is assembled The third suction assembly drives the first sealing ring on the third accessory platform to the proportional valve on the fourth accessory platform, so that the first sealing ring is pressed on the proportional valve. When the sliding mechanism drives the assembly station to move horizontally below the outlet end of the first blow pipe, the first blow pipe gives a suction force to the proportional valve on the fourth accessory platform to make the proportional valve with the first sealing ring fall on the proportional valve hole of the hydraulic valve. When the sliding mechanism drives the assembly station to move horizontally below the tightening mechanism, the tightening mechanism gives a rotational force downward to the proportional valve to tighten the proportional valve on the hydraulic valve.

[0008] The plug assembly mechanism includes a fifth accessory table, a sixth accessory table, a fourth suction assembly and a fifth suction assembly, a second sealing ring is placed on the fifth accessory table, and a plug is placed on the sixth accessory table. When the sliding mechanism drives the assembly station to translate to below the fourth suction assembly, the fourth suction assembly drives the second sealing ring on the fifth accessory table to the plug in the sixth accessory table so that the second sealing ring is pressed onto the plug. The fifth suction assembly is used to drive the plug equipped with the second sealing ring on the sixth accessory table to the plug hole of the hydraulic valve. When the sliding mechanism drives the assembly station to translate to below the tightening mechanism, the tightening mechanism gives the plug a rotational force downward to tighten the plug on the hydraulic valve.

[0009] The tightening mechanism includes a feeding assembly, and the workbench is also provided with a storage tray, in which steel balls are placed. When the sliding mechanism drives the assembly station to the bottom of the feeding assembly, the feeding assembly is used to drive the steel balls in the storage tray to the shuttle valve hole of the hydraulic valve after the assembly plug is tightened;

[0010] The shuttle valve assembly mechanism includes a seventh accessory table, an eighth accessory table, a sixth suction assembly and a second blow pipe, the seventh accessory table is provided with a third sealing ring, the eighth accessory table is provided with a shuttle valve, the second blow pipe includes a suction port end and a slide-out end, the suction port end is located above the eighth accessory table, when the sliding mechanism drives the assembly station to translate to below the slide-out end, the sixth suction assembly is used to drive the third sealing ring on the seventh accessory table to the shuttle valve on the eighth accessory table, so that the third sealing ring sleeve is pressed on the plug shuttle valve, the second blow pipe gives an upward suction force to the shuttle valve on the eighth accessory table, so that the shuttle valve on the eighth accessory table, which is provided with the third sealing ring, slides out from the slide-out end and falls on the shuttle valve hole of the hydraulic valve, and when the sliding mechanism drives the assembly station to translate to below the tightening mechanism, the tightening mechanism gives a rotational force downward to the shuttle valve, so that the shuttle valve is tightened on the hydraulic valve.

[0011] Preferably, the damping press-fitting mechanism, proportional valve assembly mechanism, plug assembly mechanism and shuttle valve assembly mechanism all include a conveying assembly, the conveying assembly of the damping press-fitting mechanism includes a damping conveying guide rail, a valve seat conveying guide rail, a damping vibration disk and a valve seat vibration disk, the first accessory platform is provided with a first slide groove and a first translational power source, the first slide groove is provided with a first slide plate, one side edge of the first slide plate is provided with a damping groove and a valve seat groove, one end of the damping conveying guide rail is communicated with the damping vibration disk, and one end of the valve seat conveying guide rail is communicated with the valve seat vibration disk, when the first translational power source drives the first slide plate to translate to a first position on a horizontal plane, the other end of the damping conveying guide rail is communicated with the damping groove, the first position is that the first slide plate is located in the first slide groove as a whole, when the first translational power source drives the first slide plate to translate to a second position on a horizontal plane, the other end of the valve seat conveying guide rail is communicated with the valve seat groove, and the second position is that one end of the first slide plate is located outside the first slide groove and the damping groove is located in the middle of the first accessory platform.

[0012] Preferably, the conveying component of the proportional valve assembly mechanism includes an O-ring vibration disk, an O-ring conveying guide rail, a first sealing ring vibration disk, a first sealing ring conveying guide rail, a proportional valve storage platform, a proportional valve conveying guide rail and a second translational motive force source, a second slide groove and a third translational motive force source are provided on the second accessory platform, a second slide groove is provided in a second slide plate, an O-ring groove is provided on one side edge of the second slide plate, the O-ring conveying guide rail is communicated with the O-ring vibration disk, and the third translational motive force source drives the second slide plate to move horizontally in the second slide groove so that the O-ring groove on the second slide plate is communicated with or misaligned with the O-ring conveying guide rail; a third slide groove and a fourth translational motive force source are provided on the third accessory platform, a third slide groove is provided in a third slide plate, and a first The sealing ring groove, the first sealing ring conveying guide rail is connected to the first sealing ring vibration disk, and the fourth translational kinetic energy source drives the third slide plate to move horizontally in the third slide groove, so that the first sealing ring groove on the third slide plate is connected or misaligned with the first sealing ring conveying guide rail; the fourth accessory table is provided with a fourth slide groove and a fourth translational kinetic energy source, and the fourth slide groove is provided with a fourth slide plate, and one side edge of the fourth slide plate is provided with a proportional valve groove, and the proportional valve conveying guide rail is connected to the proportional valve storage platform, and the second translational kinetic energy source drives the proportional valve in the proportional valve storage platform to move on the horizontal plane so that the proportional valve enters the proportional valve conveying guide rail, and the fourth translational kinetic energy source drives the fourth slide plate to move horizontally in the fourth slide groove so that the proportional valve slot on the fourth slide plate is connected or misaligned with the proportional valve conveying guide rail.

[0013] Preferably, the conveying component of the plug assembly mechanism includes a second sealing ring vibration disk, a second sealing ring conveying guide rail, a plug storage platform, a fifth translational force source and the plug conveying guide rail, the fifth accessory platform includes a fifth slide groove and a sixth translational force source, the fifth slide groove is provided with a fifth slide plate, one side edge of the fifth slide plate is provided with a second sealing ring groove, the second sealing ring conveying guide rail is communicated with the second sealing ring vibration disk, and the sixth translational force source drives the fifth slide plate to move horizontally in the fifth slide groove so that the second sealing ring groove on the fifth slide plate is communicated with or misaligned with the second sealing ring conveying guide rail; the plug conveying guide rail is communicated with the plug storage platform, and the fifth translational force source drives the plug in the plug storage platform to move on a horizontal plane so that the plug enters the plug conveying guide rail, and the sixth translational force source drives the fifth slide plate to move horizontally in the fifth slide groove so that the plug groove on the fifth slide plate is communicated with or misaligned with the plug conveying guide rail.

[0014] Preferably, the conveying component of the shuttle valve assembly mechanism includes a third sealing ring vibration disk, a third sealing ring conveying guide rail, a shuttle valve vibration disk and a shuttle valve conveying guide rail, the seventh accessory platform includes a sixth slide groove and a seventh translational motive force source, a sixth slide plate is provided in the sixth slide groove, and a third sealing ring groove is provided on one side of the sixth slide plate, the third sealing ring conveying guide rail is communicated with the third sealing ring vibration disk, the seventh translational motive force source drives the sixth slide plate to move horizontally in the sixth slide groove so that the third sealing ring groove on the sixth slide plate is communicated with or misaligned with the third sealing ring conveying guide rail, and the shuttle valve conveying guide rail is communicated with the shuttle valve vibration disk, the eighth accessory platform includes a seventh slide groove and an eighth translational motive force source, a seventh slide plate is provided in the seventh slide groove, and a shuttle valve groove is provided on one side of the seventh slide plate, and the eighth translational motive force source drives the seventh slide plate to move horizontally in the seventh slide groove so that the shuttle valve groove on the seventh slide plate is communicated with or misaligned with the shuttle valve conveying guide rail.

[0015] Preferably, the first suction component, the second suction component, the third suction component, the fourth suction component, the fifth suction component and the sixth suction component all include a moving component and a suction head, the moving component includes a transverse guide rail, a ninth translational force source, a tenth translational force source and a transverse plate, the transverse plate is connected to the ninth translational force source, the suction head is located on the bottom surface of the transverse plate, the ninth translational force source drives the tenth translational force source to move horizontally on the transverse guide rail so that the suction head on the transverse plate is aligned with or deviates from directly above the accessory table, and the tenth translational force source drives the transverse plate to move in the vertical direction so that the suction head on the transverse plate is close to or away from the accessory table.

[0016] Preferably, the suction head of the first suction assembly includes a suction rod, a pressure rod and an eleventh translational force source, the suction rod is sleeved on the outer surface of the pressure rod, and an air pipe connected to the suction rod is provided on one side of the suction rod, and the eleventh translational force source drives the pressure rod to translate downward so that the pressure rod presses the damping at the bottom of the suction rod to the bottom of the damping hole; the suction head of the second suction assembly includes a pressure shaft, a push sleeve and a twelfth translational force source, the push sleeve is arranged on the outer surface of the pressure shaft, and the bottom of the push head is an inverted cone, and the twelfth translational force source drives the push head to translate downward so that the push head pushes the O-ring at the bottom of the pressure shaft out of the pressure shaft to the bottom surface of the proportional valve hole; the suction head of the fifth suction assembly includes a magnetic rod, a rod sleeve and a thirteenth translational force source, the rod sleeve is sleeved on the outer surface of the magnetic rod, and the thirteenth translational force source drives the magnetic rod to move in a vertical direction so that the magnetic rod is close to or detached from the plug.

[0017] Preferably, the suction head of the third suction assembly, the suction head of the fourth suction assembly and the suction head of the sixth suction assembly all include a sealing ring rod, a sealing ring sleeve and a fourteenth translational motive force source, the sealing ring sleeve is arranged on the outer surface of the sealing ring rod, the bottom of the sealing ring rod is truncated cone-shaped, the sealing ring sleeve is composed of a plurality of expansion pieces, and a certain gap is provided between each expansion piece, and the fourteenth translational motive force source drives the sealing ring rod to move in the vertical direction to make the sealing ring rod insert into or detach from the sealing ring.

[0018] Preferably, the edge sealing assembly includes a bracket, a base plate, a pressure tube, a buffer spring and a fifteenth translational force source, the buffer spring is located on the base plate and the bracket, the pressure tube passes through the base plate, a convex ring is provided at the bottom of the pressure tube, the interior of the pressure tube is hollow, and the inner ring diameter of the pressure tube is larger than the diameter of the damping and the diameter of the valve seat.

[0019] Preferably, the first accessory table, the second accessory table, the third accessory table, the fourth accessory table, the fifth accessory table, the sixth accessory table, the seventh accessory table and the eighth accessory table are all provided with an in-place detection head, and the in-place detection head is used to detect that each accessory enters the corresponding accessory slot position.

[0020] The advantages and positive effects of the present invention are as follows: a sliding mechanism and an assembly station located on the sliding mechanism are arranged on the workbench, the assembly station can realize sliding in two directions through the sliding mechanism, the assembly station is used to clamp the hydraulic valve, and a damping pressing mechanism, a proportional valve assembly mechanism, a plug assembly mechanism and a shuttle valve assembly mechanism are arranged on the side of the sliding mechanism. In this way, when the hydraulic valve needs to be assembled with corresponding components, the sliding mechanism can drive the assembly station to slide to the bottom of the corresponding mechanism on the workbench, thereby solving the problem of not having to manually place it in the corresponding assembly area; the damping pressing mechanism includes a suction rod and a pressure rod, and the suction rod and the pressure rod are in one component. After the damping on the first accessory table is absorbed by the suction rod, the moving component drives the suction rod and the pressure rod to move together into the damping hole of the hydraulic valve, and the suction rod extends into the damping hole to straighten the damping, and then is pressed downward by the pressure rod to prevent the damping from being stuck. The valve seat on the first accessory table is tilted, and then the reciprocating motion of the suction rod and the pressure rod is used to transport the valve seat to the damping hole, and finally the inner bottom surface of the damping hole is sealed by the edge sealing component. The automatic assembly of the damping solves the defect of incorrect position due to manual assembly; the O-ring and the proportional valve with the first sealing ring automatically assembled are respectively placed in the proportional valve hole through the proportional valve assembly mechanism, and then the proportional valve is tightened by the tightening mechanism, and the plug with the second sealing ring automatically assembled is placed in the plug hole through the plug assembly mechanism, and then the plug is tightened by the tightening mechanism. After the steel ball is blown into the shuttle valve hole through the feeding assembly, the shuttle valve with the third sealing ring automatically assembled is placed in the shuttle valve hole through the shuttle valve assembly mechanism, and then the shuttle valve is tightened by the tightening mechanism. The assembly of all components is automatic, which solves the problems of low efficiency of manual assembly, offset assembly position and poor assembly quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is the overall structure diagram of the present invention;

[0022] Figure 2 It is a structural diagram without the fence in the present invention;

[0023] Figure 3 It is a structural diagram on the workbench of the present invention;

[0024] Figure 4 It is a structural diagram of the damping press-fitting mechanism in the present invention;

[0025] Figure 5 yes Figure 4 Enlarged view of point A in the middle;

[0026] Figure 6 It is a cross-sectional view of the edge sealing component and a cross-sectional view of the suction head at the first suction component in the present invention;

[0027] Figure 7 It is a structural diagram of the proportional valve assembly mechanism in the present invention;

[0028] Figure 8 yes Figure 7 Enlarged view of point B in the middle;

[0029] Fig. 9 is a cross-sectional view of a suction head at the second suction assembly in the present invention;

[0030] Fig.10 It is a structural diagram of the plug assembly mechanism in the present invention;

[0031] Fig.11 yes Fig.10 Enlarged view of point C in the middle;

[0032] Fig.12 is a cross-sectional view of a suction head at the fifth suction assembly of the present invention;

[0033] Fig.13 It is a back view of the tightening mechanism in the present invention;

[0034] Fig.14 is a front view of the tightening mechanism of the present invention;

[0035] FIG15 is a structural diagram of the shuttle valve assembly mechanism of the present invention;

[0036] Fig.16 It is a connection structure diagram of the sliding mechanism and the assembly station in the present invention.

[0037] In the figure: 1, rack; 2, material storage table; 3, pick-up manipulator; 31, rotating part; 4, workbench; 41, sliding mechanism; 411, horizontal slide rail; 412, longitudinal slide rail; 421, moving clamp block; 422, fixed block; 42, assembly station; 43, damping press-fitting mechanism; 431, first accessory table; 432, first suction assembly; 4321, suction rod; 4322, pressure rod; 4323, eleven-level moving power source; 433, edge sealing assembly; 4331, bracket; 4332, bottom plate; 4333, pressure pipe; 4334, buffer spring; 44, proportional valve assembly mechanism; 441, second accessory table; 442, third accessory table; 443, fourth accessory table; 444 , the second suction assembly; 4441, the pressure roller; 4442, the push sleeve; 4443, the twelfth translational power source; 445, the third suction assembly; 446, the first blowpipe; 45, the plug assembly mechanism; 451, the fifth accessory stand; 452, the sixth accessory stand; 453, the fourth suction assembly; 454, the fifth suction assembly; 4541, the magnetic rod; 4542, the rod sleeve; 4543, the thirteenth translational power source; 46, the shuttle valve assembly mechanism; 461, the seventh accessory stand; 462, the eighth accessory stand; 463, the sixth suction assembly; 464, the second blowpipe; 47, the tightening mechanism; 471, the loading assembly; 48, the storage tray; 5, the damping conveying guide rail; 6, the valve seat conveying guide rail; 7 , damping vibration plate; 8, valve seat vibration plate; 9, first slide; 10, first translational power source; 11, first slide plate; 111, damping groove; 112, valve seat groove; 12, O-ring vibration plate; 13, O-ring conveying guide; 14, first sealing ring vibration plate; 15, first sealing ring conveying guide; 16, proportional valve storage platform; 17, proportional valve conveying guide; 18, second translational power source; 19, second slide; 20, third translational power source; 21, second slide plate; 211, O-ring groove; 22, third slide; 23, third slide plate; 231, first sealing ring groove; 24, fourth slide plate; 25, second sealing ring vibration plate; 26, second sealing ring conveying guide Rail; 27, plug storage platform; 28, the fifth translational power source; 29, plug conveying guide rail; 30, the fifth slide; 301, the fifth slide plate; 311, the second sealing ring groove; 32, the third sealing ring vibration disk; 33, the third sealing ring conveying guide rail; 34, the shuttle valve vibration disk; 35, the shuttle valve conveying guide rail; 36, the sixth slide; 37, the sixth slide plate; 371, the third sealing ring groove; 38, the seventh slide plate; 39, the moving component; 391, the transverse guide rail; 392, the tenth translational power source; 393, the transverse plate; 40, the in-place detection head; 401, the sealing ring sleeve rod; 402, the sealing ring sleeve; 403, the fourteenth translational power source; 101, the fence; 472, the screw. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0041] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0042] At present, the assembly of hydraulic valves is all done manually, and the assembly process is to manually put these accessories into the corresponding holes one by one, and some accessories need to be put into the sealing ring first when assembling, and the sealing ring is relatively small, and the upper diameter of the hole is larger than the diameter of the sealing ring. Therefore, when the sealing ring is manually put into the hole, the sealing ring is likely to be tilted, and the placement position of the sealing ring will be offset, which cannot meet the assembly requirements. The efficiency of manual assembly is also relatively low, and the assembly quality is also poor. Therefore, in order to solve this problem, the present invention designs such a high-efficiency automatic assembly device, and the specific structure is as follows Figure 1-16 As shown, it includes a frame 1, a storage platform 2 and a pick-up robot 3 (such as Figure 1As shown, the working window of the frame 1, the storage table 2 and the outside of the manipulator are surrounded by a fence 101, which is mainly for protection). The storage table 2 is used to store hydraulic valves. The frame 1 includes a workbench 4, and the workbench 4 includes a sliding mechanism 41, an assembly station 42, a damping press-fitting mechanism 43, a proportional valve assembly mechanism 44, a plug assembly mechanism 45, a shuttle valve assembly mechanism 46 and a tightening mechanism 47 (the damping press-fitting mechanism 43, the proportional valve assembly mechanism 44, the plug assembly mechanism 45 and the shuttle valve assembly mechanism 46 are all arranged on one side of the sliding mechanism 41, and the assembly station 42 is provided with a damping press-fitting mechanism 43, a proportional valve assembly mechanism 44, a plug assembly mechanism 45 and a shuttle valve assembly mechanism 46. The workstation 42 can pass through these mechanisms in sequence through the sliding mechanism 41), the assembly station 42 is located on the sliding mechanism 41, the pick-up manipulator 3 clamps the initial hydraulic valve on the storage platform 2 to the assembly station 42, and the pick-up manipulator 3 is provided with a rotating part 31. The pick-up manipulator 3 turns the hydraulic valve on the assembly station 42 through the rotating part 31 (because the hydraulic valve is placed on the assembly station 42 with one side facing up, under normal circumstances, the side with the damping hole is facing up first, and after the damping is pressed and installed, it needs to be turned over to turn the side with the damping hole upside down). The side with other holes faces upward for assembly), the assembly station 42 moves horizontally on the workbench 4 through the sliding mechanism 41 so that the assembly station 42 passes through the damping press-fitting mechanism 43, the proportional valve assembly mechanism 44, the plug assembly mechanism 45 and the shuttle valve assembly mechanism 46, and the tightening mechanism 47 is located above the sliding mechanism 41 (the sliding mechanism 41 includes two horizontal slide rails 411 and a longitudinal slide rail 412 located on the workbench 4, the horizontal slide rail 411 is perpendicular to the longitudinal slide rail 412, the horizontal slide rail 411 is laid in front of each mechanism, and the assembly station 42 is set on the longitudinal slide rail 412 The longitudinal slide rail 412 is slidably connected to the transverse slide rail 411, and the sliding of the slide rail and the sliding of the assembly station 42 are driven by a cylinder, and the assembly station 42 is also provided with a fixed block 422 and a movable clamping block 421, and the movable clamping block 421 is also driven by a cylinder). The tightening mechanism 47 is composed of four screw rods 472 of different sizes, and the four screw rods 472 are respectively matched with the components required to be assembled by the corresponding four mechanisms. The damping press-fitting mechanism 43, the proportional valve assembly mechanism 44, the plug assembly mechanism 45 and the shuttle valve assembly mechanism 46 all include a conveying component;

[0043] like Figure 4-6As shown, the damping pressing mechanism 43 includes a first accessory platform 431, a first suction component 432 and an edge sealing component 433. The first accessory platform 431 is provided with a damper and a valve seat. The first suction component 432 is used to drive the damper on the first accessory platform 431 into the damping hole of the initial hydraulic valve. The first suction component 432 is also used to drive the valve seat on the first accessory platform 431 to the top of the damping hole of the initial hydraulic valve. When the sliding mechanism 41 drives the assembly station 42 to translate to the bottom of the edge sealing component 433, the edge sealing component 433 includes a bracket 4331, a bottom plate 4332, a pressure pipe 4333, a buffer spring 4334 and a fifteenth translational power source (cylinder). The buffer spring 4334 is located on the bottom plate 4332 and the bracket 4331. When the pressure pipe 4333 is pressed down, there needs to be a Buffering force, and buffer spring 4334 can solve this problem. The pressure tube 4333 passes through the bottom plate 4332. The bottom of the pressure tube 4333 is provided with a convex ring, so that there will be an annular valve groove when it is pressed down. The interior of the pressure tube 4333 is hollow. The inner ring diameter of the pressure tube 4333 is larger than the diameter of the damping and the diameter of the valve seat. The edge sealing component 433 moves downward to the inner bottom surface of the damping hole of the hydraulic valve after the valve seat is assembled, and applies a downward pressure to the inner bottom surface of the damping hole to form an annular valve groove on the inner bottom surface of the damping hole. After the valve seat is tightened downward by the tightening mechanism 47, the outer ring of the valve seat will be screwed into the annular valve groove to play a fixing role. When the sliding mechanism 41 drives the assembly station 42 to translate to the bottom of the tightening mechanism 47, the tightening mechanism 47 gives the valve seat a rotational force downward to tighten the valve seat on the hydraulic valve.The conveying assembly of the damping press-fitting mechanism 43 includes a damping conveying guide rail 5, a valve seat conveying guide rail 6, a damping vibration disk 7 and a valve seat vibration disk 8. A first slide groove 9 and a first translational power source 10 (cylinder) are provided on the first accessory platform 431. A first slide plate 11 is provided in the first slide groove 9. A damping groove 111 and a valve seat groove 112 are provided on one side edge of the first slide plate 11. One end of the damping conveying guide rail 5 is communicated with the damping vibration disk 7, and one end of the valve seat conveying guide rail 6 is communicated with the valve seat vibration disk 8. When the first translational power source 10 drives the first slide plate 11 to translate to the first position on the horizontal plane, the other end of the damping conveying guide rail 5 is communicated with the damping groove 111. The first position is that the first slide plate 11 is located as a whole in the first slide groove 9 (the cylinder can drive the first slide plate 11 to slide in the first slide groove 9. Under normal circumstances, the damping conveying guide rail 5 is connected with the damping groove 111, which is the first position. At this time, the damping can enter the damping groove 111 through the damping conveying guide rail 5. Then the first slide plate 11 is driven by the cylinder to slide a distance so that the damping groove 111 with damping is located in the middle of the first accessory platform 431. This position is the second position, which is convenient for the subsequent suction head to absorb). When the first translational power source 10 (cylinder) drives the first slide plate 11 to translate to the second position on the horizontal plane, the other end of the valve seat conveying guide rail 6 is connected with the valve seat groove 112. The second position is that one end of the first slide plate 11 is located outside the first slide groove 9 and the damping groove 111 is located in the middle of the first accessory platform 431 (when the first slide plate 11 is in the second position, the valve seat groove 112 originally in the middle of one side of the first slide plate 11 moves to the side and is just connected with the valve seat conveying guide rail 6). ;

[0044] like Figure 7-9As shown, the proportional valve assembly mechanism 44 includes a second accessory platform 441, a third accessory platform 442, a fourth accessory platform 443, a second suction component 444, a third suction component 445 and a first blow pipe 446. An O-ring is placed on the second accessory platform 441, a first sealing ring is placed on the third accessory platform 442, a proportional valve is placed on the fourth accessory platform 443, and the first blow pipe 446 includes an inlet end and an outlet end. The inlet end of the first blow pipe 446 is arranged above the fourth accessory platform 443. When the sliding mechanism 41 drives the assembly station 42 to translate to the bottom of the second suction component 444, the second suction component 444 moves the O-ring on the second accessory platform 441 to the bottom of the second suction component 444. The first sealing ring is driven to the proportional valve hole of the hydraulic valve after the valve seat is assembled. The third suction component 445 drives the first sealing ring on the third accessory platform 442 to the proportional valve on the fourth accessory platform 443, so that the first sealing ring is pressed on the proportional valve. When the sliding mechanism 41 drives the assembly station 42 to move horizontally below the outlet end of the first blow pipe 446, the first blow pipe 446 gives a suction force to the proportional valve equipped with the first sealing ring on the fourth accessory platform 443, so that the proportional valve equipped with the first sealing ring falls on the proportional valve hole of the hydraulic valve. When the sliding mechanism 41 drives the assembly station 42 to move horizontally below the tightening mechanism 47, the tightening mechanism 47 gives the proportional valve a rotational force downward. So that the proportional valve can be tightened on the hydraulic valve; the conveying components of the proportional valve assembly mechanism 44 include an O-ring vibration disk 12, an O-ring conveying guide rail 13, a first sealing ring vibration disk 14, a first sealing ring conveying guide rail 15, a proportional valve storage table 16, a proportional valve conveying guide rail 17 and a second translational power source 18 (cylinder), a second slide groove 19 and a third translational power source 20 (cylinder) are provided on the second accessory table 441, a second slide plate 21 is provided in the second slide groove 19, and an O-ring groove 211 is provided on one side edge of the second slide plate 21, the O-ring conveying guide rail 13 is communicated with the O-ring vibration disk 12, and the third translational power source 20 (cylinder) drives the second slide plate The plate 21 moves horizontally in the second slide groove 19, so that the O-ring groove 211 on the second slide plate 21 is communicated with or misaligned with the O-ring conveying guide rail 13; the third slide groove 22 and the fourth translational power source (cylinder) are provided on the third accessory platform 442, the third slide groove 22 is provided with a third slide plate 23, one side edge of the third slide plate 23 is provided with a first sealing ring groove 231, the first sealing ring conveying guide rail 15 is communicated with the first sealing ring vibration disk 14, and the fourth translational power source (cylinder) drives the third slide plate 23 to move horizontally in the third slide groove 22, so that the first sealing ring groove 231 on the third slide plate 23 is communicated with or misaligned with the first sealing ring conveying guide rail 15;The fourth accessory platform 443 is provided with a fourth slide and a fourth translational power source (cylinder), the fourth slide plate 24 is provided in the fourth slide, a proportional valve slot is provided on one side edge of the fourth slide plate 24, and the proportional valve conveying guide rail 17 is communicated with the proportional valve storage platform 16, the second translational power source 18 (cylinder) drives the proportional valve in the proportional valve storage platform 16 to move on the horizontal plane so that the proportional valve enters the proportional valve conveying guide rail 17, and the fourth translational power source (cylinder) drives the fourth slide plate 24 to move horizontally in the fourth slide so that the proportional valve slot on the fourth slide plate 24 is communicated with or misaligned with the proportional valve conveying guide rail 17. ;

[0045] like Figure 10-12As shown, the plug assembly mechanism 45 includes a fifth accessory platform 451, a sixth accessory platform 452, a fourth suction component 453 and a fifth suction component 454. A second sealing ring is placed on the fifth accessory platform 451, and a plug is placed on the sixth accessory platform 452. When the sliding mechanism 41 drives the assembly station 42 to translate to below the fourth suction component 453, the fourth suction component 453 drives the second sealing ring on the fifth accessory platform 451 to the plug in the sixth accessory platform 452, so that the second sealing ring is pressed onto the plug. The fifth suction component 454 is used to drive the plug equipped with the second sealing ring on the sixth accessory platform 452 to the plug hole of the hydraulic valve. When the sliding mechanism 41 drives the assembly station 42 to translate to the tightening mechanism 47 When the plug is in the downward direction, the tightening mechanism 47 applies a rotational force downward to the plug so that the plug is screwed on the hydraulic valve (the fifth suction component 454 and the sixth suction component 463 in the present invention have the same moving component 39, that is, they are located on the same horizontal plate 393, and the fifth suction component 454 and the sixth suction component 463 are respectively located at the two ends of the horizontal plate 393, which is equivalent to being able to complete the purpose of sealing ring sleeve pressure, and the fifth suction component 454 and the sixth suction component 463 can also be provided with a moving component 39 respectively); the conveying component of the plug assembly mechanism 45 includes a second sealing ring vibration disk 25, a second sealing ring conveying guide rail 26, a plug storage table 27, a fifth translational power source 28 (cylinder) and a plug conveying guide rail 29, a fifth accessory table 451 includes a fifth slide groove 30 and a sixth translational power source (cylinder), a fifth slide plate 301 is provided in the fifth slide groove 30, a second sealing ring groove 311 is provided on one side edge of the fifth slide plate 301, the second sealing ring conveying guide rail 26 is communicated with the second sealing ring vibration disk 25, the sixth translational power source (cylinder) drives the fifth slide plate 301 to move horizontally in the fifth slide groove 30 so that the second sealing ring groove 311 on the fifth slide plate 301 is communicated with or misaligned with the second sealing ring conveying guide rail 26; the plug conveying guide rail 29 is communicated with the plug storage platform 27, the fifth translational power source 28 (cylinder) drives the plug in the plug storage platform 27 to move on the horizontal plane so that the plug enters the plug conveying guide rail 29, the fifth translational power source 2 8 (cylinder) drives the fifth slide plate 301 to move horizontally in the fifth slide groove 30 so that the plug groove on the fifth slide plate 301 is connected or misaligned with the plug conveying guide rail 29. There are two plug storage tables 27 in the present invention. Since there are two types of hydraulic valves assembled in the present invention, one large and one small, two plugs of different sizes are required, and the fifth slide plate 301 in the relative fifth slide groove 30 also has two plug grooves of different sizes. It is normal for the fifth slide plate 301 to be completely located in the fifth slide groove 30. One plug groove is connected to the plug conveying guide rail 29, and the other plug groove is located in the middle of one side edge of the fifth slide plate 301. The sliding direction of the fifth slide plate 301 is toward the second plug conveying guide rail 29.

[0046] like Figure 2, 14 As shown in 15, the tightening mechanism 47 includes a feeding assembly 471, and a storage tray 48 is also provided on the workbench 4. Steel balls are placed in the storage tray 48. When the sliding mechanism 41 drives the assembly station 42 to the bottom of the feeding assembly, the feeding assembly is used to drive the steel balls in the storage tray 48 to the shuttle valve hole of the hydraulic valve after the assembly plug is tightened;

[0047] like Fig.13 As shown, the shuttle valve assembly mechanism 46 includes a seventh accessory platform 461, an eighth accessory platform 462, a sixth suction component 463 and a second blow pipe 464. The seventh accessory platform 461 is provided with a third sealing ring, the eighth accessory platform 462 is provided with a shuttle valve, the second blow pipe 464 includes a suction port end and a slide-out end, the suction port end is located above the eighth accessory platform 462, and when the sliding mechanism 41 drives the assembly station 42 to translate to the bottom of the slide-out end, the sixth suction component 463 is used to bring the third sealing ring on the seventh accessory platform 461 to the bottom of the slide-out end. The shuttle valve 46 is moved to the shuttle valve on the eighth accessory platform 462 so that the third sealing ring sleeve is pressed on the plug shuttle valve. The second blowpipe 464 gives an upward suction force to the shuttle valve equipped with the third sealing ring on the eighth accessory platform 462, so that the shuttle valve equipped with the third sealing ring slides out from the sliding end and falls on the shuttle valve hole of the hydraulic valve. When the sliding mechanism 41 drives the assembly station 42 to translate to the bottom of the tightening mechanism 47, the tightening mechanism 47 gives the shuttle valve a rotational force downward to tighten the shuttle valve on the hydraulic valve. The conveying component of the shuttle valve assembly mechanism 46 includes the first The third sealing ring vibrating plate 32, the third sealing ring conveying guide rail 33, the shuttle valve vibrating plate 34 and the shuttle valve conveying guide rail 35, the seventh accessory platform 461 includes a sixth slide groove 36 and a seventh translational power source (cylinder), a sixth slide plate 37 is provided in the sixth slide groove 36, and a third sealing ring groove 371 is provided on one side of the sixth slide plate 37, the third sealing ring conveying guide rail 33 is communicated with the third sealing ring vibrating plate 32, and the seventh translational power source (cylinder) drives the sixth slide plate 37 to move horizontally in the sixth slide groove 36 so that the sixth The third sealing ring groove 371 on the slide plate 37 is connected to or offset from the third sealing ring conveying guide rail 33, the shuttle valve conveying guide rail 35 is connected to the shuttle valve vibration disk 34, the eighth accessory platform 462 includes a seventh slide groove and an eighth translational motive force source (cylinder), and a seventh slide plate 38 is provided in the seventh slide groove. A shuttle valve groove is provided on one side of the seventh slide plate 38. The eighth translational motive force source (cylinder) drives the seventh slide plate 38 to move horizontally in the seventh slide groove so that the shuttle valve groove on the seventh slide plate 38 is connected to or offset from the shuttle valve conveying guide rail 35.

[0048] The first suction assembly 432, the second suction assembly 444, the third suction assembly 445, the fourth suction assembly 453, the fifth suction assembly 454 and the sixth suction assembly 463 all include a moving assembly 39 and a suction head. The moving assembly 39 includes a transverse guide rail 391, a ninth translational power source (cylinder), a tenth translational power source 392 (cylinder) and a transverse plate 393. The transverse plate 393 is connected to the ninth translational power source (cylinder). The suction head is located on the bottom surface of the transverse plate 393. The ninth translational power source (cylinder) drives the tenth translational power source 392 (cylinder) to move horizontally on the transverse guide rail 391 so that the suction head on the transverse plate 393 is aligned with or deviates from the top of the accessory table. The tenth translational power source 392 (cylinder) drives the transverse plate 393 to move in the vertical direction so that the suction head on the transverse plate 393 is close to or away from the accessory table.

[0049] like Figure 6 As shown, the suction head of the first suction assembly 432 includes a suction rod 4321, a pressure rod 4322 and an eleventh translational power source 4323 (cylinder), the suction rod 4321 is sleeved on the outer surface of the pressure rod 4322, an air pipe connected to the suction rod 4321 is provided on one side of the suction rod 4321, and the eleventh translational power source 4323 (cylinder) drives the pressure rod 4322 to translate downward so that the pressure rod 4322 presses the damping at the bottom of the suction rod 4321 to the bottom of the damping hole; Fig. 9 As shown, the suction head of the second suction assembly 444 includes a pressing shaft 4441, a push sleeve 4442 and a twelfth translational power source 4443 (cylinder). The push sleeve 4442 is arranged on the outer surface of the pressing shaft 4441, and the bottom of the push head is in an inverted cone shape. The twelfth translational power source 4443 (cylinder) drives the push head to translate downward so that the push head pushes the O-ring at the bottom of the pressing shaft 4441 out of the pressing shaft 4441 to the bottom surface of the proportional valve hole; Fig.12 As shown, the suction head of the fifth suction assembly 454 includes a magnetic rod 4541, a rod sleeve 4542 and a thirteenth translational force source 4543 (cylinder), the rod sleeve 4542 is sleeved on the outer surface of the magnetic rod 4541, and the thirteenth translational force source 4543 (cylinder) drives the magnetic rod 4541 to move in the vertical direction so that the magnetic rod 4541 is close to or away from the plug.

[0050] like Fig.11 As shown, the suction head of the third suction component 445, the suction head of the fourth suction component 453 and the suction head of the sixth suction component 463 all include a sealing ring sleeve rod 401, a sealing ring sleeve 402 and a fourteenth translational motive force source 403 (cylinder), the sealing ring sleeve 402 is sleeved on the outer surface of the sealing ring sleeve rod 401, the bottom of the sealing ring sleeve rod 401 is truncated cone-shaped, the sealing ring sleeve 402 is composed of a plurality of expansion pieces, and a certain gap is provided between each expansion piece, and the fourteenth translational motive force source 403 (cylinder) drives the sealing ring sleeve rod 401 to move in the vertical direction so that the sealing ring sleeve rod 401 is inserted into or separated from the sealing ring.

[0051] like Figure 4-10 As shown, since the guide rails on each accessory table need to continuously transport the accessories to the accessory slot, a detection head 40 is required to detect whether the accessories have completely entered the accessory slot. Therefore, the first accessory table 431, the second accessory table 441, the third accessory table 442, the fourth accessory table 443, the fifth accessory table 451, the sixth accessory table 452, the seventh accessory table 461 and the eighth accessory table 462 are all provided with an in-place detection head 40, which is used to detect that each accessory has entered the corresponding accessory slot position.

[0052] Working principle: The assembly of the hydraulic valve assembly in the present invention is divided into a pre-process step, a damping press-fitting step, a proportional valve assembly step, a plug assembly step and a shuttle valve assembly step. The latter four steps have no specific order, and the following description is based on the above steps in sequence;

[0053] Preliminary steps: First, the pick-up manipulator 3 clamps the hydraulic valve on the storage table 2 to the assembly station 42, and the movable clamping block 421 on the assembly station 42 tightly clamps the hydraulic valve, and then the assembly station 42 slides to the side of the damping press-fitting mechanism 43 through the sliding mechanism 41;

[0054] Damping press-fitting steps: When the assembly station 42 carrying the initial hydraulic valve slides to one side of the damping press-fitting mechanism 43, the damping vibration disk 7 and the valve seat vibration disk 8 in the damping press-fitting mechanism 43 vibrate, and the damping in the damping vibration disk 7 is transported to the first accessory table 431 through the damping conveying guide rail 5, and the valve seat in the valve seat vibration disk 8 is transported to the first accessory table 431 through the valve seat conveying guide rail 6. Since there is a horizontal first slide groove 9 on the first accessory table 431, the first slide groove 9 is perpendicular to the damping conveying guide rail 5 and the valve seat conveying guide rail 6, and there is a first slide plate 11 in the first slide groove 9. One end of the first slide plate 11 is connected to the cylinder, and two grooves are provided on the edge of the first slide plate 11 close to the conveying guide rail. The guide rail at one end of the sliding direction of the first slide plate 11 is the valve seat conveying rail. When the first slide plate 11 is completely located in the first slide groove 9, the damping groove 111 on the first slide plate 11 is just connected with the damping conveying guide rail 5. The damping in the damping conveying guide rail 5 enters the damping groove 111 and is detected by the in-place detection head 40. After the detection, the first slide plate 11 is driven by the cylinder to drive the damping groove 111 with the damping to the middle position. At this time, the cross plate 393 is driven by the moving component 39 to bring the suction head at the front end of the cross plate 393 to the top of the damping groove 111 of the first slide plate 11. The moving component 39 continues to drive the cross plate 393 downward to move the suction head downward. The suction rod 4321 in the suction head is sucked up by the air pressure, and then is driven by the moving component 39 to move to the damping hole of the initial hydraulic valve. Because the diameter of the damping hole is larger than the diameter of the damping, the suction rod 4321 always has a suction force supporting the damping at the bottom of the damping hole. When the air pressure returns to the original value, the suction rod 4321 releases the suction force, and the pressure rod 4322 in the suction rod 4321 presses the damping lightly downward on the bottom of the damping hole. The other valve seat groove 112 originally located in the middle position just moves to the place connected with the valve seat conveying guide rail 6. The valve seat in the valve seat conveying guide rail 6 enters the valve seat groove 112 and is detected by the in-place detection head 40. After the detection, the first sliding plate 11 is reset. After the valve seat groove 112 with the valve seat returns to the middle position, the suction head moves out of the damping hole through the moving component 39 and moves horizontally to the top of the valve seat groove 112 to absorb the valve seat through the suction rod 4321, and then the valve seat is brought to the damping hole through the moving component 39. In the hole, the suction rod 4321 releases the suction force and then lightly presses it through the pressure rod 4322. After completion, the assembly station 42 slides a distance to the bottom of the edge sealing component 433 through the sliding mechanism 41. The pressure tube 4333 of the edge sealing component 433 is downward toward the damping hole for assembling the damping and the valve seat. The pressure tube 4333 is hollow inside, and the diameter of the inner ring of the pressure tube 4333 is larger than the diameter of the valve seat and the damping. After the pressure tube 4333 is driven downward by the cylinder to be inserted into the valve seat and the damping, it continues to apply a pressure downward to the bottom of the damping hole to form an annular valve groove at the bottom of the damping hole. This process is edge sealing. After the edge sealing is completed, the pressure tube 4333 is reset, and the sliding mechanism 41 drives the assembly station 42 to the bottom of the tightening mechanism 47. The screw 472 of the tightening mechanism 47 is aligned with the valve seat and rotated downward.So that the valve seat is tightened on the damping hole, and the bottom of the valve seat is embedded in the annular valve groove;

[0055] Proportional valve assembly steps: after the damping press-fitting step is completed, the sliding mechanism 41 will drive the assembly station 42 to a certain position, and the picking robot 3 will clamp the hydraulic valve on the assembly station 42, and then flip the side of the hydraulic valve with the proportional valve hole upward through the rotating part 31. After flipping, the movable clamp 421 on the assembly station 42 clamps the hydraulic valve, and the sliding mechanism 41 drives the assembly station 42 to move to the bottom of the second suction component 444. The O-ring vibration plate 12 continuously vibrates to convey the O-ring into the O-ring conveying guide rail 13. The second slide plate 21 on the second accessory platform can slide in the second slide groove 19 through the cylinder drive. The second slide plate 21 has an O-ring groove 211. When the second slide plate 21 is completely located in the second slide groove 19, the O-ring conveying guide rail 13 is just connected with the O-ring groove 211. After the O-ring in the O-ring conveying guide rail 13 is conveyed to the O-ring groove 211, it is detected by the in-place detection head. 40 detects whether it is in place, and then the second slide plate 21 is driven by the cylinder to slide in the second slide groove 19 so that the O-ring groove 211 is offset from the O-ring conveying guide rail 13, and the O-ring groove 211 is located in the middle of the second accessory table 441. The suction head of the second suction component 444 is moved to the top of the O-ring groove 211 carrying the O-ring through the moving component 39. The moving component 39 drives the pressing shaft 4441 to align with the inner ring of the O-ring and press down. The diameter of 441 is slightly larger than the inner diameter of the O-ring. The pressing shaft 4441 is pressed downward to press into the inner ring of the O-ring so that the O-ring is sleeved on the pressing shaft 4441. Then the pressing shaft 4441 is moved to the proportional valve hole of the hydraulic valve through the moving assembly 39, and extends into the proportional valve hole to the inner bottom. The push sleeve 4442 sleeved on the pressing shaft 4441 pushes the O-ring on the pressing shaft 4441 downward so that the O-ring is flatly located at the inner bottom of the proportional valve hole after being pushed down.Secondly, after the O-ring is installed, the sliding mechanism 41 drives the assembly station 42 to move below the outlet end of the first blow pipe 446, and the outlet end of the first outlet pipe is aligned with the proportional valve hole of the hydraulic valve. Before that, the cylinder on the proportional valve storage platform 16 on one side drives the push plate to push a whole row of proportional valves into the proportional valve conveying guide rail 17, and the first sealing ring vibration plate 14 continuously vibrates the first sealing ring in the plate and sends it to the third accessory platform through the first sealing ring conveying guide rail 15. The third sliding plate 23 on the third accessory platform 442 slides in the third slide groove 22 through the cylinder. The third sliding plate 23 is provided with a first sealing ring groove 231. When the third sliding plate 23 is completely located in the third slide groove 22, the first sealing ring The ring groove 231 is located below the suction head of the third suction component 445, that is, the first sealing ring groove 231 is not connected with the first sealing ring conveying guide rail 15, and the two are misaligned. When the cylinder drives the third sliding plate 23 to slide in the opposite direction of the suction head of the third suction component 445, so that the first sealing ring groove 231 is connected with the first sealing ring conveying guide rail 15, the first sealing ring conveying guide rail 15 conveys the first sealing ring into the first sealing ring groove 231 and then detects whether it is in place by the in-place detection head 40. Subsequently, the third sliding plate 23 is driven by the cylinder to slide in the third slide groove 22 so that the first sealing groove carrying the first sealing ring is located directly below the suction head of the third suction component 445, and the sealing of the suction head is The sealing ring sleeve rod 401 presses the inner ring of the first sealing ring downward so that the first sealing ring is sleeved in the sealing ring sleeve rod 401. At the same time, the fourth sliding plate 24 on the fourth accessory platform 443 on one side slides the proportional valve groove to communicate with the proportional valve conveying guide rail 17 in the same way. The proportional valve conveying guide rail 17 conveys the proportional valve to the proportional valve groove, and then the in-place detection head 40 detects whether it is in place. Then, the proportional valve groove carrying the proportional valve is slid to one end. The suction head on the third suction component 445 is moved to the top of the fourth accessory platform 443 through the moving component 39 and is just above the proportional valve. Then the sealing ring sleeve rod 401 moves upward. Since the bottom of the sealing ring sleeve rod 401 is in the shape of a truncated cone, The sealing ring sleeve 402 can be opened, so the sealing ring sleeve 402 can push the first sealing ring on the sealing ring sleeve rod 401 downward and push it onto the proportional valve. Since the upper end diameter of the proportional valve is larger, the proportional valve is upside down when the first sealing ring is sleeved. The fourth sliding plate 24 moves the proportional valve with the first sealing ring sleeved to below the inlet end of the first blow pipe 446. The first blow pipe 446 blows the upside-down proportional valve to the proportional valve hole of the hydraulic valve, so that the proportional valve will be located directly on the proportional valve hole. Finally, the sliding mechanism 41 drives the assembly station 42 to below the tightening mechanism 47. The screw 472 of the tightening mechanism 47 is aligned with the proportional valve and then rotated downward to tighten the plug on the proportional valve hole.

[0056] Plug assembly steps: after completing the proportional valve assembly steps, the sliding mechanism 41 will drive the assembly station 42 to a certain position, the picking robot 3 will clamp the hydraulic valve on the assembly station 42, and then flip the side of the hydraulic valve with the plug hole upwards through the rotating part 31. After flipping, the movable clamp 421 on the assembly station 42 clamps the hydraulic valve, and the sliding mechanism 41 drives the assembly station 42 to move to the bottom of the fifth suction component 454. Since the suction heads in the fourth suction component 453 and the fifth suction component 454 in the plug assembly mechanism 45 are both arranged on a horizontal plate 393, the suction head for pressing the second sealing ring is located on the front side, and the suction head for sucking the installed plug is located on the rear side. First, the second sealing ring vibration disk 25 vibrates to move the second The sealing ring is transported to the second sealing ring conveying guide rail 26, and then transported to the fifth accessory platform 451 by the second sealing ring conveying guide rail 26. The fifth sliding plate 301 on the fifth accessory platform 451 slides in the fifth sliding groove 30 through the cylinder. The same as the previous movement method, when the fifth sliding plate 301 slides, the second sealing ring groove 311 on the fifth sliding plate 301 is connected to the second sealing ring guide rail. At this time, the second sealing ring conveying guide rail 26 conveys the second sealing ring to the second sealing ring groove 311 and then the in-place detection head 40 detects whether it is in place. After that, the fifth sliding plate 301 is reset and slides to one end with the second sealing ring groove 311 carrying the second sealing ring, and is located below the suction head that absorbs the sealing ring. The sealing ring sleeve rod 401 moves down and is inserted into the inner ring of the second sealing ring. The second sealing ring is put on the sealing ring rod 401 and then moved to the sixth accessory platform through the moving mechanism. At the same time, the cylinder on the plug storage platform 27 on one side drives the push plate to push a whole row of plugs into the plug conveying guide rail 29, and the plug conveying rail is then transported to the sixth accessory platform, and the sixth slide plate 37 on the sixth accessory platform slides in the sixth slide groove 36 through the cylinder. The same as the previous movement method, when the sixth slide plate 37 slides, the plug groove on the sixth slide plate 37 is connected with the plug conveying rail. At this time, the plug conveying rail transports the plug to the plug groove and the in-place detection head 40 detects whether it is in place. Afterwards, the sixth slide plate 37 slides to stagger the plug groove and the plug conveying mechanism, and the plug groove with the plug moves to absorb the second sealing ring. The sealing ring is placed under the rod 401, and then the sealing ring rod 401 moves upward. Since the bottom of the sealing ring rod 401 is truncated, the sealing ring sleeve 402 can be opened, so the sealing ring sleeve 402 can push the second sealing ring on the sealing ring rod 401 downward and push it onto the plug. Since the upper diameter of the plug is small, the second sealing ring can be directly put on it without the need to put it in reverse. Therefore, the moving component 39 drives the cross plate 393 to move back, that is, the suction head that absorbs the sealing ring is reset to re-absorb the sealing ring. At this time, the fifth suction component 454 at the other end of the cross plate 393 is located just above the plug with the second sealing ring. The magnetic rod 4541 is driven downward by the cylinder to absorb the plug through magnetic force. Since the plug is made of metal, it can be sucked up.When the next second sealing ring needs to be inserted, the moving assembly 39 drives the horizontal plate 393 to move, and the magnetic rod 4541 moves to the top of the plug hole. The magnetic rod 4541 is driven by the cylinder to put the plug into the plug hole, and then the rod sleeve 4542 moves downward to push the plug out. Finally, the sliding mechanism 41 drives the assembly station 42 to the bottom of the tightening mechanism 47, and the screw rod 472 of the tightening mechanism 47 is aligned with the plug and rotated downward to tighten the plug on the plug hole.

[0057] Shuttle valve assembly steps: after completing the plug assembly step, the sliding mechanism 41 will drive the assembly station 42 to a certain position, the picking robot 3 will clamp the hydraulic valve on the assembly station 42, and then flip the side of the hydraulic valve with the shuttle valve hole upward through the rotating part 31. After flipping, the movable clamp 421 on the assembly station 42 clamps the hydraulic valve, and the sliding mechanism 41 drives the assembly station 42 to move to the bottom of the tightening mechanism 47. The feeding assembly on the back side of the tightening mechanism 47 is aligned with the shuttle valve hole of the hydraulic valve. The storage tray 48 contains steel balls. The storage tray 48 shakes out the steel balls and connects them to the feeding assembly on the back side of the tightening mechanism 47 through a blowpipe. The feeding assembly is driven by the cylinder. After the ball is inserted into the shuttle valve hole, the steel ball is blown into the shuttle valve hole. Then the sliding mechanism 41 continues to drive the assembly station 42 to move below the sliding-out end of the second blowpipe 464. Then the third sealing ring vibration plate 32 conveys the third sealing ring to the third sealing ring conveying guide rail 33, and then the third sealing ring conveying guide rail 33 conveys it to the seventh accessory platform 461. The seventh sliding plate 38 on the seventh accessory platform 461 slides in the seventh slide groove through the cylinder. When a part of the seventh sliding plate 38 slides out of the seventh slide groove, the third sealing ring groove 371 on the seventh sliding plate 38 is connected to the third sealing ring guide rail. At this time, the third sealing ring conveying guide rail 33 conveys the third sealing ring to the third sealing ring. After the sealing ring groove 371 is inserted into the sealing ring, it is detected by the in-place detection head 40 whether it is in place. After that, the seventh sliding plate 38 is reset and the third sealing ring groove 371 carrying the third sealing ring slides to one end and is located below the suction head for sucking the sealing ring. The sealing ring sleeve rod 401 moves down and inserts into the inner ring of the third sealing ring to sleeve the third sealing ring on the sealing ring sleeve rod 401, and then it is moved to the eighth accessory platform through the moving mechanism. At the same time, the shuttle valve vibration plate 34 on one side transports the shuttle valve to the eighth accessory platform 462 through the shuttle valve conveying track, and then it is detected by the in-place detection head 40. The suction head of the sealing ring moves to the top of the shuttle valve, and then the sealing ring sleeve rod 401 moves upward. The bottom of the sealing ring sleeve rod 401 is truncated, and the sealing ring sleeve 402 can be opened, so the sealing ring sleeve 402 can push the third sealing ring on the sealing ring sleeve rod 401 downward and push it onto the shuttle valve. Since the upper part of the shuttle valve is directly larger, the shuttle valve needs to be inserted into the third sealing ring upside down. Therefore, the shuttle valve after being inserted slides in the eighth slide groove to the bottom of the suction end of the second blow pipe 464 through the eighth slide plate, and is blown into the shuttle valve hole of the hydraulic valve through the second blow pipe 464. Finally, the sliding mechanism 41 drives the assembly station 42 to the bottom of the tightening mechanism 47, and the screw 472 of the tightening mechanism 47 is aligned with the shuttle valve and rotated downward to tighten the shuttle valve on the shuttle valve hole;

[0058] After the hydraulic valve assembly is assembled, the sliding mechanism 41 slides the assembly station 42 to the middle, and the picking robot 3 clamps the fully assembled hydraulic valve onto the storage table 2, and then re-clamps a new initial hydraulic valve to start assembly.

[0059] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive, and therefore the present invention is not limited to the embodiments described in the specific implementation manners. Any other implementation manners derived by those skilled in the art based on the technical solutions of the present invention also fall within the scope of protection of the present invention.

Claims

1. A hydraulic valve assembly automatic assembly device, characterized in that: The invention comprises a frame (1), a material storage table (2) and a pick-up manipulator (3), wherein the material storage table (2) is used to store hydraulic valves, the frame (1) comprises a workbench (4), the workbench (4) comprises a sliding mechanism (41), an assembly station (42), a damping press-fitting mechanism (43), a proportional valve assembly mechanism (44), a plug assembly mechanism (45), a shuttle valve assembly mechanism (46) and a tightening mechanism (47), the assembly station (42) is located on the sliding mechanism (41), and the pick-up manipulator takes the initial hydraulic pressure on the material storage table and presses the initial hydraulic pressure on the material storage table to the workbench (4). The valve is clamped to the assembly station, and the pick-up manipulator (3) is provided with a rotating part (31). The pick-up manipulator (3) turns the hydraulic valve on the assembly station (42) by the rotating part (31). The assembly station (42) moves horizontally on the workbench (4) through the sliding mechanism (41) so that the assembly station (42) passes through the damping press-fitting mechanism (43), the proportional valve assembly mechanism (44), the plug assembly mechanism (45) and the shuttle valve assembly mechanism (46), and the tightening mechanism (47) is located above the sliding mechanism (41); The damping pressing mechanism (43) comprises a first accessory platform (431), a first suction component (432) and an edge sealing component (433). The damping and the valve seat are placed on the first accessory platform (431). The first suction component (432) is used to drive the damping on the first accessory platform (431) into the damping hole of the initial hydraulic valve. The first suction component (432) is also used to drive the valve seat on the first accessory platform (431) to the top of the damping hole of the initial hydraulic valve. When the sliding mechanism ( When the sliding mechanism (41) drives the assembly station (42) to move horizontally to below the edge sealing assembly (433), the edge sealing assembly (433) moves downward to the inner bottom surface of the damping hole of the hydraulic valve behind the assembly valve seat, and applies a downward pressure to the inner bottom surface of the damping hole so that an annular valve groove is formed on the inner bottom surface of the damping hole. When the sliding mechanism (41) drives the assembly station (42) to move horizontally to below the tightening mechanism (47), the tightening mechanism (47) applies a rotational force downward to the valve seat so that the valve seat is screwed onto the hydraulic valve. The proportional valve assembly mechanism (44) comprises a second accessory platform (441), a third accessory platform (442), a fourth accessory platform (443), a second suction component (444), a third suction component (445) and a first blow pipe (446). An O-ring is placed on the second accessory platform (441), a first sealing ring is placed on the third accessory platform (442), a proportional valve is placed on the fourth accessory platform (443), the first blow pipe (446) comprises an inlet end and an outlet end, the inlet end of the first blow pipe (446) is arranged above the fourth accessory platform (443), and when the sliding mechanism (41) drives the assembly station (42) to move horizontally to the bottom of the second suction component (444), the second suction component (444) moves the O-ring on the second accessory platform (441) to the bottom of the second suction component (444). The ring is driven to the proportional valve hole of the hydraulic valve after the valve seat is installed, and the third suction component (445) drives the first sealing ring on the third accessory table (442) to the proportional valve on the fourth accessory table (443), so that the first sealing ring is pressed on the proportional valve. When the sliding mechanism (41) drives the assembly station (42) to move horizontally to below the outlet end of the first blow pipe (446), the first blow pipe (446) gives a suction force to the proportional valve equipped with the first sealing ring on the fourth accessory table (443), so that the proportional valve equipped with the first sealing ring falls on the proportional valve hole of the hydraulic valve. When the sliding mechanism (41) drives the assembly station (42) to move horizontally to below the tightening mechanism (47), the tightening mechanism (47) gives a rotational force downward to the proportional valve so that the proportional valve is tightened on the hydraulic valve. The plug assembly mechanism (45) comprises a fifth accessory platform (451), a sixth accessory platform (452), a fourth material suction component (453) and a fifth material suction component (454). A second sealing ring is placed on the fifth accessory platform (451), and a plug is placed on the sixth accessory platform (452). When the sliding mechanism (41) drives the assembly station (42) to move horizontally below the fourth material suction component (453), the fourth material suction component (453) moves the fifth accessory platform (451) to the bottom of the fourth material suction component (453). The second sealing ring on the sixth accessory platform (451) is driven to the plug in the sixth accessory platform (452) so that the second sealing ring is pressed onto the plug. The fifth suction assembly (454) is used to drive the plug equipped with the second sealing ring on the sixth accessory platform (452) to the plug hole of the hydraulic valve. When the sliding mechanism (41) drives the assembly station (42) to translate to below the tightening mechanism (47), the tightening mechanism (47) applies a rotational force downward to the plug so that the plug is tightened on the hydraulic valve. The tightening mechanism (47) includes a loading assembly (471), and the workbench (4) is also provided with a storage tray (48), in which steel balls are placed. When the sliding mechanism (41) drives the assembly station (42) to the bottom of the loading assembly (471), the loading assembly (471) is used to drive the steel balls in the storage tray (48) to the shuttle valve hole of the hydraulic valve after the assembly plug is tightened; The shuttle valve assembly mechanism (46) comprises a seventh accessory platform (461), an eighth accessory platform (462), a sixth suction component (463) and a second blow pipe (464); the seventh accessory platform (461) is provided with a third sealing ring; the eighth accessory platform (462) is provided with a shuttle valve; the second blow pipe (464) comprises a suction port end and a slide-out end; the suction port end is located above the eighth accessory platform (462); when the sliding mechanism (41) drives the assembly station (42) to move horizontally to below the slide-out end, the sixth suction component (463) is used to The third sealing ring on the seventh accessory platform (461) is driven to the shuttle valve on the eighth accessory platform (462) so that the third sealing ring is pressed against the shuttle valve. The second blow pipe (464) gives an upward suction force to the shuttle valve equipped with the third sealing ring on the eighth accessory platform (462) so that the shuttle valve equipped with the third sealing ring slides out from the sliding end and falls on the shuttle valve hole of the hydraulic valve. When the sliding mechanism (41) drives the assembly station (42) to move horizontally to below the tightening mechanism (47), the tightening mechanism (47) gives a rotational force downward to the shuttle valve so that the shuttle valve is tightened on the hydraulic valve. The damping press-fitting mechanism (43), the proportional valve assembly mechanism (44), the plug assembly mechanism (45) and the shuttle valve assembly mechanism (46) all include a conveying assembly. The conveying assembly of the damping press-fitting mechanism (43) includes a damping conveying guide rail (5), a valve seat conveying guide rail (6), a damping vibration disk (7) and a valve seat vibration disk (8). The first accessory platform (431) is provided with a first slide groove (9) and a first translational force source (10). The first slide groove (9) is provided with a first slide plate (11). A damping groove (111) and a valve seat groove (112) are provided on one side edge of the first slide plate (11). One end of the damping conveying guide rail (5) is communicated with the damping vibration disk (7). The valve seat conveying guide rail (6) is provided with a damping vibration disk (7). One end of the conveying guide rail (6) is communicated with the valve seat vibration plate (8); when the first translational power source (10) drives the first slide plate (11) to translate to a first position on a horizontal plane, the other end of the damping conveying guide rail (5) is communicated with the damping groove (111); the first position is that the first slide plate (11) is entirely located in the first slide groove (9); when the first translational power source (10) drives the first slide plate (11) to translate to a second position on a horizontal plane, the other end of the valve seat conveying guide rail (6) is communicated with the valve seat groove (112); the second position is that one end of the first slide plate (11) is located outside the first slide groove (9) and the damping groove (111) is located in the middle of the first accessory table (431); The first suction component (432), the second suction component (444), the third suction component (445), the fourth suction component (453), the fifth suction component (454) and the sixth suction component (463) all include a moving component (39) and a suction head. The moving component (39) includes a transverse guide rail (391), a ninth translational power source, a tenth translational power source (392) and a transverse plate (393). The transverse plate (393) is connected to the ninth translational power source. The suction head is located on the bottom surface of the transverse plate (393). The ninth translational power source drives the tenth translational power source (392) to move horizontally on the transverse guide rail (391) so that the suction head on the transverse plate (393) is aligned with or deviates from the top of the accessory table. The tenth translational power source (392) drives the transverse plate (393) to move in the vertical direction so that the suction head on the transverse plate (393) is close to or away from the accessory table.

2. The automatic assembly equipment for hydraulic valve components according to claim 1, characterized in that: The conveying assembly of the proportional valve assembly mechanism (44) includes an O-ring vibration plate (12), an O-ring conveying guide rail (13), a first sealing ring vibration plate (14), a first sealing ring conveying guide rail (15), a proportional valve storage platform (16), a proportional valve conveying guide rail (17) and a second translational power source (18); the second accessory platform (441) is provided with a second slide groove (19) and a third translational power source (20); the second slide groove (19) is provided with a second slide plate (21); one side edge of the second slide plate (21) is provided with The third accessory platform (442) has an O-ring groove (211), the O-ring conveying guide rail (13) is connected to the O-ring vibration plate (12), and the third translational power source (20) drives the second slide plate (21) to move horizontally in the second slide groove (19), so that the O-ring groove (211) on the second slide plate (21) is connected to or misaligned with the O-ring conveying guide rail (13); the third slide groove (22) and the fourth translational power source are provided on the third accessory platform (442), the third slide groove (22) is provided with a third slide plate (23), and the third A first sealing ring groove (231) is provided on one side edge of the slide plate (23); the first sealing ring conveying guide rail (15) is communicated with the first sealing ring vibration plate (14); the fourth translational motive force source drives the third slide plate (23) to move horizontally in the third slide groove (22) so that the first sealing ring groove (231) on the third slide plate (23) is communicated with or misaligned with the first sealing ring conveying guide rail (15); a fourth slide groove and a fourth translational motive force source are provided on the fourth accessory platform (443); a fourth slide groove is provided with a fourth sliding groove; The material plate (24), a proportional valve groove is provided on one side edge of the fourth slide plate (24), the proportional valve conveying guide rail (17) is connected to the proportional valve storage platform (16), the second translational motive force source (18) drives the proportional valve in the proportional valve storage platform (16) to move on a horizontal plane so that the proportional valve enters the proportional valve conveying guide rail (17), and the fourth translational motive force source drives the fourth slide plate (24) to move horizontally in the fourth slide groove so that the proportional valve groove on the fourth slide plate (24) is connected to or offset from the proportional valve conveying guide rail (17).

3. The automatic assembly equipment for hydraulic valve components according to claim 1, characterized in that: The conveying component of the plug assembly mechanism (45) includes a second sealing ring vibration disk (25), a second sealing ring conveying guide rail (26), a plug storage platform (27), a fifth translational motive force source (28) and a plug conveying guide rail (29), the fifth accessory platform (451) includes a fifth slide groove (30) and a sixth translational motive force source, a fifth slide plate (301) is provided in the fifth slide groove (30), a second sealing ring groove (311) is provided on one side edge of the fifth slide plate (301), the second sealing ring conveying guide rail (26) is connected to the second sealing ring vibration disk (25), and the sixth translational motive force source drives the fifth slide plate ( 301) moves horizontally in the fifth slide groove (30) so that the second sealing ring groove (311) on the fifth slide plate (301) is connected or misaligned with the second sealing ring conveying guide rail (26); the plug conveying guide rail (29) is connected with the plug storage platform (27), and the fifth translational motive force source (28) drives the plug in the plug storage platform (27) to move on the horizontal plane so that the plug enters the plug conveying guide rail (29), and the sixth translational motive force source drives the fifth slide plate (301) to move horizontally in the fifth slide groove (30) so that the plug groove on the fifth slide plate (301) is connected or misaligned with the plug conveying guide rail (29).

4. The automatic assembly equipment for hydraulic valve components according to claim 1, characterized in that: The conveying component of the shuttle valve assembly mechanism (46) includes a third sealing ring vibration disk (32), a third sealing ring conveying guide rail (33), a shuttle valve vibration disk (34) and a shuttle valve conveying guide rail (35); the seventh accessory platform (461) includes a sixth slide groove (36) and a seventh translational motive force source; a sixth slide plate (37) is provided in the sixth slide groove (36); a third sealing ring groove (371) is provided on one side of the sixth slide plate (37); the third sealing ring conveying guide rail (33) is in communication with the third sealing ring vibration disk (32); the seventh translational motive force source drives the sixth slide plate (37) in the sixth slide groove (36) so that the third sealing ring groove (371) on the sixth slide plate (37) is connected to or misaligned with the third sealing ring conveying guide rail (33), the shuttle valve conveying guide rail (35) is connected to the shuttle valve vibration plate (34), the eighth accessory platform (462) includes a seventh slide groove and an eighth translational driving force source, a seventh slide plate (38) is provided in the seventh slide groove, a shuttle valve groove is provided on one side of the seventh slide plate (38), and the eighth translational driving force source drives the seventh slide plate (38) to move horizontally in the seventh slide groove so that the shuttle valve groove on the seventh slide plate (38) is connected to or misaligned with the shuttle valve conveying guide rail.

5. The automatic assembly equipment for hydraulic valve components according to claim 1, characterized in that: The suction head of the first suction component (432) includes a suction rod (4321), a pressure rod (4322) and an eleventh translational power source (4323), wherein the suction rod (4321) is sleeved on the outer surface of the pressure rod (4322), and an air pipe connected to the suction rod (4321) is provided on one side of the suction rod (4321), and the eleventh translational power source (4323) drives the pressure rod (4322) to translate downward so that the pressure rod (4322) presses the damping at the bottom of the suction rod (4321) to the bottom of the damping hole; the suction head of the second suction component (444) includes a pressure shaft (4441), a push sleeve (4442) and a twelfth translational power source (4443), wherein the push sleeve (4442) is provided The outer surface of the pressing shaft (4441), the bottom of the push sleeve (4442) is in an inverted cone shape, and the twelfth translational kinetic energy source (4443) drives the push sleeve (4442) to translate downward so that the push sleeve (4442) pushes the O-ring at the bottom of the pressing shaft (4441) out of the pressing shaft (4441) to the bottom surface of the proportional valve hole; the suction head of the fifth suction component (454) includes a magnetic rod (4541), a rod sleeve (4542) and a thirteenth translational kinetic energy source (4543), the rod sleeve (4542) is sleeved on the outer surface of the magnetic rod (4541), and the thirteenth translational kinetic energy source (4543) drives the magnetic rod (4541) to move in the vertical direction so that the magnetic rod (4541) is close to or separated from the plug.

6. The automatic assembly equipment for hydraulic valve components according to claim 5, characterized in that: The suction heads of the third suction component (445), the fourth suction component (453) and the sixth suction component (463) all include a sealing ring rod (401), a sealing ring sleeve (402) and a fourteenth translational motive force source (403). The sealing ring sleeve (402) is sleeved on the outer surface of the sealing ring rod (401). The bottom of the sealing ring rod (401) is in a truncated cone shape. The sealing ring sleeve (402) is composed of a plurality of expansion plates, and a certain gap is formed between each expansion plate. The fourteenth translational motive force source (403) drives the sealing ring rod (401) to move in a vertical direction so that the sealing ring rod (401) is inserted into or separated from the sealing ring.

7. The automatic assembly equipment for hydraulic valve components according to claim 6, characterized in that: The edge sealing assembly (433) includes a bracket (4331), a base plate (4332), a pressure tube (4333), a buffer spring (4334) and a fifteenth translational force source (4335), wherein the buffer spring (4334) is located on the base plate (4332) and the bracket (4331), the pressure tube (4333) passes through the base plate (4332), a convex ring is provided at the bottom of the pressure tube (4333), the interior of the pressure tube (4333) is hollow, and the inner ring diameter of the pressure tube (4333) is larger than the diameter of the damping and the diameter of the valve seat.

8. The automatic assembly equipment for hydraulic valve components according to claim 1, characterized in that: The first accessory platform (431), the second accessory platform (441), the third accessory platform (442), the fourth accessory platform (443), the fifth accessory platform (451), the sixth accessory platform (452), the seventh accessory platform (461) and the eighth accessory platform (462) are all provided with an in-place detection head (40), and the in-place detection head (40) is used to detect the position of each accessory entering the corresponding accessory slot.

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