Safety valve handle assembly machine

Abstract

The present invention discloses a safety valve handle assembly machine, which includes a turntable provided with a plurality of toolings and a safety valve loading station, a sealing seat loading station, a sealing seat tightening station, a stainless steel gasket installation station, a rivet hole orientation station, a rivet and handle assembly station, a riveting station, and an unloading station distributed along the outer circumference of the turntable. The turntable rotates intermittently so that the toolings correspond to the stations in sequence, and the toolings are used to place safety valves; the rivet hole orientation station is provided with a rivet hole orientation manipulator, and the rivet hole orientation manipulator includes a plug rod that can rotate around the axis of the pull rod and can feed radially along the pull rod at the same time. The present invention realizes the automatic assembly process of the handle, greatly improves the assembly efficiency, saves labor costs, and has a low defective rate of products.

Description

Technical Field

[0001] The present invention relates to the technical field of automated assembly, and particularly to a safety valve handle assembly machine. Background Art

[0002] A safety valve is a relatively special valve. Its particularity lies in that, different from other valves that only play the role of opening and closing, it more importantly plays the role of protecting the safety of equipment. The internal structure of the safety valve is precise and complex, and the installation process is also rather cumbersome. Before installing the handle, it is necessary to first assemble the sealing ring (refer to the invention patent application submitted by the applicant previously: 202211341658X), assemble the internal leakage component (refer to the invention patent application submitted by the applicant previously: 2022113415727), and then install the internal leakage component, external leakage component, and other components into the valve body (refer to the invention patent application submitted by the applicant previously: 2022113410742). The safety valve obtained through the above steps can continue with the installation of the handle only after being manually inspected by water and the pressure is adjusted. The handle needs to be installed on the pull rod of the safety valve through rivets. The structure is relatively delicate, and it is difficult to insert the rivets. It is difficult to achieve automated assembly. Therefore, the handle assembly generally still adopts the manual assembly method at present, and the efficiency is relatively low. Summary of the Invention

[0003] The purpose of the present invention is to provide a safety valve handle assembly machine that can achieve automatic orientation of the rivet holes on the pull rod and full-process automated assembly, so as to improve the assembly efficiency and save labor costs.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] A safety valve handle assembly machine, wherein the handle is assembled on the pull rod of the safety valve through rivets, and the handle and the pull rod are respectively provided with rivet holes for the rivets to pass through; the safety valve handle assembly machine includes a turntable provided with a plurality of tooling and a safety valve loading station, a seal seat loading station, a seal seat tightening station, a stainless steel gasket installation station, a rivet hole orientation station, a rivet and handle assembly station, a riveting station, and an unloading station distributed along the outer circumference of the turntable. The turntable rotates intermittently so that the tooling corresponds to the stations in sequence, and the tooling is used to place the safety valve;

[0006] The rivet hole orientation station is provided with a rivet hole orientation manipulator. The rivet hole orientation manipulator includes an inserting rod that can rotate around the axis of the pull rod and can simultaneously feed in the radial direction of the pull rod. The inserting rod contacts the side surface of the pull rod and rotates around the pull rod to find the rivet hole on the pull rod, and drives the pull rod to rotate to the zero position after inserting into the rivet hole;

[0007] The rivet and handle assembly stations are respectively provided with a rivet assembly robot and a handle assembly robot. After the handle assembly robot moves the handle to the pull rod so that the rivet holes of the handle and the pull rod are aligned, the rivet assembly robot inserts the rivet into the rivet hole.

[0008] Preferably, the safety valve feeding station is provided with a die plate and a safety valve feeding robot capable of grasping the safety valve on the die plate to the tooling, and the die plate can move in a direction perpendicular to the horizontal linear movement path of the safety valve feeding robot.

[0009] Preferably, the sealing seat feeding station is provided with a sealing seat feeding robot, which includes a core rod and a blanking frame capable of moving up and down relative to the core rod. The size of the core rod is slightly larger than the inner diameter of the O-ring of the sealing seat.

[0010] Preferably, a displacement sensor for detecting the outer O-ring is provided at the material taking position of the sealing seat feeding station.

[0011] Preferably, the stainless steel gasket installation station is provided with a vacuum suction robot, which includes a suction pipe, and a plurality of suction holes are distributed in the end face of the suction pipe corresponding to the annular area of the stainless steel gasket.

[0012] Preferably, the rivet hole orientation robot includes a rotating motor and an orientation clamp cylinder connected to the output end of the rotating motor, and the inserting rod is arranged on one of the fingers of the orientation clamp cylinder.

[0013] Preferably, the rivet assembly robot includes a pin with two feeding strokes, and the pin matches the axial hole of the rivet; a rivet feeding groove capable of reciprocating and flipping under the drive of a cylinder is provided at the material taking position of the pin.

[0014] Preferably, the riveting station is provided with a pair of opposing lead screws and two opposing nuts that move relatively and match the opposing lead screws. The two opposing nuts are respectively connected with riveting heads corresponding to both ends of the rivet, and the end face of the riveting head facing the rivet is conical.

[0015] Preferably, the sealing seat feeding station, the stainless steel gasket installation station, the rivet hole orientation station, and the rivet and handle assembly stations are respectively provided with a clamping clip cylinder for clamping the safety valve; the riveting station is provided with a pushing cylinder for pushing the safety valve against the tooling.

[0016] Preferably, a conveyor belt is provided outside the discharging station, and the products discharged from the discharging station fall to the end of the conveyor belt; for any product discharged, the conveying direction of the product after falling to the conveyor belt corresponds to the detection result of the product: when the product is a qualified product, the product is conveyed along the conveyor belt; when the product is an unqualified product, the conveyor belt conveys in the reverse direction to make the product fall out of the conveyor belt.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. The present invention realizes the automated assembly process of the handle, greatly improving the assembly efficiency, saving labor costs, and having a low defective rate of the product.

[0019] 2. The present invention realizes the orientation of the pull rod rivet hole through the rivet hole orientation station, facilitating the subsequent rivet piercing and installation.

[0020] 3. The present invention realizes the synchronous installation of the handle and the rivet through the rivet and handle assembly station, and then rivets the rivet through the riveting station. The structure design is reasonable and the operation is efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of the safety valve after assembly in the present invention.

[0022] Figure 2 is an exploded view of the safety valve in the present invention.

[0023] Figure 3 is a schematic overall structural diagram of the present invention.

[0024] Figure 4 is a schematic diagram of the station distribution in the present invention.

[0025] Figure 5 is a schematic structural diagram of the safety valve loading station and the ejecting station in the present invention.

[0026] Figure 6 is a schematic structural diagram of the sealing seat loading station in the present invention.

[0027] Figure 7 is a schematic structural diagram of the sealing seat loading manipulator in the present invention.

[0028] Figure 8 is a schematic structural diagram of the sealing seat tightening station and the stainless steel gasket installation station in the present invention.

[0029] Figure 9 is a schematic diagram of the upward view angle of the tightening rod in the present invention.

[0030] Figure 10 is a perspective view schematic diagram of the straw in the present invention.

[0031] Figure 11 is a schematic structural diagram of the rivet orientation station in the present invention.

[0032] Figure 12 is Figure 11 the enlarged schematic diagram at position A in

[0033] Figure 13 It is a schematic structural diagram of the rivet and handle assembly station in the present invention.

[0034] Figure 14 is Figure 13 an enlarged schematic diagram at position B in

[0035] Figure 15 It is a schematic structural diagram of the riveting station in the present invention.

[0036] Figure 16 It is a schematic structural diagram of the opposed lead screw nut in the present invention.

[0037] In the above schematic diagrams of each station, to avoid the graph being too complex and resulting in unclear illustration, the structures of the remaining stations are hidden.

[0038] In the figure: 10, safety valve; 20, pull rod; 30, seal seat; 40, stainless steel gasket; 50, handle; 60, rivet; 70, turntable; 80, tooling; 90, clamping clip cylinder;

[0039] 1. Safety valve loading station, 11, die plate, 12, safety valve loading manipulator;

[0040] 2. Ejector station, 21, ejector cylinder;

[0041] 3. Seal seat loading station, 31, seal seat loading manipulator, 32, mandrel, 33, unloading frame, 34, displacement sensor;

[0042] 4. Seal seat tightening station, 41, tightening rod;

[0043] 5. Stainless steel gasket installation station, 51, vacuum manipulator, 52, suction pipe, 53, suction hole, 54, main ventilation hole;

[0044] 6. Rivet hole orientation station, 61, rivet hole orientation manipulator, 62, rotating motor, 63, orientation clip cylinder, 64, inserting rod;

[0045] 7. Rivet and handle assembly station, 71, rivet assembly manipulator, 72, handle assembly manipulator, 73, inserting rod, 74, arc block, 75, rivet feeding groove;

[0046] 8. Riveting station, 81, opposed lead screw, 82, opposed nut, 83, riveting head, 84, pushing cylinder;

[0047] 9. Discharge station, 91, discharge cylinder, 92, conveyor belt. Detailed implementation manners

[0048] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further specifically described below through embodiments.

[0049] Example: Refer to Figure 1-2 In this example, the safety valve 10 has already completed the installation of the internal and external leakage components, as well as the manual hydrostatic test and pressure regulation in advance. During the assembly process of this example, it is necessary to install the seal seat 30, stainless steel gasket 40, and handle 50 in sequence at one end where the pull rod 20 is provided. The outer O-ring and inner O-ring of the seal seat 30 have also been installed in advance. The end of the pull rod 20 and the handle 50 are respectively provided with rivet holes that match each other, and the two are riveted through the rivet 60. The rivet 60 is axially hollow. One end of it is in a turned-up shape before installation, and the other end needs to be riveted and pressed after insertion and connection to achieve positioning.

[0050] The safety valve handle assembly machine of this example, as Figure 3-16 shown, includes a turntable 70 with a plurality of (such as 10 - 12) toolings 80 on its edge, and the safety valve loading station 1, ejector station 2, seal seat loading station 3, seal seat tightening station 4, stainless steel gasket installation station 5, rivet hole orientation station 6, rivet and handle assembly station 7, riveting and pressing station 8, and unloading station 9 that are distributed clockwise in sequence along the circumferential outer side of the turntable 70. The turntable 70 rotates intermittently clockwise, enabling the tooling 80 to correspond to each of the above stations in sequence, and the safety valve 10 in the tooling 80 enters the above stations in sequence for corresponding assembly operations. The turntable 70 is set as an annular shape to facilitate arranging some components that need to be arranged from the inside to the outside at the middle position of the turntable 70, such as the clamping clip cylinder and unloading cylinder described below (the driving method of the turntable refers to existing similar assembly equipment and will not be elaborated here).

[0051] In the above structure, the tooling 80 is designed with a horizontally arranged through hole and a slot at the top. The safety valve 10 is horizontally inserted into the tooling, and the end where the pull rod 20 is provided is vertically upward.

[0052] The safety valve loading station 1 is provided with a die plate 11 and a safety valve loading manipulator 12 that can grab the safety valve 10 on the die plate 11 to the tooling 70. The safety valve loading manipulator 12 has degrees of freedom in the vertical and horizontal directions provided by a cylinder; the die plate 11 realizes its horizontal movement through the structure of an electric push rod (lead screw nut structure), and the movement direction is perpendicular to the horizontal movement direction of the safety valve loading manipulator 12. After the safety valve loading manipulator 12 picks up a row of workpieces, the die plate 11 makes a step along the horizontal direction to cooperate with the safety valve loading manipulator 12 to clamp another row of workpieces. During loading, the operator places the safety valve 10 on the die plate 11. The safety valve loading manipulator 12 moves above the die plate 11, then clamps the safety valve 10 downward and lifts it to a certain height, and then moves horizontally to the tooling 70 at this station, adjusts the height, and horizontally inserts the safety valve 10 into the tooling 70, and then releases it to complete the loading.

[0053] The top material feeding station 2 is provided with a top material feeding cylinder 21 for pushing the safety valve in the tooling into place within the tooling.

[0054] The sealing seat feeding station 3 is provided with a sealing seat feeding manipulator 31 that also has vertical and horizontal degrees of freedom. The sealing seat feeding manipulator 31 is provided with a mandrel 32 and a stripping frame 33 that can move up and down relative to the mandrel 32. The size of the mandrel 32 is slightly larger than the inner diameter of the O-ring in the sealing seat 30. By inserting the mandrel 32 into the sealing seat 30, the inner O-ring can be sleeved outside the mandrel 32 to extract the sealing seat, and this step can also detect whether the inner O-ring in the sealing seat 30 is correctly installed. If the inner O-ring is not installed in the sealing seat 30, the sealing seat 30 cannot be fixed outside the mandrel 32. The stripping frame 33 can push out the sealing seat on the mandrel 32 through its relative movement with the mandrel 32. Specifically, the movement of the stripping frame 33 is controlled separately by a cylinder fixed relative to the insertion rod. After the sealing seat 30 is fed by a vibrating bowl feeder, the sealing seat feeding manipulator 31 moves the mandrel 32 above the material taking position, and the cylinder below the material taking position pushes the sealing seat 30 upward so that the mandrel 32 is inserted into the middle of the sealing seat 30, then moves above the safety valve in the corresponding tooling, and then moves downward until the mandrel 32 abuts against the top end of the pull rod 20. Then the stripping frame 33 moves downward relative to the mandrel 32 to push out the sealing seat so that it is sleeved on the pull rod, completing the feeding of the sealing seat 30. In addition, a displacement sensor 34 for detecting the outer O-ring is also provided at the material taking position at the end of the vibrating bowl feeder. Since the outer O-ring has a certain lateral dimension, the displacement of the outer O-ring can be detected by the horizontal movement of the displacement sensor 34 touching the outer O-ring to detect whether the outer O-ring is pre-installed. If the detection result is incorrect installation, as the turntable rotates, the subsequent stations will not work and will be removed by the following discharging station; if the detection result is correct installation, the subsequent stations will work normally.

[0055] The sealing seat tightening station 4 is provided with a servo motor driven by a cylinder to move up and down. The output end of the motor is provided with a tightening rod 41, and the end of the tightening rod 41 is provided with a claw matching the groove on the surface of the sealing seat 30. The servo motor drives the tightening rod 41 to rotate, thereby tightening the sealing seat 30. In addition, this station is also provided with an infrared depth detection to detect the height after the sealing seat is installed, supplemented by the torque monitoring of the servo motor to detect whether the sealing seat is tightened in place. If there are operation errors such as stuck threads, the height of the sealing seat surface and the torque of the servo motor will be abnormal (when the sealing seat is correctly installed, the height of the sealing seat is certain, and by comparing the value of the infrared depth detection with the elevation, it can be judged whether the sealing seat is correctly installed). If it is judged that this part is a workpiece that is not correctly installed, as the turntable rotates, the subsequent stations will not work and will be removed by the following discharging station; if the detection result is correct installation, the subsequent stations will work normally.

[0056] The stainless steel gasket installation station 5 is provided with a vacuum suction manipulator 51 having vertical and horizontal degrees of freedom. Since the stainless steel sheet 40 is in an annular planar shape, the vacuum suction method is adopted. The vacuum suction manipulator includes a suction pipe 52. A plurality of suction holes 53 are distributed on the end face of the suction pipe 52 corresponding to the annular area of the stainless steel sheet. The plurality of suction holes 53 extend upward and converge at a main ventilation hole 54. The tail end of the suction pipe 52 is connected to a vacuum generator. When the vacuum generator works, negative pressure is formed in the main ventilation hole and each suction hole, so as to be able to suck the stainless steel gasket. The stainless steel gasket 40 is fed by a vibrating disk, and then is sucked by the vacuum suction manipulator 51 and transferred to be sleeved on the pull rod of the safety valve on the corresponding tooling.

[0057] The rivet hole orientation station 6 is provided with a rivet hole orientation manipulator 61 having a vertical degree of freedom. The rivet hole orientation manipulator 61 includes a rotating motor 62 and an orientation clamp cylinder 63 connected to the output end of the rotating motor. One of the fingers of the orientation clamp cylinder 63 is provided with an insertion rod 64 pointing to the pull rod 20. The rotating motor 62 can drive the orientation clamp cylinder 63 to rotate, so that the insertion rod 64 can rotate around the axis of the pull rod 20. At the same time, when the orientation clamp cylinder 63 works, it can make the insertion rod 64 move along the radial direction of the pull rod 20. During operation, first, the rivet hole orientation manipulator 61 moves downward until the height of the insertion rod 64 corresponds to the height of the rivet hole on the pull rod. Then, the orientation clamp cylinder 63 contracts to make the insertion rod 64 abut against the side of the pull rod 20. Next, the rotating motor works to make the insertion rod 64 rotate around the pull rod 20 to find the rivet hole on the pull rod. When the insertion rod 64 is inserted into the rivet hole, the magnetic switch provided on the orientation clamp cylinder 63 is turned on, and the signal corresponds to the zero return of the rotating motor. The rotating motor 62 drives the orientation clamp cylinder 63 to rotate to the zero position (the zero position can be set by a proximity switch). In this embodiment, the zero position is the position where the rivet hole on the pull rod points to the center of the turntable.

[0058] The rivet and handle assembly station 7 is respectively provided with a rivet assembly manipulator 71 and a handle assembly manipulator 72. The handle assembly manipulator 72 moves the handle to the pull rod so that the rivet holes of the handle and the pull rod correspond, and then the rivet assembly manipulator 71 inserts the rivet into the rivet hole.

[0059] The handle assembly manipulator 72 has vertical and horizontal degrees of freedom. After the handle 50 is loaded by a vibrating disk, it is grabbed by the handle assembly manipulator 72 and placed on the pull rod 20, so that the rivet holes of the handle 50 and the pull rod 20 correspond, and the clamping state is maintained without loosening.

[0060] The rivet assembly manipulator 71 includes a pin 73 with a vertical degree of freedom and two horizontal feeding strokes. The two horizontal feeding strokes are respectively realized by two-stage cylinders (the pin is arranged at the output end of one cylinder, and this cylinder is arranged at the output end of another cylinder). The pin 73 matches the axial hole of the rivet 60 and is used to insert into the tail of the rivet 60 for material taking. An arc-shaped block 74 capable of reciprocating and flipping under the drive of a cylinder through the lever principle is arranged at the material taking place of the pin. A rivet feeding groove 75 matching the shape of the rivet 60 is arranged on the arc-shaped block 74. The rivet 60 is fed by a vibrating disk. The rivet feeding groove 75 first corresponds to the end point of the vibrating disk. After the rivet 60 enters the rivet feeding groove 75 through the vibrating disk, the cylinder drives the arc-shaped block 74 to flip, so that the rivet feeding groove 75 flips to the top. Then the pin 73 starts the first stroke to insert into the rivet 60 for material taking. The rivet assembly manipulator 71 moves up a certain height corresponding to the rivet holes of the handle and the pull rod. The pin 73 starts the second stroke to insert the rivet 60 into the rivet hole, completing the installation of the rivet.

[0061] The riveting station 8 is provided with a riveting mechanism having a vertical degree of freedom. The riveting mechanism includes an opposed lead screw 81 driven by a motor and two opposed nuts 82 that move relatively in opposition and match the opposed lead screw 81. The opposed lead screw 81 is provided with two symmetric threads, and the directions of the two threads are opposite, so that when the lead screw rotates, the two opposed nuts 82 can move away from or close to each other in opposition (the sides of the nuts are slidably arranged on the bracket of the mechanism by slide rails to limit their axial degrees of freedom). The two opposed nuts 82 are respectively connected with riveting heads 83 corresponding to both ends of the rivet. The end faces of the riveting heads 83 facing the rivet are conical. During riveting, first, the whole riveting mechanism moves down to the target height, and then the opposed lead screw 81 rotates under the drive of the motor, so that the two riveting heads 83 approach each other. The two riveting heads 83 respectively abut against both ends of the rivet (the tail end of the rivet has been pre-treated to be turned outwards in a flared shape). Under the action of the conical surface, the head end of the rivet is turned outwards in a flared shape, completing the riveting. In order to ensure the stability of the workpiece during riveting, in this embodiment, a pushing cylinder 84 that presses the safety valve against the tooling is provided at the riveting station, and the safety valve is pressed against the tooling by the pushing cylinder 84 during riveting.

[0062] The discharging station 9 is provided with a discharging cylinder 91 that pushes the material outwards from the inside to push out the corresponding safety valve from the tooling. A conveyor belt 92 is arranged outside the discharging station 9. The products discharged from the discharging station 9 fall to the end of the conveyor belt 92. For any product discharged, the conveying direction after the product falls to the conveyor belt 92 corresponds to the detection results of the sealing seat feeding station and the sealing seat screwing station: when the detection result is qualified, the product is conveyed along the conveyor belt; when the detection result is unqualified, the conveyor belt runs in the reverse direction to drop the unqualified product out of the conveyor belt for rejection.

[0063] In addition, in this embodiment, clamping clip cylinders for clamping the safety valve are respectively provided at the sealing seat feeding station 3, the stainless steel gasket installation station 5, the rivet hole orientation station 6, and the rivet and handle assembly station 7. After the workpiece enters the above stations, the clamping clip cylinders will clamp the neck of the safety valve to position the workpiece and ensure the accuracy of assembly.

[0064] The assembly machine of this embodiment is also equipped with a set of control systems. By connecting the control system with various sensors and driving electrical devices, the orderly progress of the assembly steps is realized. The control system can be a programmable logic controller, which receives the signals of various sensors and controls the orderly operation of each cylinder or motor to achieve automatic assembly.

[0065] In this embodiment, unless otherwise specified, the manipulator mentioned is a clamping cylinder with vertical freedom and horizontal linear freedom. The material grasping adopts the method of clamping or supporting and clamping. Its specific linear operation mode is a conventional technical means in the art, generally a lead screw and nut structure, a belt or chain conveying structure, or cylinder pushing, etc., which will not be elaborated in this embodiment.

[0066] It should be noted that some empty stations are shown in the attached drawings of the specification. These empty stations are for some extended functions and can be ignored in this embodiment.

[0067] The above embodiments are only used to illustrate the technical concept and characteristics of the present invention, and their purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. Safety valve handle assembly machine, wherein the handle is assembled on the pull rod of the safety valve through rivets, and the handle and the pull rod are respectively provided with rivet holes for the rivets to pass through; characterized in that, The safety valve handle assembling machine includes a turntable provided with a plurality of toolings, and a safety valve feeding station, a sealing seat feeding station, a sealing seat screwing station, a stainless steel gasket installation station, a rivet hole orientation station, a rivet and handle assembling station, a riveting station, and a discharging station distributed along the outer circumference of the turntable. The turntable rotates intermittently so that the toolings correspond to the stations in sequence, and the toolings are used to place the safety valves. The rivet hole orientation station is provided with a rivet hole orientation manipulator. The rivet hole orientation manipulator includes a plug rod that can rotate around the axis of the pull rod and can feed radially along the pull rod. The plug rod contacts the side surface of the pull rod and rotates around the pull rod to find the rivet hole on the pull rod, and drives the pull rod to rotate to the zero position after inserting into the rivet hole. The rivet and handle assembling station is respectively provided with a rivet assembling manipulator and a handle assembling manipulator. After the handle assembling manipulator moves the handle to the pull rod so that the rivet holes of the handle and the pull rod correspond, the rivet assembling manipulator inserts the rivet into the rivet hole. The sealing seat feeding station is provided with a sealing seat feeding manipulator. The sealing seat feeding manipulator includes a mandrel and a stripping frame that can move up and down relative to the mandrel. The size of the mandrel is slightly larger than the inner diameter of the O-ring of the sealing seat. The rivet hole orientation manipulator includes a rotation motor and an orientation clamp cylinder connected to the output end of the rotation motor. The plug rod is arranged on one of the fingers of the orientation clamp cylinder. The rivet assembling manipulator includes a pin with two feeding strokes, and the pin matches the axial hole of the rivet. An arc-shaped block that can reciprocally flip under the drive of a cylinder is arranged at the material taking place of the pin, and a rivet feeding groove matching the shape of the rivet is arranged on the arc-shaped block. The riveting station is provided with a pair of lead screws and two opposing nuts that move relatively and match the pair of lead screws. The two opposing nuts are respectively connected with riveting heads corresponding to both ends of the rivet, and the end face of the riveting head facing the rivet is conical.

2. The safety valve handle assembling machine according to claim 1, wherein The safety valve feeding station is provided with a die plate and a safety valve feeding manipulator that can grab the safety valves on the die plate to the tooling, and the die plate can move along the direction perpendicular to the horizontal linear movement path of the safety valve feeding manipulator.

3. The safety valve handle assembling machine according to claim 1, characterized in that, A displacement sensor for detecting the outer O-ring is arranged at the material taking place of the sealing seat feeding station.

4. The safety valve handle assembly machine according to claim 1, characterized in that, The stainless steel gasket installation station is provided with a vacuum suction manipulator. The vacuum suction manipulator includes a suction pipe, and a plurality of suction holes are distributed in the annular area of the end face of the suction pipe corresponding to the stainless steel gasket.

5. The safety valve handle assembly machine according to claim 1, characterized in that, The sealing seat feeding station, the stainless steel gasket installation station, the rivet hole orientation station, and the rivet and handle assembling station are respectively provided with a clamping clip cylinder for clamping the safety valve; the riveting station is provided with a pushing cylinder for pushing the safety valve against the tooling.

6. The safety valve handle assembling machine according to claim 1, characterized in that A conveyor belt is arranged outside the discharging station, and the products discharged from the discharging station fall to the end of the conveyor belt; for any product discharged, the conveying direction of the product after falling to the conveyor belt corresponds to the detection result of the product: when the product is a qualified product, the product is conveyed along the conveyor belt; when the product is an unqualified product, the conveyor belt conveys in the reverse direction to make the product fall out of the conveyor belt.

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