Automatic assembly equipment and automatic assembly method for hydraulic valve block assembly

Abstract

The present application discloses an automated assembly device and an automated assembly method for a hydraulic valve block assembly. The device includes a valve assembly platform with fixed positions and assembly positions spaced apart, a material conveying module for conveying the hydraulic valve block assembly and its assembly components, a material handling module for transporting the hydraulic valve block assembly and the assembly components, an assembly tightening module for tightening the assembly components on the valve assembly platform to assemble the hydraulic valve block assembly, and a control system. The control system is used to coordinately control the valve assembly platform, the material conveying module, the material handling module, and the assembly tightening module to complete the automated assembly of the hydraulic valve block assembly. The material conveying module, the material handling module, and the assembly tightening module are arranged around the valve assembly platform at intervals to form a centralized assembly unit with a single workstation. The automated assembly device of the present application does not require manual intervention during the entire assembly process, realizes automatic loading and centralized assembly, and effectively improves assembly efficiency.

Description

Technical Field

[0001] The present application relates to the field of automated assembly equipment, and in particular to automated assembly equipment for a hydraulic valve block assembly. Background Art

[0002] As the most critical component in construction machinery, the hydraulic valve block assembly significantly impacts product quality. The need to improve assembly processability to ensure quality is becoming increasingly urgent. Currently, hydraulic valve blocks (or hydraulic valve groups) in the industry are typically assembled manually, using a low-quality, multi-product, small-batch production model. This is a relatively backward approach, with examples including manual assembly on a workbench or assembly on an assembly line. This assembly process is subject to numerous uncontrollable factors, resulting in issues such as poor quality assurance and low production efficiency.

[0003] It can be seen that in the traditional assembly process of hydraulic valve group parts, a series of tedious tasks such as parts picking, hydraulic component assembly, and joint tightening are all completed independently by a single person, which belongs to the workstation method. The product assembly efficiency and quality are greatly affected by human subjective factors, and the manual assembly method has the problem of employees' arbitrary operation, which is prone to problems such as material mis-installation and inadequate tightening, resulting in frequent oil leakage in the hydraulic valve group, thus affecting the normal operation of the entire system. Summary of the Invention

[0004] The purpose of this application is to provide an automated assembly device and an automated assembly method for a hydraulic valve block assembly to solve the above-mentioned problems, ensure the consistency and reliability of product assembly, and improve product quality quickly, efficiently and economically.

[0005] In order to achieve the above-mentioned object, according to a first aspect of the present application, there is provided an automated assembly device for a hydraulic valve block assembly, comprising:

[0006] A valve assembly platform, which is provided with fixing positions for fixing the valve body and assembly positions for assembling other assembly components on the valve body at intervals;

[0007] Material conveying module, used to convey hydraulic valve block assembly and its assembly parts;

[0008] a material handling module, for handling the hydraulic valve block assembly and the assembly components;

[0009] an assembly and tightening module, used for tightening the assembly components on the valve assembly platform to assemble the hydraulic valve block assembly; and

[0010] A control system for collaboratively controlling the valve assembly platform, the material conveying module, the material handling module, and the assembly and tightening module to complete the automated assembly of the hydraulic valve block assembly;

[0011] The material conveying module, the material handling module and the assembly and tightening module are arranged around the valve assembly platform at intervals to form a single-station centralized assembly unit.

[0012] In an embodiment of the present application, the valve assembly platform includes:

[0013] The fixed platform includes a horizontal reference plane as the top surface of the fixed platform, and the horizontal reference plane is provided with an assembly position, a fixing position and a tool storage position arranged in sequence along the direction of the first platform;

[0014] A mobile turntable, comprising a mobile slide slidably arranged on the horizontal reference plane along the direction of the first platform and a turntable mounted on the mobile slide, wherein the mobile slide can carry the turntable to move back and forth between the assembly position and the fixed position;

[0015] A tooling quick-change mechanism is provided at the tooling storage position and is used to store and switch a plurality of valve body positioning tools corresponding to valve bodies of different specifications, wherein the valve body positioning tools can be clamped and fixed on the turntable at the fixed position;

[0016] The valve body to be assembled can be clamped and fixed on the turntable at the fixed position, and the turntable can drive the valve body to rotate at the assembly position to switch and display the valve body assembly surface.

[0017] In an embodiment of the present application, the material handling module includes a first handling device, and the control system includes a valve body positioning tool replacement control unit, and the valve body positioning tool replacement control unit is configured to:

[0018] driving the movable slide to move along the direction of the first platform to the fixed position;

[0019] At the fixed position, the valve body positioning tool originally on the turntable is removed and moved away by the first transport device;

[0020] According to the specifications of the valve body of the valve group to be assembled, the tooling quick-change mechanism is controlled to switch out the corresponding valve body positioning tooling;

[0021] The corresponding valve body positioning tool is transported to the fixed position by the first transport device and clamped and fixed on the turntable.

[0022] In an embodiment of the present application, the material conveying module includes a hydraulic valve block loading and conveying device, the material handling module includes a first handling device, and the assembly tightening module includes a first tightening system, which is arranged directly below the fixed position of the horizontal reference plane and is used to tighten and connect the valve body positioning tooling and the valve body;

[0023] Furthermore, the control system includes a valve body loading control unit configured to:

[0024] Controlling the hydraulic valve block feeding and conveying device to convey the valve body;

[0025] Controlling the movable turntable so that the turntable moves to the fixed position, the turntable being installed with the valve body positioning tool corresponding to the specifications of the valve body;

[0026] Controlling the first transport device to grab the valve body and transport it to the valve body positioning tool on the turntable;

[0027] The first tightening system is controlled to tighten the valve body positioning tool and the valve body.

[0028] In an embodiment of the present application, a visual recognition position is further provided on the horizontal reference plane of the fixed platform, and the automated assembly equipment further comprises a first visual system provided at the visual recognition position;

[0029] Wherein, the valve body loading control unit is further configured as follows:

[0030] Controlling the mobile turntable so that the turntable moves to the visual recognition position;

[0031] The turntable is controlled to rotate, driving each valve body assembly surface of the valve body to rotate to the opposite side of the first visual system, and the first visual system is controlled to recognize the installation point information on each valve body assembly surface.

[0032] In an embodiment of the present application, the hydraulic valve block feeding and conveying device includes:

[0033] The loading roller conveyor line and the return roller conveyor line both extend along the first conveying direction and are arranged side by side along the second roller conveyor direction. The conveying direction of the loading roller conveyor line is opposite to the conveying direction of the return roller conveyor line. The first conveying direction is perpendicular to the second roller conveyor direction.

[0034] A first translation platform and a second translation platform are respectively arranged at both ends of the loading roller line and the return roller line along the first conveying direction, the first translation platform is used for reciprocating translation transmission between the conveying head end of the loading roller line and the conveying end end of the return roller line, and the second translation platform is used for reciprocating translation transmission between the conveying end end of the loading roller line and the conveying head end of the return roller line; and

[0035] The loading tray is used to load the valve body and hydraulic components, and can move in a closed loop along the loading roller line, the second translation platform, the return roller line and the first translation platform in sequence.

[0036] In an embodiment of the present application, the valve body positioning tool comprises a tool body, the top surface of the tool body is provided with a limiting portion for positioning the bottom surface of the valve body, and the side surface of the tool body is provided with a locking groove;

[0037] Furthermore, the loading tray comprises:

[0038] a feeding base, which is flat; and

[0039] The loading positioning plate is positioned and installed on the top surface of the loading base body. The loading positioning plate is provided with a loading profiling groove for positioning the valve body and hydraulic components.

[0040] In an embodiment of the present application, the material conveying module includes a hydraulic valve block unloading and conveying device and a cantilever lifting device, and the control system includes a hydraulic valve block assembly unloading control unit, which is configured as follows:

[0041] After the valve body is assembled to form the hydraulic valve block assembly, the movable turntable is controlled to move to the fixed position;

[0042] controlling the first tightening system so that the valve body positioning tool is disconnected from the hydraulic valve block assembly;

[0043] Controlling the first transport device to grab the hydraulic valve block assembly and transport it to the hydraulic valve block unloading and conveying device;

[0044] Control the cantilever lifting equipment to lift the hydraulic valve block assembly offline.

[0045] In an embodiment of the present application, the hydraulic valve block unloading and conveying device includes:

[0046] Unloading tray;

[0047] The upper roller conveyor and the lower roller conveyor are arranged at intervals and are both used to convey the unloading tray. A second loading position is provided on one side of the conveying head end of the upper roller conveyor and a second unloading position is provided on one side of the conveying end end.

[0048] A head-end lifting and translation platform is provided at the loading position and can be lifted and moved to transfer the unloading tray from the conveying end of the lower roller conveyor line to the conveying head end of the upper roller conveyor line; and

[0049] The end lifting and translation platform is arranged at the unloading position and can be lifted and moved to transport the unloading tray from the conveying end of the upper roller conveyor line to the conveying head end of the lower roller conveyor line.

[0050] In an embodiment of the present application, the hydraulic valve block unloading and conveying device is arranged in parallel with the hydraulic valve block loading and conveying device and is disposed adjacent to the loading roller line.

[0051] In an embodiment of the present application, the material conveying module includes a screw plug feeding and conveying device, the assembly and tightening module includes a robot tightening system with a magnetic suction structure, and the control system includes a screw plug assembly control unit configured to:

[0052] driving the screw plug feeding and conveying device to control the feeding of the screw plug;

[0053] The robot tightening system is controlled to absorb the screw plug, move it to the screw plug installation position of the valve body, and install and tighten it.

[0054] In an embodiment of the present application, the screw plug feeding and conveying device includes a plurality of screw plug conveying units suitable for conveying screw plugs of different specifications, and the screw plug conveying unit includes a material box, a vibrating material tray and a discharge chute arranged in sequence along the screw plug conveying direction. The screw plug is conveyed from the material box pipeline to the vibrating material tray, and a discharge fence is provided between the vibrating material tray and the discharge chute for moving the screw plug to the discharge chute in a specified orientation.

[0055] In an embodiment of the present application, the automated assembly equipment includes a first sleeve quick-change device for replacing a sleeve on a tightening shaft of the robotic tightening system;

[0056] Wherein, the screw plug assembly control unit is further configured as follows:

[0057] Before sucking the screw plug, according to the specifications of the loaded screw plug, controlling the first sleeve quick-changing device to push out the sleeve that matches the specifications of the screw plug;

[0058] The robotic tightening system is controlled to absorb and replace the sleeve on the first sleeve quick-changing device.

[0059] In an embodiment of the present application, the material conveying module includes a joint conveying device, the material conveying module includes a second handling device, the assembly and tightening module includes a second tightening system, and the control system includes a pipe joint assembly control unit, which is configured as follows:

[0060] Driving the joint conveying device to control the loading of pipe joints;

[0061] controlling the second handling device to install the pipe joint onto the second tightening system;

[0062] The second tightening system is controlled to move to the pipe joint installation position of the valve body and install and tighten the pipe joint.

[0063] In an embodiment of the present application, the automated assembly equipment includes a glue injection system and a second vision system, and the pipe joint assembly control unit is further configured to:

[0064] Controlling the second transport device to move the loaded pipe joint to the glue injection system;

[0065] Controlling the glue injection system to apply glue to the pipe joint;

[0066] controlling the second transport device to move the glue-coated pipe joint to the second visual system;

[0067] The second visual system is controlled to evaluate the gluing state and sealing state of the pipe joint, and when it is judged to be qualified, the second conveying device is controlled to install the glued pipe joint onto the second tightening system; when it is judged to be unqualified, the second conveying device is controlled to return to the glue injection system and re-glue.

[0068] In an embodiment of the present application, the automated assembly equipment further includes a second sleeve quick-change device for replacing the sleeve on the tightening shaft of the second tightening system; and the pipe joint assembly control unit is further configured to:

[0069] Before the pipe joint is moved to the glue injection system, the second sleeve quick-change device is controlled to push out the sleeve that matches the specifications of the pipe joint according to the specifications of the loaded pipe joint;

[0070] The second tightening system is controlled to replace the sleeve on the second sleeve quick-changing device.

[0071] In an embodiment of the present application, the first sleeve quick-change device and the second sleeve quick-change device have the same structure and both include:

[0072] A quick-change bracket, comprising a first placement bracket and a second placement bracket arranged at intervals, wherein the first placement bracket can be moved away from or close to the second placement bracket, and the quick-change bracket is provided with a plurality of component placement holes penetrating the first placement bracket and the second placement bracket; and

[0073] A plurality of tightening assemblies are placed in the plurality of assembly placement holes in a one-to-one correspondence, the tightening assemblies comprising a quick-change head clamped between the first placement bracket and the second placement bracket and a tightening member clamped on the second placement bracket, the quick-change head comprising a torque connection end provided with a torque connection hole and a transmission connection end transmission-connected to the tightening member;

[0074] In which, a connecting locking piece is provided on the outer peripheral wall of the quick-change head. When the first placement bracket is at a position far away from the second placement bracket, the connecting locking piece partially extends into the torque connection hole to lock the torque connection. When the first placement bracket is at a position close to the second placement bracket, the connecting locking piece disengages from the torque connection hole to open the torque connection.

[0075] In an embodiment of the present application, a connecting shaft coaxially extends from the transmission connection end of the quick-change head, and the tightening assembly further includes:

[0076] The gear shaft assembly includes a driving shaft provided with a driving gear and a driven shaft provided with a driven gear;

[0077] A connecting sleeve, one end of which is sleeved on the connecting shaft, and the other end of which is coaxially sleeved on the driving shaft;

[0078] The driving shaft and the driven shaft are arranged side by side in a radial direction, and the tightening member is installed on the outer end portion of the driven shaft.

[0079] In an embodiment of the present application, the joint delivery device comprises:

[0080] The lower layer wire body and the upper layer wire body are arranged with an interval between the upper and lower layers and are both placed along the joint conveying direction. In the joint conveying direction, the conveying head end of the lower layer wire body is extended outward by a set distance relative to the conveying head end of the upper layer wire body, and the conveying end end of the lower layer wire body is extended outward by a set distance relative to the conveying end end of the upper layer wire body to form a step shape.

[0081] In an embodiment of the present application, the control system includes a hydraulic component loading control unit configured to:

[0082] Controlling the hydraulic valve block loading and conveying device to convey the hydraulic components;

[0083] Controlling the mobile turntable so that the turntable moves to the visual recognition position;

[0084] controlling the first transport device to grab the hydraulic component and transport it to the first vision system;

[0085] controlling the first visual system to record and determine the state of the sealing ring of the hydraulic component;

[0086] When the sealing ring is in a qualified state, controlling the first transport device to grab the hydraulic component and move it to the hydraulic component installation position of the valve body;

[0087] The robot tightening system is controlled to install and tighten the hydraulic components.

[0088] In an embodiment of the present application, the material conveying module includes a hydraulic valve block loading and conveying device, a hydraulic valve block unloading and conveying device, a cantilever lifting device, a screw plug loading and conveying device, and a joint conveying device; the material handling module includes a first handling device and a second handling device; the assembly tightening module includes a first tightening system, a second tightening system, and a robot tightening system;

[0089] Among them, the first handling device, the hydraulic valve block loading and conveying device, the hydraulic valve block unloading and conveying device and the cantilever lifting equipment are arranged on the outside of the tooling storage position of the valve group assembly platform, the screw plug loading and conveying device and the joint conveying device are arranged on both sides of the assembly position of the valve group assembly platform, the second tightening system is arranged on the outside of the fixed position of the valve group assembly platform, the first tightening system is arranged directly below the fixed position of the horizontal reference plane, the second handling device is arranged between the joint conveying device and the second tightening system, and the robot tightening system is arranged between the screw plug loading and conveying device and the assembly position of the valve group assembly platform.

[0090] According to the second aspect of the present application, an automated assembly method for a hydraulic valve block assembly is provided, wherein the automated assembly equipment for the hydraulic valve block assembly is used to assemble the hydraulic valve block assembly, and during the assembly process, the assembly is performed sequentially according to the type order of the assembly components.

[0091] In an embodiment of the present application, the automated assembly method includes:

[0092] First, fix the valve body on the assembly position of the valve group assembly platform;

[0093] Then, a plurality of screw plugs are tightened and installed on each valve body assembly surface of the valve body;

[0094] Then, tighten and install a plurality of pipe joints on each valve body assembly surface of the valve body respectively;

[0095] Finally, the hydraulic components are tightened and installed on the corresponding valve body assembly surfaces of the valve body.

[0096] In an embodiment of the present application, the step of first fixing the valve body on the assembly position of the valve assembly platform further includes:

[0097] First, a standard valve body is fixed on a fixed position of the valve assembly platform, and the coordinate position of each hole position on each valve body assembly surface of the standard valve body is obtained by visual photography using a first visual system and stored;

[0098] The valve body to be assembled is then fixed on a fixed position of the valve assembly platform, and the first visual system is used to obtain the actual coordinate position of each hole position on each valve body assembly surface of the valve body to be assembled by visual photography;

[0099] The coordinate positions of the holes of the standard valve body are used as reference dimensions and compared with the actual coordinate positions of the holes of the valve body to be assembled, thereby obtaining the deviations of the holes on the valve body to be assembled.

[0100] In an embodiment of the present application, the step of finally tightening and mounting the hydraulic components on the corresponding valve body assembly surfaces of the valve body further includes:

[0101] Using the first transport device to move the standard hydraulic component so that the photographed surface of the standard hydraulic component is parallel to the photographing surface of the first vision system, and using the first vision system to obtain and store the coordinate positions of each hole position on each mounting surface of the standard hydraulic component by visual photography;

[0102] Then, the hydraulic component to be assembled is moved until the photographed surface is parallel to the photographing surface of the first vision system, and the first vision system is used to obtain the actual coordinate position of each hole on each mounting surface of the hydraulic component to be assembled by visual photography;

[0103] The coordinate positions of the holes of the standard hydraulic component are used as reference dimensions and compared with the actual coordinate positions of the holes of the hydraulic component to be assembled, thereby obtaining the deviations of the holes on the hydraulic component to be assembled.

[0104] In the automated assembly equipment of the hydraulic valve block assembly of the present application, a single-station centralized assembly unit is formed around the valve group assembly platform, and material conveying modules, material handling modules, assembly and tightening modules, etc. are arranged around it. Such a system structure has a compact layout and is not easy to interfere with. Especially combined with the coordinated control of each functional module by the control system, it can complete the automated assembly of the hydraulic valve block assembly efficiently and with high quality. No human intervention is required during the entire assembly process. Further, it can specifically realize assembly processes such as automatic clamping of the valve body, process visual error prevention, parts robot assembly, automatic thread gluing, and automatic tightening, thereby improving assembly quality, ensuring zero defects and consistency, and effectively improving assembly efficiency through automatic loading and centralized assembly.

[0105] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0107] Figure 1 It is a three-dimensional diagram of the hydraulic valve block assembly;

[0108] Figure 2 A three-dimensional diagram of a valve body constituting a hydraulic valve block assembly;

[0109] Figure 3 A three-dimensional diagram of the hydraulic components that make up the hydraulic valve block assembly;

[0110] Figure 4 A three-dimensional diagram of a pipe joint constituting a hydraulic valve block assembly;

[0111] Figure 5 A three-dimensional diagram of a screw plug constituting a hydraulic valve block assembly;

[0112] Figure 6 It is a schematic plan view of the structure of an automated assembly device for a hydraulic valve block assembly according to a specific embodiment of the present application;

[0113] Figure 7 is a three-dimensional diagram of a valve assembly platform according to a specific embodiment of the present application;

[0114] Figure 8 Schematic diagram of the top view of the valve assembly platform according to a specific embodiment of the present application;

[0115] Figure 9 is a three-dimensional diagram of a tooling quick-change mechanism according to a specific embodiment of the present application;

[0116] Figure 10 is a perspective view of a turntable according to a specific embodiment of the present application;

[0117] Figure 11 Schematic diagram of a top view of a turntable according to a specific embodiment of the present application;

[0118] Figure 12 Schematic diagram of a top view of a valve body positioning tool according to a specific embodiment of the present application;

[0119] Figure 13 Schematic diagram of the cross-sectional structure of a valve body positioning tool according to a specific embodiment of the present application;

[0120] Figure 14 is a structural schematic diagram of a first tightening system according to a specific embodiment of the present application;

[0121] Figure 15It is a three-dimensional diagram of a hydraulic valve block loading and conveying device according to a specific embodiment of the present application;

[0122] Figure 16 is a schematic cross-sectional structural diagram of a first mobile platform according to a specific embodiment of the present application;

[0123] Figure 17 is a perspective view of a loading tray according to a specific embodiment of the present application;

[0124] Figure 18 It is a three-dimensional diagram of a hydraulic valve block unloading and conveying device according to a specific embodiment of the present application;

[0125] Figure 19 It is a three-dimensional diagram of a screw plug feeding and conveying device according to a specific embodiment of the present application;

[0126] Figure 20 for Figure 19 A partial enlarged view of the circled portion in FIG;

[0127] Figure 21 This is a schematic diagram of the structure of the discharge fence in the screw plug feeding and conveying device;

[0128] Figure 22 is a perspective view of a joint delivery device according to a specific embodiment of the present application;

[0129] Figure 23 is a schematic top view of the end blocking block according to a specific embodiment of the present application;

[0130] Figure 24 is a cross-sectional view of a tightening assembly according to a specific embodiment of the present application;

[0131] Figure 25 is a cross-sectional view of another tightening assembly according to a specific embodiment of the present application;

[0132] Figure 26 for Figure 25 A perspective view of the tightening assembly shown;

[0133] Figure 27 is a perspective view of a second tightening system according to a specific embodiment of the present application;

[0134] Figure 28 is a perspective view of a first sleeve quick-change device according to a specific embodiment of the present application;

[0135] Figure 29 for Figure 28 A half-section schematic diagram of the first sleeve quick-change device;

[0136] Figure 30 is a perspective view of a robot tightening system according to a specific embodiment of the present application;

[0137] Figure 31 for Figure 30 A perspective view of a tightening device in a robotic tightening system;

[0138] Figure 32 is a perspective view of a first transport device according to a specific embodiment of the present application;

[0139] Figure 33 is a perspective view of a second transport device according to a specific embodiment of the present application;

[0140] Figure 34 This is a process control flow chart of automatic loading and unloading of a hydraulic valve block according to a specific embodiment of the present application;

[0141] Figure 35 This is a process control diagram of a screw plug assembly control unit according to a specific embodiment of the present application;

[0142] Figure 36 A schematic diagram of process control for a pipe joint assembly control unit according to a specific embodiment of the present application;

[0143] Figure 37 A schematic diagram of a process control for assembling a control unit for a hydraulic component according to a specific embodiment of the present application; and

[0144] Figure 38 It is an overall control flow chart of a control system according to a specific embodiment of the present application.

[0145] Description of Reference Numerals

[0146] 1 Valve assembly platform 2 Hydraulic valve block loading and conveying device

[0147] 3 Joint conveying device 4 Screw plug feeding conveying device

[0148] 5 Hydraulic valve block unloading and conveying device 6 First sleeve quick change device

[0149] 7 Second sleeve quick change device 8 First tightening system

[0150] 9 Second tightening system 10 Robot tightening system

[0151] 11 First transport device 12 Second transport device

[0152] 13 First Vision System 14 Second Vision System

[0153] 15 Glue injection system 16 Cantilever lifting equipment

[0154] 17 Control System

[0155] 21 Return roller line 22 Loading roller line

[0156] 23 First translation platform 24 Second translation platform

[0157] 25 Loading tray 26 First loading position

[0158] 27 First unloading position 28 Second rectangular rack

[0159] 29 Moving wheel 40 Screw plug conveying unit

[0160] 31 Upper Line 32 Lower Line

[0161] 33 belt conveyor line 34 limit rod

[0162] 35 First drive device 36 End stop block

[0163] 37 First sensor switch 38 Bottom frame

[0164] 41 Material box 42 Vibrating material tray

[0165] 43 Discharge chute 44 Inclined pipe

[0166] 45 Discharge fence 46 Limit slot

[0167] 47 Controller 51 Unloading Tray

[0168] 52 Upper roller conveyor line 53 Lower roller conveyor line

[0169] 54 First end lifting and translation platform 55 End lifting and translation platform

[0170] 56 Second loading position 57 Second unloading position

[0171] 58 Second driving device 59 Rectangular chassis

[0172] 61 Quick-change bracket

[0173] 81 Tightening mechanism 82 Guide shaft

[0174] 83 movable plate 84 fixed plate

[0175] 85 lifting drive mechanism

[0176] 90 Tightening assembly 91 Tightening component

[0177] 92 Quick-change head 93 Sliding sleeve

[0178] 94 gear shaft assembly 95 connecting sleeve

[0179] 96 First mounting plate 97 Second mounting plate

[0180] 98 Connecting fasteners 99 Anti-rotation rod

[0181] 100 Valve body 200 Hydraulic components

[0182] 300 pipe joint 400 screw plug

[0183] 500 bolt 600 hydraulic valve block assembly

[0184] 700 Valve body positioning tool 101 Fixed platform

[0185] 102 Moving Slide 103 Turntable

[0186] 104 First rectangular frame 105 Tooling quick change mechanism

[0187] 131 Industrial Camera

[0188] 211 feeding conveyor roller 212 feeding limit wall

[0189] 231 Linear Slide Mechanism 232 Mobile Platform

[0190] 233 First photoelectric sensor 234 Movable pin

[0191] 235 positioning hole 251 loading base

[0192] 252 Loading positioning plate 253 Loading profiling groove

[0193] 254 Loading oil collecting trough 255 Loading positioning pin

[0194] 351 Drive shaft 352 Drive motor

[0195] 353 Pulley

[0196] 431 Long square rod 432 Straight slot

[0197] 451 Bar 452 Peripheral frame

[0198] 453 Upper lever 454 Lower lever

[0199] 455 side bar 461 screw plug induction switch

[0200] 511 blanking base 512 blanking positioning plate

[0201] 513 blanking profiling groove 514 blanking positioning pin

[0202] 515 unloading oil collecting tank 521 unloading limit wall

[0203] 522 unloading conveyor roller 541 pallet loading platform

[0204] 542 Vertical lifting mechanism 543 Lifting guide device

[0205] 544 Second photoelectric sensor 611 First placement bracket

[0206] 612 Second placement bracket 613 Component placement hole

[0207] 614 first placement hole 615 second placement hole

[0208] 616 Push stop portion 617 First baffle

[0209] 618 Second baffle 619 Limiting slot

[0210] 620 bracket drive mechanism 621 suspension support plate

[0211] 622 third baffle 623 detection sensor

[0212] 701 Limiting part 702 Locking screw

[0213] 703 positioning pin hole 704 locking groove

[0214] 901 First electric tightening shaft 902 First mounting platform

[0215] 903 First guide rail slider mechanism 904 First drive motor

[0216] 905 Second drive motor 906 Frame

[0217] 911 Tightening end 912 Connecting end

[0218] 913 center connection hole 914 tightening hole

[0219] 921 Torque connection hole 922 Torque connection end

[0220] 923 Transmission connection end 924 Steel ball

[0221] 925 Steel ball receiving hole 926 Centering shaft

[0222] 927 connecting shaft

[0223] 931 Circumferential limit groove 932 Stop groove

[0224] 933 Compression spring 934 Stop spring

[0225] 941 driving shaft 942 driven shaft

[0226] 1001 Connecting plate 1002 Tightening shaft

[0227] 1003 Horizontal telescopic cylinder 1004 guide rail

[0228] 1005 Sliding plate 1006 Magnetic sleeve

[0229] 1021 Slider

[0230] 1022 Horizontal drive motor 1023 Screw

[0231] 1024 screw nut 1031 rotating disk

[0232] 1032 Rotation drive motor 1033 Rotation screw

[0233] 1034 Tooling locking mechanism 1041 Slide rail

[0234] 1051 Tooling transition seat 1052 Proximity switch DETAILED DESCRIPTION

[0235] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended to limit the present application.

[0236] The automated assembly equipment and automated assembly method of the hydraulic valve block assembly according to the present application will be described below with reference to the accompanying drawings.

[0237] For the assembly of hydraulic valve block assemblies (or "hydraulic valve groups"), manual assembly processes are mostly used, but there are generally quality and process problems. In terms of quality issues, the assembly quality is guaranteed by visual inspection, and the subjective judgment detection force is low, which makes it easy for sealing rings to be missed and screw plugs and joints to be installed incorrectly; the tightening accuracy of pneumatic tools is low, and there is a risk of missing or over-tightening. The tightening quality is uncontrollable, and secondary marking affects efficiency; the process data has not been effectively managed, and it is impossible to provide a traceable source for subsequent quality issues. In terms of process issues, the work table + single-station manual operation form is adopted, the assembly rhythm cannot be balanced, and production efficiency is low; the cumbersome method of manually carrying the valve body online and the need for multiple flipping during the assembly process increase the labor intensity of employees; the use of impact tools is noisy and can easily cause damage to the operator's hearing; the manual gluing of the threads cannot guarantee the amount of glue, and often overflows the installation surface, requiring secondary cleaning and causing unnecessary waste.

[0238] In view of this, the current manual assembly process of hydraulic valve groups has many problems such as low assembly efficiency, low quality, and inability to collect effective assembly parameters. This application designs a new type of automated assembly equipment for hydraulic valve block assemblies, in order to optimize the assembly process of the hydraulic valve block assembly by combining automated manufacturing technology, and realize the automated assembly process of the hydraulic valve block assembly by means of automatic loading, automatic tightening, visual monitoring and other means.

[0239] For this purpose, refer to Figure 6 In a specific embodiment, the automated assembly equipment for the hydraulic valve block assembly of the present application includes:

[0240] Valve assembly platform 1;

[0241] Material conveying module, used to convey hydraulic valve block assembly and its assembly parts;

[0242] Material handling module for handling hydraulic valve block assemblies and assembly components;

[0243] An assembly and tightening module, used for tightening assembly components on the valve assembly platform 1 to assemble a hydraulic valve block assembly; and

[0244] The control system 17 is used to coordinately control the valve assembly platform 1, the material conveying module, the material handling module and the assembly and tightening module to complete the automated assembly of the hydraulic valve block assembly;

[0245] The material conveying module, the material handling module and the assembly and tightening module are arranged around the valve assembly platform 1 at intervals to form a centralized assembly unit with a single workstation.

[0246] This application aims to complete the automated assembly of hydraulic valve block assemblies, ensure the consistency and reliability of product assembly, and improve product quality quickly, efficiently and economically. To this end, the entire process adopts the principle of centralized assembly, simulates the form of manual assembly, and realizes the independent assembly of all parts at the same workstation through the collaborative operation of robots and servo systems (grasping, moving, assembling, tightening, etc.). Therefore, the automated assembly equipment constitutes a single-station centralized assembly unit, which relies on a combination of several robots, several sets of tightening systems, several conveyor lines, servo systems, sensors and even several sets of visual systems to form a complete equipment, and realizes the assembly of all parts at the same position through the rotation and direction change of the valve group assembly platform 1.

[0247] Specifically, the automated assembly equipment is mainly composed of seven modules, including the valve group assembly platform 1, the material conveying module, the material handling module, the assembly and tightening module, the control system 17, and the glue injection system and vision module to be described later, forming a single-station centralized assembly unit with a compact structure and layout, but without interfering with each other, and can complete the automatic assembly process with high quality and high precision.

[0248] See also Figure 6 The valve assembly platform 1 serving as a workbench is an assembly fixture for the hydraulic valve group and is located at the center of the automated assembly equipment for the hydraulic valve block assembly. The valve body 100 can be grabbed and transported by a transport device and placed on the workbench.

[0249] In the specific embodiment shown in the figure, the material conveying module is composed of a cantilever lifting device 16, a hydraulic valve block loading and conveying device 2, a hydraulic valve block unloading and conveying device 5, a joint conveying device 3, a screw plug loading and conveying device 4 and other parts, which are used to convey various hydraulic components 200, pipe joints 300, screw plugs 400, bolts 500 and other materials on the hydraulic valve group to the inside of the equipment, and at the same time grab and transfer the assembled hydraulic valve group to the hydraulic valve block unloading and conveying device 5; wherein, the hydraulic valve block loading and conveying device 2 and the hydraulic valve block unloading and conveying device 5 are located side by side at the lower right corner of the workbench, the cantilever lifting device 16 is located directly above the hydraulic valve block loading and conveying device 2 and the hydraulic valve block unloading and conveying device 5, the joint conveying device 3 is located at the lower left corner of the workbench, and the screw plug loading and conveying device 4 is located at the upper left corner of the workbench.

[0250] The material handling module consists of a first handling device 11 and a second handling device 12, which are used to grab various materials on the hydraulic valve group from the material handling module and install them on the valve body 100; wherein, the first handling device 11 is installed between the joint conveying device 3 and the hydraulic valve block unloading conveying device 5, and is used for grabbing and handling hydraulic components and valve bodies; the second handling device 12 is fixed on the left side of the workbench, located on the upper side of the joint conveying device 3, and is used for grabbing and handling the pipe joint 300.

[0251] The assembly tightening module consists of a robot tightening system 10 and a servo-driven first tightening system 8, a second tightening system 9, a first sleeve quick-change device 6, and a second sleeve quick-change device 7, which are used for fixed-torque tightening of bolts, pipe fittings, and screw plugs on the hydraulic valve group; wherein, the robot tightening system 10 and the second tightening system 9 are installed in parallel on the upper side of the workbench, and the first tightening system 8 is installed under the workbench; the first sleeve quick-change device 6 is located on the left side of the robot tightening system 10. When screw plugs 400 and bolts 500 of different specifications need to be installed, the robot tightening system 10 quickly switches the sleeve on the first sleeve quick-change device 6; the second sleeve quick-change device 7 is installed on the left side of the workbench, at the front end of the second tightening system 9. When pipe fittings of different specifications need to be installed, the second tightening system 9 quickly switches the sleeve on the second sleeve quick-change device 7.

[0252] See also Figure 6Specifically, the first handling device 11, the hydraulic valve block loading and conveying device 2, the hydraulic valve block unloading and conveying device 5 and the cantilever lifting equipment 16 are arranged on the outside of the tooling storage position of the valve group assembly platform 1, the screw plug loading and conveying device 4 and the joint conveying device 3 are arranged on both sides of the assembly position of the valve group assembly platform 1, the second tightening system 9 is arranged on the outside of the fixed position of the valve group assembly platform 1, the first tightening system 8 is arranged directly below the fixed position of the horizontal reference plane, the second handling device 12 is arranged between the joint conveying device 3 and the second tightening system 9, and the robot tightening system 10 is arranged between the screw plug loading and conveying device 4 and the assembly position of the valve group assembly platform 1.

[0253] Figure 6 In the figure, the control system 17 is located in the upper right corner of the automated assembly equipment of the hydraulic valve block assembly. The PLC can be used as the master station and communicate with the touch screen. The input and output are realized through the communication module with the workbench, material conveying module, material handling module, and assembly and tightening module to control the entire automated assembly in parallel. At the same time, the touch screen is used to realize manual debugging and key data monitoring of all modules.

[0254] Of course, the above description only describes the functions of the basic components of the automatic assembly equipment, namely, the material conveying module, the material handling module, and the assembly and tightening module, in conjunction with the accompanying drawings, and provides examples of the components of each functional module in conjunction with the embodiments to facilitate a quicker and clearer understanding of the present application. Obviously, those skilled in the art will understand that the respective components of the material conveying module, the material handling module, and the assembly and tightening module are not limited to the examples in the above embodiments.

[0255] Further, in Figure 6 The automatic assembly equipment also includes functional modules such as a glue injection system 15 and a vision module. The glue injection system is fixed to the lower side of the workbench to facilitate the second handling device 12 to pick up the pipe joint 300 and then apply glue. The glue application mechanism can use an air-pressure liquid glue dispensing valve, which is directly available on the market. The micro-dispensing time can be set as required to adjust the glue application amount. The vision module consists of a second vision system 14 and a first vision system 13. The second vision system 14 is installed on the lower side of the workbench to check the status of the sealing ring on the pipe joint and whether glue application has been performed. The first vision system 13 is installed on the upper side of the workbench to identify and align the threaded holes on the valve body 100.

[0256] The basic structure of the automated assembly equipment for the hydraulic valve block assembly of the present application is briefly introduced above in conjunction with specific embodiments. The specific structure of each functional module will be described in detail below in conjunction with specific embodiments and drawings.

[0257] Prior to this, combined Figures 1 to 5First, the basic structure of the hydraulic valve block assembly (i.e. hydraulic valve group) is explained. Figure 1 The hydraulic valve block assembly consists of a valve body 100 and five major parts, including hydraulic components 200, pipe joints 300, plugs 400, and bolts 500. The hydraulic components 200 are fixed to the valve body 100 by bolts 500, and the pipe joints 300, plugs 400, etc. are respectively installed around the valve body 100 and on the upper mounting surface.

[0258] Introduction to the main functional modules:

[0259] (1) Valve assembly platform:

[0260] exist Figures 7 to 13 In an embodiment of the present invention, the valve assembly platform includes:

[0261] The fixed platform 101 includes a horizontal reference plane as the top surface of the fixed platform 101, and the horizontal reference plane is provided with assembly positions and fixing positions arranged at intervals along the direction of the first platform;

[0262] The mobile turntable 103 includes a mobile slide 102 that is slidably arranged on a horizontal reference plane along the direction of the first platform and a turntable 103 mounted on the mobile slide 102. The mobile slide 102 can carry the turntable 103 to move back and forth between the assembly position and the fixed position;

[0263] The valve body 100 to be assembled can be clamped and fixed on the turntable 103 at a fixed position, and the turntable 103 can drive the valve body 100 to rotate at the assembly position to switch and display the valve body assembly surface.

[0264] In addition, the valve group assembly platform 1 also includes a first rectangular frame 104, and the direction of the first platform is the length direction of the first rectangular frame 104. The first rectangular frame 104 includes a support frame and a support plate: the support frame structure is welded from square steel, and stress relief annealing is performed after welding; the support plate is fixed on the support frame, and the upper surface of the support plate is milled to ensure its flatness, thereby ensuring the horizontality of the support plate. In order to further reduce the impact of vibrations during equipment operation or the surrounding environment on the horizontality of the support plate, the support frame adopts heavy-duty shock-proof legs to ensure that the maximum vertical load of a single piece is maximized. Moving wheels are provided at the bottom of the first rectangular frame 104 of the support plate, and the position of the valve group assembly platform is adjusted by the moving wheels so that its position is coordinated with the previous process, shortening the time required for process connection and further improving production efficiency.

[0265] The fixed platform 101 is mounted on a first rectangular frame 104, with the assembly and fixing positions respectively located at opposite ends of a horizontal reference plane serving as the top surface of the fixed platform 101, along the direction of the first platform. A slide rail 1041 extending in the direction of the first platform is provided on the horizontal reference plane, and a slider 1021 is provided at the bottom of the movable slide 102, which slidably engages with the slide rail 1041, enabling the movable slide 102 to slide in the direction of the first platform. The turntable 103 is fixedly mounted on the movable slide 102, and the movable slide 102 is used to move the turntable 103 in the direction of the first platform. The turntable 103 is positioned above the top surface of the fixed platform 101 by a certain distance and is rotatable, thereby enabling the valve body assembly surface to be switched for display.

[0266] Furthermore, if Figure 7 、 Figure 8 As shown, one end of the fixed platform 101, where the fixing position is located, extends outward, and a tool storage position is provided on the portion extending outward from the horizontal reference plane. The assembly position, fixing position, and tool storage position are sequentially spaced along the first platform, thereby enabling the entire assembly process of the hydraulic valve block assembly 600 to be completed on the fixed platform 101. A tool quick-change mechanism 105 is provided at the tool storage position. The tool quick-change mechanism 105 is used to store and switch between various valve body positioning tools 700 corresponding to the installation of valve bodies 100 of different specifications. The valve body positioning tool 700 can be clamped and fixed on the turntable 103 at the fixing position.

[0267] See also Figure 9 The tooling quick-change mechanism 105 includes a base plate mounted on the fixed platform 101 at the tooling storage position, with a tooling transition seat 1051 and a tooling storage portion provided at both ends of the base plate along the second direction. The tooling transition seat 1051 is used to temporarily store the replaced valve body positioning tooling 700; the tooling storage portion includes a plurality of tooling placement areas arranged in an array, each of which is provided with a valve body positioning tooling 700 of corresponding specifications and a corresponding proximity switch 1052. The function of the proximity switch 1052 is as follows: when the proximity switch 1052 of a tooling placement area is closed, it indicates that the valve body positioning tooling 700 of the corresponding specifications in this tooling placement area can be removed and moved to the turntable 103 for assembly, thereby avoiding the removal of the inappropriate valve body positioning tooling 700, which would affect assembly efficiency.

[0268] Furthermore, the control system 17 includes a controller, which is configured to receive an identification electrical signal transmitted by the hydraulic valve block feeding and conveying device 2 connected to the valve assembly platform 1 to control the operation of the tooling quick-change mechanism 105. The specific working process is as follows:

[0269] First, the installation process of the valve body positioning tool 700: The valve body 100 to be assembled is transported to the valve assembly platform 1 via the hydraulic valve block loading and conveying device 2. First, the controller receives the identification signal and automatically closes the proximity switch 1052 of the corresponding tool placement area according to the type of valve body 100. Then, the first handling device 11 is controlled to grab the valve body positioning tool 700 of the required specifications and fix it on the turntable 103. Finally, the first handling device 11 is controlled to grab the valve body 100 to be assembled and fix it on the valve body positioning tool 700.

[0270] Second, the switching process of the valve body positioning tooling 700: first, the controller receives a new identification electrical signal, controls the first handling device 11 to remove the original valve body positioning tooling 700 on the turntable 103 and place it on the tooling transition seat 1051, and at the same time automatically closes the proximity switch 1052 of the corresponding tooling placement area according to the new valve body 100 type, and then controls the first handling device 11 to grab the valve body positioning tooling 700 of the required specifications and fix it on the turntable 103, and finally controls the first handling device 11 to place the valve body positioning tooling 700 on the tooling transition seat 1051 back to its corresponding tooling placement area and automatically open the corresponding proximity switch 1052.

[0271] See also Figure 10 、 Figure 11 The turntable 103 includes a rotating disk 1031 parallel to the horizontal reference plane. After the valve body positioning fixture 700 is placed on the rotating disk 1031 using the fixture quick-change mechanism 105, the valve body positioning fixture 700 needs to be positioned and secured. Therefore, a positioning pin and a fixture locking mechanism 1034 are provided on the rotating disk 1031. The positioning pin is used to position the valve body positioning fixture 700, and the fixture locking mechanism 1034 is used to lock and secure the valve body positioning fixture 700.

[0272] During the entire assembly process, the rotating disk 1031 needs to reciprocate between the assembly position and the fixed position. To meet production requirements, save manpower, and avoid duplication of work, a horizontal drive motor 1022 is installed on the fixed platform 101. The drive shaft of the horizontal drive motor 1022 is connected to a screw rod 1023. A screw nut 1024 is provided at the bottom of the movable slide 102 and engages with the screw rod 1023, driving the movable slide 102 to move along the first platform direction.

[0273] In addition, the rotating disk 1031 needs to rotate multiple times with its central axis as the rotating axis during the entire assembly process. In order to meet production needs, save manpower, and avoid duplication of work, a rotary drive motor 1032 is provided on the fixed platform 101, which is used to drive the rotating disk 1031 to rotate, and the axis of rotation is perpendicular to the horizontal reference plane. To cooperate with the operation of the rotary drive motor 1032, gear teeth are provided on the peripheral wall of the rotating disk 1031. The transmission shaft of the rotary drive motor 1032 is connected to a rotary screw 1033, which meshes with the gear teeth. When the rotary drive motor 1032 drives the screw to rotate, it drives the rotating disk 1031 to rotate with its central axis as the rotating axis. In order to make the rotating disk 1031 display a different valve body assembly surface each time it rotates, a servo motor is selected as the rotary drive motor 1032, and it is set so that the rotation angle each time is 90°.

[0274] During the rotation of the rotating disk 1031 and the movement of the sliding plate 102, the valve body positioning fixture 700 is provided with a variety of structures to fix the valve body 100 and prevent it from falling off. The valve body positioning fixture 700 includes a fixture body, the top surface of which is provided with a limit portion 701 for positioning the bottom surface of the valve body 100. The bottom surface of the fixture body is provided with a vertical through hole for accommodating a locking screw 702 and a plurality of positioning pin holes 703 arranged at intervals for positioning and connecting the rotating disk 1031. The side surface of the fixture body is provided with a locking groove 704 for connecting the fixture locking mechanism 1034, as shown in FIG. Figure 12 shown.

[0275] Specifically, the limiting portion 701 includes limiting blocks evenly distributed at the four corners of the top surface of the tooling body. The embedded size of the area enclosed by the limiting blocks is consistent with the size of the bottom surface of the valve body 100, so as to position the valve body 100 and limit its movement in the horizontal plane. The robot sucks the valve body 100 and places it into the limiting blocks, which can achieve rough positioning of the valve body. The positioning pin holes 703 are located in the area enclosed by the limiting blocks, corresponding to the number and position of the positioning pin shafts, and are used to position the tooling body. The tooling locking mechanism 1034 uses a locking cylinder, and the tooling body and the rotating disk 1031 are fixed by plugging the movable part of the locking cylinder into the locking groove 704. The locking screw 702 is used for the detachable connection between the tooling body and the valve body 100, such as Figure 13 shown.

[0276] In order to better screw the locking screw 702, the valve group assembly platform 1 may also include a first tightening system 8 arranged directly below the fixed position of the horizontal reference plane. The first tightening system 8 can not only ensure that the locking screw 702 is firmly connected to the tooling body, but also save manpower and reduce labor costs.

[0277] The first tightening system 8 includes a tightening mechanism 81 for tightening the locking screw 702. To enable the tightening mechanism 81 to perform vertical lifting motion and allow the tightening end of the tightening mechanism 81 to pass upwardly out of the fixed platform 101, a guide shaft 82 is suspended downwardly from the bottom surface of the fixed platform 101. A movable plate 83 is sleeved on the guide shaft 82. The tightening mechanism 81 is mounted on the movable plate 83, and a lifting drive mechanism 85 is provided on the bottom surface of the movable plate 83 for driving the movable plate 83 to move up and down along the extension direction of the guide shaft 82. To fix the lifting drive mechanism 85, a fixed plate 84 is provided at the suspended bottom end of the guide shaft 82 and is fixed to the first rectangular frame 104. The lifting drive mechanism 85 passes through the fixed plate 84 and is connected to the movable plate 83.

[0278] Specifically, the tightening mechanism 81 includes a tightening shaft and a rotating motor that drives the tightening shaft to rotate. The tightening shaft is mounted on a movable plate 83, and the rotating motor is built into the tightening shaft. The tightening shaft passes through the movable plate 83 and the fixed plate 84, which are parallel to each other, from top to bottom. The fixed plate 84 makes the vertical lifting and lowering of the tightening shaft more accurate. The lifting drive mechanism 85 is selected as a lifting cylinder. The fixed part of the lifting cylinder is fixed to the fixed plate 84, and the movable part is connected to the movable plate 83. The extension and retraction direction of the lifting cylinder is parallel to the guide shaft 82. When the lifting cylinder is extended, the tightening shaft passes through the top surface of the fixed platform 101 by a certain distance. This distance is determined by the height of the rotating table, the valve body positioning fixture 700 and the valve body 100. When the lifting cylinder is retracted, the tightening shaft retracts below the top surface of the fixed platform 101.

[0279] A visual recognition position is also provided on the horizontal reference plane. A first visual system 13 is provided at the visual recognition position. The first visual system 13 can be used to recognize and process the installation point information on the valve body assembly surface rotated to face the first visual system.

[0280] To further increase the degree of automation of the valve assembly platform 1, the valve assembly platform of the present application is provided with a tool storage position, a valve block fixing position, and a valve block assembly position. The assembly of the hydraulic valve block assembly is completed by cooperating with a first handling device 11, a second handling device 12, a first tightening system 8, a second tightening system 9, and a robot tightening system 10, and controlled by a control system 17. The first handling device 11, under the control of the controller, is used to grab and transfer the valve body positioning tool 700 between the fixing position and the tool storage position, and to transfer the valve body 100 to the turntable 103 in the fixed position; the second handling device 12 and the second tightening system 9 are arranged on the side of the assembly position, and the two cooperate to install the hydraulic components 200, pipe joints 300, screw plugs 400, bolts 500 and other parts to be assembled onto the corresponding assembly surfaces of the valve body 100. Since the first handling device 11, the second handling device 12, the first tightening system 8, the second tightening system 9, and the robotic tightening system 10 are all provided, interference between the systems may occur if all work is performed only in fixed positions. Therefore, the provision of assembly positions provides space for assembly operations. The various machine systems cooperate with the valve assembly platform 1 for automated assembly, reducing repetitive labor, lowering manual labor intensity, and reducing the impact of human factors, thereby ensuring assembly efficiency.

[0281] (2) Material conveying module:

[0282] (21) A hydraulic valve block feeding and conveying device, such as Figure 15 Shown, including:

[0283] The loading roller line 22 and the return roller line 21 both extend along the first conveying direction and are arranged side by side along the second roller direction. The conveying direction of the loading roller line 22 is opposite to the conveying direction of the return roller line 21. The first conveying direction is horizontally perpendicular to the second roller direction.

[0284] The first translation platform 23 and the second translation platform 24 are respectively arranged at both ends of the loading roller line 22 and the return roller line 21 along the first conveying direction. The first translation platform 23 is used for reciprocating horizontal translation transmission between the conveying head end of the loading roller line 22 and the conveying end end of the return roller line 21. The second translation platform 24 is used for reciprocating horizontal translation transmission between the conveying end end of the loading roller line 22 and the conveying head end of the return roller line 21; and

[0285] The loading tray 25 is used to load the valve body 100 and the hydraulic components 200 and can move in a closed loop along the first translation platform 23, the loading roller line 22, the second translation platform 24, the return roller line 21 and the first translation platform 23 in sequence.

[0286] Specifically, the gaps between the first and second translation platforms 23, 24, and the loading roller line 22 and return roller line 21 ensure smooth circulation of the loading pallet 25: the loading pallet 25 is first transported from the first translation platform 23 at the head end of the loading roller line 22 to the second translation platform 24, then transported by the second translation platform 24 to the head end of the return roller line 21, and finally returned by the return roller line 21 to the first translation platform 232. The entire cyclic conveying process is highly automated, reducing labor input and labor costs, thereby improving product competitiveness and reducing the impact of human factors on the handling and transportation efficiency of the valve body 100 and hydraulic components 200, thereby ensuring product production efficiency.

[0287] The loading roller line 22 and the return roller line 21 each include loading limiting walls 212 spaced apart along the second roller direction and used to limit the loading tray 25, and a plurality of loading conveying rollers 211 spaced apart along the first conveying direction. The loading conveying rollers 211 extend along the second roller direction.

[0288] like Figure 17 As shown, the loading tray 25 includes:

[0289] A loading base 251 is flat; and

[0290] The loading positioning plate 252 is positioned and installed on the top surface of the loading base 251 . The loading positioning plate 252 is provided with a loading profiling groove 253 for positioning the valve body 100 and the hydraulic component 200 .

[0291] The initial positioning of the valve body can be achieved by the loading contour groove 253 which is consistent with the contour of the valve body 100.

[0292] Furthermore, each corner of the loading base 251 is provided with a loading positioning pin 255, and a plurality of positioning holes 235 are opened on the loading positioning plate 252, which are aligned with each loading positioning pin 255. The connection between the loading positioning pin 255 and the positioning hole 235 is realized by plugging the loading positioning pin 255 into the positioning hole 235. Figure 16 . A number of feeding profiling grooves 253 are provided on the feeding positioning plate 252 according to the shape and size of the valve body 100 and the hydraulic component 200, and the positioning of the valve body 100 and the hydraulic component is achieved through the feeding profiling grooves 253. The feeding positioning pin 255 and the positioning hole 235 are used to achieve a detachable connection between the feeding positioning plate 252 and the feeding base 251. The feeding positioning plate 252 is the main load-bearing part of the valve body 100 and the hydraulic component 200, and will cause wear after long-term use. When the degree of wear is high and positioning cannot be completed, it is only necessary to replace the feeding positioning plate 252 without replacing the entire feeding tray 25, saving resources.

[0293] Among them, the loading roller line 22 is used to transport the loading pallet 25 from the first translation platform 23 toward the second translation platform 24, and the return roller line 21 is used to transport the loading pallet 25 from the second translation platform 24 toward the first translation platform 23. The conveying head end of the loading roller line 22 is the first loading position 26, and the conveying head end of the return roller line 21 is the first unloading position 27.

[0294] Specifically, the gaps between the multiple loading and conveying rollers 211 are moderate, preventing the loading tray 25 from falling due to excessive gaps while also ensuring that the number of loading and conveying rollers 211 is small. An optimal gap of 60 mm is generally selected. Furthermore, the loading and conveying rollers 211 have smooth surfaces, effectively preventing damage to the lower surface of the loading tray 25 during conveyance. The spacing between the loading limiting walls 212 on both sides is moderate, ensuring that the loading tray 25 can contact the loading and conveying rollers 211 for conveyance while also preventing the loading tray 25 from separating from the loading and conveying rollers 211.

[0295] The first translation platform 23 and the second translation platform 24 both include:

[0296] The linear slide mechanism 231 is arranged along the direction of the second roller;

[0297] The mobile platform 232 is used to load the loading tray 25 and move it along the linear slide mechanism 231;

[0298] The first photoelectric sensor 233 is provided on the side of the mobile platform 232 and is used to detect the position of the loading tray 25 when it moves to the mobile platform 232. The first photoelectric sensor 233 is configured to trigger a loading tray 25 arrival signal when the loading tray 25 moves into position;

[0299] A positioning pin hole is provided at the bottom of the loading tray 25 , and both the first translation platform 23 and the second translation platform 24 include a lifting and positioning device provided with a vertically placed movable pin shaft 234 .

[0300] Specifically, the mobile platform 232 located at the first loading position 26 can reciprocate between the head end of the loading roller conveyor 22 and the end of the return roller conveyor 21. The mobile platform 232 located at the first unloading position 27 can reciprocate between the end of the loading roller conveyor and the head end of the return roller conveyor 21, achieving circular conveying. The linear slide mechanism 231 includes a track and a telescopic cylinder. The mobile platform 232 slides in conjunction with the track. The cylinder provides the sliding power to slide the mobile platform 232 along the second roller conveyor, achieving back and forth switching from the loading roller conveyor 22 to the return roller conveyor 21.

[0301] When the first translation platform 23 or the second translation platform 24 moves, the lifting and positioning device pushes the movable pin shaft 234 to insert into the positioning pin hole at the bottom of the loading tray 25, thereby realizing the precise positioning of the loading tray 25 on the first translation platform 23 or the second translation platform 24, and also ensuring that the loading tray 25 will not separate from the first translation platform 23 or the second translation platform 24 during the movement, thereby increasing safety.

[0302] In addition, the hydraulic valve block feeding and conveying device may also include:

[0303] The second rectangular frame 28, the first conveying direction and the second roller direction are respectively the length direction and the width direction of the second rectangular frame 28, on the second rectangular frame 28, the loading roller line 22 and the return roller line 21 are arranged along the length direction, and the first translation platform 23 and the second translation platform 24 move along the width direction.

[0304] All other components of the entire hydraulic valve block loading and conveying device are arranged on the second rectangular frame 28. A moving wheel 29 is provided at the bottom of the second rectangular frame 28. The position of the second rectangular frame 28 can be adjusted by the moving wheel 29, thereby increasing the convenience of the entire hydraulic valve block loading and conveying device; when moved to the appropriate position, the moving wheel 29 is locked to fix the position of the hydraulic valve block loading and conveying device.

[0305] (22) A hydraulic valve block unloading and conveying device, such as Figure 18 Shown, including:

[0306] Unloading tray 51, used for loading hydraulic valve block assembly 600;

[0307] The upper roller conveyor 52 and the lower roller conveyor 53 are arranged at intervals and are both used to convey the unloading tray 51. A second loading position 56 is provided on one side of the conveying head end of the upper roller conveyor 52, and a second unloading position 57 is provided on one side of the conveying end end.

[0308] The head end lifting translation platform 54 is arranged at the second loading position 56 and can be lifted and moved to transfer the unloading tray 51 from the conveying end of the lower roller line 53 to the conveying head end of the upper roller line 52; and

[0309] The end lifting and translation platform 55 is set at the second unloading position 57 and can be lifted and moved to transfer the unloading tray 51 from the conveying end of the upper roller line 52 to the conveying head end of the lower roller line 53.

[0310] Specifically, the hydraulic valve block assembly 600 assembled in the previous process is first placed on the unloading pallet 51 on the head-end jacking and translation platform 54 located at the second loading position 56. The head-end jacking and translation platform 54 transports the unloading pallet 51 to the conveying head end of the upper roller line 52. The unloading pallet 51 moves from the conveying head end to the conveying end on the upper roller line 52, and is transported to the end jacking and translation platform 55 located at the second unloading position 57. The end jacking and translation platform 55 then lowers the unloading pallet 51 from the conveying end of the upper roller line 52, and transports the unloading pallet 51 to the head end of the lower roller line 53. The unloading pallet 51 moves from the conveying head end to the conveying end on the lower roller line 53, and finally moves the unloading pallet 51 to the head-end jacking and translation platform 54 for a cycle. The entire handling process is highly automated and can be carried out in a cycle, reducing labor input, lowering labor costs, and improving product competitiveness; reducing the influence of human subjective factors on the efficiency of handling and transporting the hydraulic valve block assembly 600, and ensuring product production efficiency.

[0311] Furthermore, the ends of the upper roller line 52 and the lower roller line 53 are aligned to avoid interference with the lifting and lowering movements of the first-end lifting and translation platform 54 and the end-end lifting and translation platform 55, and the gaps between the upper roller line 52 and the lower roller line 53 and the first-end lifting and translation platform 54 and the end-end lifting and translation platform 55 are appropriate and will not affect the circulating movement of the unloading tray 51.

[0312] The hydraulic valve block unloading and conveying device further includes a second driving device 58, which is used to drive the upper roller line 52, the lower roller line 53, the head end jacking and translation platform 54 and the end end jacking and translation platform 55 to work; and

[0313] The rectangular base frame 59 , the upper roller line 52 and the lower roller line 53 are arranged in the center along the length direction of the rectangular base frame 59 , and the head end jacking and translation platform 54 and the tail end jacking and translation platform 55 are arranged at both ends of the rectangular base frame 59 .

[0314] Specifically, the second drive device 58 includes a drive motor and a servo motor. The drive motor is used to drive the upper roller line 52, the lower roller line 53, the head-end lifting and translation platform 54 and the end-end lifting and translation platform 55 to transport the unloading pallet 51 along the conveying direction, and the servo motor is used to drive the head-end lifting and translation platform 54 and the end-end lifting and translation platform 55 to lift the unloading pallet 51 in the vertical direction.

[0315] In practice, all components of the hydraulic valve block unloading and conveying device, except for the rectangular base frame 59, are mounted on the rectangular base frame 59, enhancing the integrity of the entire hydraulic valve block unloading and conveying device. Movable wheels are located at the bottom of the rectangular base frame 59. These wheels are used to adjust the position of the hydraulic valve block unloading and conveying device to coordinate the position of the previous and next processes. Once adjusted to the appropriate position, the wheels are locked and fixed.

[0316] The first end lifting and translation platform 54 and the end end lifting and translation platform 55 both include:

[0317] The tray carrying platform 541 is rectangular and is used to carry the unloading tray 51;

[0318] A vertical lifting mechanism 542 drives the tray carrying platform 541 to vertically lift;

[0319] The lifting guide device 543 includes a plurality of vertical guide rods that are slidably arranged on the corners of the tray carrying platform 541.

[0320] Specifically, the vertical lifting mechanism 542 can be a pneumatic cylinder, which cooperates with the lifting guide device 543, and the extension and contraction direction of the pneumatic cylinder is consistent with the direction of the lifting guide device 543. A second photoelectric sensor 544 is provided on the tray loading platform 541 to detect the position of the unloading tray 51 when it is moved or raised. When the unloading tray 51 is lifted and reaches the specified position, the second photoelectric sensor 544 triggers the unloading tray 51 in place signal.

[0321] The upper roller conveyor line 52 , the lower roller conveyor line 53 and the pallet loading platform 541 all include two side unloading limiting walls 521 for limiting the unloading pallet 51 and a plurality of unloading conveying rollers 522 arranged along the conveying direction.

[0322] Specifically, the gaps between the multiple unloading conveyor rollers 522 are moderate, preventing the unloading tray 51 from falling due to excessive gaps while also ensuring that the number of unloading conveyor rollers 522 is small. An optimal gap of 60 mm is generally selected. Furthermore, the unloading conveyor rollers 522 have smooth surfaces, effectively preventing damage to the lower surface of the unloading tray 51 during conveyance. The spacing between the unloading limit walls 521 on both sides is moderate, ensuring that the unloading tray 51 can contact the unloading conveyor rollers 522 for conveyance while also preventing the unloading tray 51 from separating from the unloading conveyor rollers 522.

[0323] Similar to the loading tray, the unloading tray 51 may include:

[0324] The blanking base 511 is flat and has a blanking oil collecting trough 515; and

[0325] The blanking positioning plate 512 is positioned and installed on the top surface of the blanking base 511 . The blanking base 511 and the blanking positioning plate 512 are provided with a blanking contour groove 513 for positioning the hydraulic valve block assembly 600 .

[0326] Furthermore, each corner of the blanking base 511 is provided with a blanking locating pin 514. The blanking locating plate 512 is provided with multiple locating holes that align with each blanking locating pin 514. The blanking locating pins 514 engage the locating holes to connect the blanking locating plate 512 to the blanking base 511. The blanking locating plate 512 is provided with a number of blanking contour grooves 513, adapted to the shape and size of the valve body and hydraulic components. These contour grooves 513 facilitate positioning of the valve body and hydraulic components. The blanking locating pins 514 and locating holes provide a removable connection between the blanking locating plate 512 and the blanking base 511. As the primary support for the valve body and hydraulic components, the blanking locating plate 512 will wear out over time. When wear becomes so severe that positioning is no longer possible, only the blanking locating plate 512 needs to be replaced, rather than the entire blanking tray 51, thus conserving resources.

[0327] The unloading oil collecting groove 515 of the unloading base 511 covers the entire surface of the unloading base 511. When the hydraulic component 200 is placed on the unloading base 511, the dripping residual oil can be collected in the unloading oil collecting groove 515, effectively preventing the residual oil on the hydraulic component from falling to the ground during transportation, causing workers to slip and increase safety hazards.

[0328] like Figure 6 As shown, in this embodiment, the hydraulic valve block unloading and conveying device 5 is arranged in parallel with the hydraulic valve block loading and conveying device 2 and is arranged adjacent to the loading roller line 22, so that the structure is compact and convenient for the first handling device 11 to perform centralized and efficient loading and unloading.

[0329] (23) A joint conveying device, such as Figure 22 Shown, including:

[0330] The lower wire body 32 and the upper wire body 31 are spaced apart and arranged in the joint conveying direction. In the joint conveying direction, the conveying head end of the lower wire body 32 is extended outward by a set distance relative to the conveying head end of the upper wire body 31, and the conveying end of the lower wire body 32 is extended outward by a set distance relative to the conveying end of the upper wire body 31 to form a step shape; and

[0331] The joint silo is spaced apart from the conveying head end of the lower layer line body 32 and is used to load the pipe joint 300 to the conveying head end of the lower layer line body 32 and the conveying head end of the upper layer line body 31.

[0332] Furthermore, the size specifications of the lower line body 32 and the upper line body 31 can be adjusted according to the size of the assembly site so that they do not affect the placement of other process devices due to their excessive size. At the same time, the position of the robot handling system is adjusted so that the lower line body 32 and the upper line body 31 can be smoothly connected with the next process device, thereby saving the space required for the joint conveying device. After starting work, the workers will arrange the pipe joints 300 one by one in a regular manner on the conveying head ends of the upper line body 31 and the lower line body 32, and can arrange the required pipe joints 300 of different specifications, and then carry out the automated transportation and unloading process, saving a lot of manpower, reducing labor costs, and thus improving the competitiveness of the product; reducing work intensity, reducing the situation where transportation efficiency is affected by human subjective factors, thereby improving assembly efficiency, and ultimately improving product production efficiency.

[0333] The joint silo is mainly used to load pipe joints 300, shortening the distance between the joint storage area and the lower wire body 32. Workers do not need to carry the pipe joints 300 from the joint storage area to the lower wire body 32 and then place the pipe joints 300 on the lower wire body 32, thereby reducing the workload of workers. A plurality of baffles are provided in the joint silo, which are used to separate the joint silo into multiple areas for placing pipe joints 300 of different specifications, facilitating the storage and retrieval of pipe joints 300 of different specifications. Before starting work, all required specifications of pipe joints 300 are stored in the joint silo and placed in different areas according to their specifications. Workers only need to place the pipe joints 300 in the corresponding areas on the lower wire body 32 and the upper wire body 31 for transportation, without the need to distinguish them before placing them, thereby reducing the workload of workers.

[0334] The lower layer line body 32 and the upper layer line body 31 both include:

[0335] Multiple end blocking blocks 36 are arranged one by one at the ends of multiple belt conveyor lines 33. The end blocking blocks 36 and the ends of the belt conveyor lines 33 are spaced apart from each other along the joint conveying direction, and the spacing between the end blocking blocks 36 and the ends of the belt conveyor lines 33 is designed according to different specifications of pipe joints 300.

[0336] Specifically, the bottoms of multiple end blocks 36 are fixed by a positioning plate. The positioning plate, located at one end near the belt conveyor 33, is provided with a guide groove corresponding to each end block 36. The guide groove adopts a V-shaped structure with a circular arc transition at the bottom. The pipe joint 300, which flows through the belt conveyor 33, contacts the positioning plate. When the pipe joint 300 is not fully aligned with the guide groove, the power of the belt conveyor 33 causes the pipe joint 300 to rotate until it fully aligns with the guide groove, achieving initial positioning of the pipe joint 300. After the pipe joint 300 completes initial positioning, it moves along the belt conveyor 33 until it abuts the end block 36 and is in a stationary state. A rubber pad is provided at the point where the end block 36 collides with the joint to reduce the impact between the pipe joint 300 and the end block 36, thereby reducing wear on the pipe joint 300.

[0337] Furthermore, a first induction switch 37 is embedded in the end blocking block 36, and the induction end of the first induction switch 37 is flush with the blocking end surface of the end blocking block 36, ensuring that when the pipe joint 300 is in a stationary state, the pipe joint 300 can contact the induction end of the first induction switch 37.

[0338] The joint conveying device also includes a controller that cooperates with the first sensor switch 37. Its operating principle is as follows: in response to the contact sensing signal from the first sensor switch 37, the controller controls the first drive device 35 of the corresponding lower wire body 32 or upper wire body 31 to stop working, that is, to turn off the corresponding drive motor 352. At the same time, the controller controls the robotic handling system to transport the pipe joint 300 to the next assembly device.

[0339] The joint conveying device also includes a tightening system that cooperates with the robot handling system. Both the robot handling system and the tightening system are controlled by the controller. The specific working process is as follows:

[0340] First, when the pipe joint 300 contacts the sensing end of the first sensing switch 37, the controller responds to the contact sensing signal of the first sensing switch 37, and the controller controls the robot handling system to grab the pipe joint 300 and separate the pipe joint from the end blocking block 36; then the robot handling system is controlled to transport the pipe joint 300 to the tightening system and then return to its original position for the next transport; finally, the tightening system screws the pipe joint 300 into the corresponding mounting hole on the valve body to complete the assembly of the pipe joint 300.

[0341] In fact, the distance between any two adjacent belt conveyor lines 33 is not less than 10 mm, and the belt widths of at least some of the belt conveyor lines 33 are different. This ensures that the pipe joints 300 on adjacent belt conveyor lines 33 will not collide, will not cause the width of the upper line body 31 or the lower line body 32 to increase, and can enable different pipe joints 300 to be transported on belts of different widths.

[0342] The joint delivery device may also include:

[0343] The bottom frame 38 is rectangular and includes vertical support rods extending upward from the corners of the rectangle. The lower wire body 32 and the upper wire body 31 spaced apart from each other are fixedly mounted on the vertical support rods.

[0344] In order to ensure the fixation of the upper wire body 31 and the lower wire body 32 and the stability of the conveying process, the upper wire body 31 and the lower wire body 32 are fixed on the bottom frame 38, and the integrity of the joint conveying device is improved.

[0345] (24) Screw plug conveying device

[0346] like Figures 19 to 21 As shown, in an embodiment of the present application, the screw plug feeding and conveying device 4 is used for feeding screw plugs 400 of different specifications. The screw plug feeding and conveying device 4 is composed of several sets of material boxes 41, inclined pipes 44, vibrating material trays 42, discharge troughs 43, limit grooves 46, screw plug sensing switches 461, discharge fences 45, and a second rectangular frame 28.

[0347] Among them, the material box 41 is welded to the inclined pipe 44 as a whole and fixed on the second rectangular frame 28. The tail end of the inclined pipe 44 is the discharge port, which is placed above the vibrating material tray 42; the vibrating material tray 42 and the discharge chute 43 are installed on the second rectangular frame 28, and the vibrating material tray 42 is connected to the discharge chute 43 through the discharge fence 45; a limit groove 46 is provided at one end of the discharge chute 43 away from the discharge fence 45, and a screw plug sensing switch 461 is installed on the limit groove 46 and triggers a screw plug in place signal when the screw plug 400 is detected;

[0348] The discharging fence 45 is composed of an upper gear rod 453, a lower gear rod 454, two side gear rods 455 and an outer frame 452. The upper gear rod 453, the lower gear rod 454 and the side gear rods 455 form an integral structure through the outer frame 452. The lower gear rod 454 is located below the discharging fence 45 and is used to support the screw plug 400. The two side gear rods 455 are respectively installed on both sides of the discharging fence 45 to prevent the screw plug 400 from falling out of the discharging fence 45. An upper gear rod 453 is provided above the discharging fence 45. The upper gear rod 453 is parallel to the screw plug 400, and a slight gap is left in the middle to ensure that the screw plug 400 can pass smoothly. This can effectively prevent the screw plug 400 of the wrong specification from entering the discharging fence 45.

[0349] The screw plug feeding and conveying device also includes a controller 47 configured to respond to a screw plug in place signal and control the vibration tray 42 to stop working. The function of the controller 47 is to control the progress or interruption of the feeding process of the screw plug feeding and conveying device. Specifically, when the screw plug 400 falls into the limit groove 46, the screw plug sensing switch 461 sends a screw plug in place signal, the controller 47 controls the vibration tray 42 to stop vibrating, and the screw plug 400 stops moving. When the screw plug 400 in the limit groove 46 is pulled out for use, the controller 47 responds to the limit groove no-load signal sent by the screw plug sensing switch 461, and controls the vibration tray 42 to continue vibrating, thereby continuing to convey the screw plug 400 until the next screw plug 400 falls into the limit groove 46. The above process is repeated to complete the automatic feeding of the screw plug 400.

[0350] Each vibrating material tray 42 is used to distribute screw plugs 400 of the same specification. The multiple vibrating material trays 42 are arranged in a front-to-back staggered manner to make the layout more compact and effectively save space.

[0351] When the screw plug feeding and conveying device 4 is working, the screw plug 400 is first manually placed into the material box 41, and the screw plug 400 flows into the vibrating material tray 42 along the inclined pipe 44. Under the vibration of the vibrating material tray 42, the screw plug 400 is regularly discharged through the discharge fence 45 (the threaded part of the screw plug 400 faces downward) into the discharge trough 43. When the threaded part of the screw plug 400 is in contact with the limit groove 46, the screw plug sensing switch 461 sends a screw plug in place signal, the vibrating material tray 42 stops working, and the robot tightening system 10 sucks the screw plug 400 located in the limit groove 46 and installs it on the valve body 100.

[0352] (3) Material handling module

[0353] like Figure 32 As shown, the first handling device 11 consists of a base, a robot, and a special combination gripper. The robot can be flexibly controlled and can be a six-axis robot fixed on the base. The robot can be equipped with ordinary grippers or special combination grippers specially designed for the objects to be gripped. The special combination gripper can be equipped with two gripping structures: an electromagnet and a pneumatic gripper. The electromagnet is fixed at the center of the special combination gripper, and the pneumatic grippers are installed at both ends of the special combination gripper. The valve block has a smooth and flat surface and is a metal part, so the structure design using electromagnet suction is relatively simple. Since the hydraulic component 200 contains electromagnetic components, the use of an electromagnet suction structure is likely to cause damage to the hydraulic component 200, so a pneumatic gripper gripping structure is adopted. The pneumatic gripper opens and contracts to achieve the gripping of parts with a larger range of external dimensions, which can realize the gripping of four hydraulic components on the hydraulic valve group and has strong compatibility.

[0354] like Figure 33As shown, the second handling device 12 is composed of a base, a robot, and an electric gripper. It is also a robot with flexible control. The robot is also a six-axis robot, fixed on the base, and an electric gripper is installed on it. The electric gripper adopts a V-finger structure, which can engage with the hexagonal shape of the pipe joint 300. It is not easy to protrude after grasping, and pipe joints 300 of different sizes can be clamped by changing the stroke of the electric gripper.

[0355] In the embodiment of the present invention, the specific working process is:

[0356] When the first induction switch 37 senses that the pipe joint 300 has been delivered to its place, the robot first moves from the origin to the top of the pipe joint 300 according to the set walking trajectory (the electric gripper on the robot is in a horizontal state, and the center of the gripper coincides with the center of the pipe joint 300, and the clamping surface is parallel to the hexagonal part of the pipe joint 300), and then moves downward until the upper surface of the gripper is flush with the upper surface of the pipe joint 300; after the robot is in place, the electric gripper receives a signal to drive the electric gripper to close inward and clamp the pipe joint 300; displacement and pressure sensors are provided on the inner side of the electric gripper. When the closing range of the electric gripper meets the set displacement value and the clamping force is greater than the pressure setting, it is judged that the electric gripper has clamped the pipe joint 300 in place.

[0357] When the displacement and pressure sensors sense that the pipe joint 300 is clamped in place, the robot first drives the electric gripper to move upward until the lower surface of the pipe joint 300 is completely out of the horizontal high point of the belt conveyor line 33; then, the robot rotates 180° to change the pipe joint 300 clamped by the electric gripper from a vertical grasping state to a horizontal grasping state; finally, the robot moves the pipe joint 300 to the second tightening system 9 according to the set walking trajectory.

[0358] (4) Assemble the tightening module

[0359] According to the range of tightening torque values ​​of the threads on the hydraulic valve block assembly (for example, 5N.m to 450N.m), three tightening shafts with different torque ranges are selected to cover the torque range of thread tightening on the hydraulic valve block. At the same time, given that the equipment itself adopts automated assembly, the tightening shaft can be installed and fixed on a robot or servo device, among which the low-torque tightening shaft can be installed on the robot, and the high-torque tightening shaft can be fixed on the servo device.

[0360] In the illustrated embodiment, the assembly tightening module includes: a sleeve quick-change device, a first tightening system 8, a second tightening system 9, and a robot tightening system 10. Different tightening systems are responsible for different tightening requirements. Figure 30 The robotic tightening system 10 shown has a relatively small range of torque values ​​but is flexible in posture; Figure 14 The first tightening system 8 shown and Figure 27The torque value range of the second tightening system 9 shown is relatively large, and the second tightening system 9 can provide lifting and translation functions.

[0361] See also Figure 6 The combined use of the second tightening system 9 and the robot tightening system 10 can save costs compared to using two sets of robot tightening systems, and the operating spaces of each other are less likely to interfere with each other.

[0362] (41) Socket quick change device

[0363] like Figure 24 、 Figure 25 、 Figure 26 、 Figure 28 、 Figure 29 As shown, in an embodiment of the present application, the sleeve quick change device includes a first sleeve quick change device 6 and a second sleeve quick change device 7. The first sleeve quick change device 6 and the second sleeve quick change device 7 have the same structure and both include: a quick change bracket 61 and multiple tightening assemblies 90.

[0364] The quick-change bracket 61 includes a first placement bracket 611 and a second placement bracket 612 that are spaced apart. The first placement bracket 611 can be moved away from or close to the second placement bracket 612. The quick-change bracket 61 is provided with a plurality of component placement holes 613 that pass through the first placement bracket 611 and the second placement bracket 612.

[0365] Multiple tightening assemblies 90 are placed in the multiple assembly placement holes 613 in a one-to-one correspondence. The tightening assemblies 90 include a quick-change head 92 clamped between the first placement bracket 611 and the second placement bracket 612 and a tightening member 91 clamped on the second placement bracket 612. The quick-change head 92 includes a torque connection end 922 with a torque connection hole 921 and a transmission connection end 923 transmission-connected to the tightening member 91.

[0366] A connecting locking piece 924 is provided on the outer peripheral wall of the quick-change head 92. When the first placement bracket 611 is positioned away from the second placement bracket 612, the connecting locking piece 924 partially extends into the torque connection hole 921 to lock the torque connection. When the first placement bracket 611 is positioned close to the second placement bracket 612, the connecting locking piece 924 disengages from the torque connection hole 921 to open the torque connection.

[0367] The quick-change bracket 61 includes a bracket driving mechanism 620 for driving the first placement bracket 611 to move away from or closer to the second placement bracket 612. The bracket driving mechanism 620 controls the first placement bracket 611 and thus controls the connection locking member 924.

[0368] Specifically, the bracket driving mechanism 620 includes a driving member and a bracket guide shaft. The bracket guide shaft is vertically arranged to pass through the first placement bracket 611 and the second placement bracket 612. Under the action of the driving member, the second placement bracket 612 moves linearly along the bracket guide shaft.

[0369] Furthermore, the drive member is preferably a pneumatic cylinder, the cylinder barrel of which is fixed at the center of the second support bracket 612. One end of the cylinder's piston rod is connected to the first support bracket 611, and guide shafts are evenly spaced around the cylinder. When the piston rod extends, the first support bracket 611 moves away from the second support bracket 612, and the connecting locking member 924 partially extends into the torque connection hole 921, locking the torque connection. When the piston rod retracts, the first support bracket 611 moves closer to the second support bracket 612, and the connecting locking member 924 disengages the torque connection hole 921, releasing the torque connection. It should be noted that the support drive mechanism 620 is not limited to a pneumatic cylinder; a drive motor or manual drive is also possible.

[0370] The diameter of the component placement hole 613 is larger than the maximum outer diameter of the tightening assembly 90, allowing the tightening assembly 90 to be placed in or removed from the quick-change bracket 61 through the component placement hole 613. Specifically, the component placement hole 613 includes a movable space for horizontally inserting or removing the tightening assembly 90 and a placement space for placing the tightening assembly 90. When replacing the tightening assembly 90, the tightening system for controlling the tightening assembly 90 first lifts the tightening assembly 90 vertically from the placement space and then removes the tightening assembly 90 horizontally through the movable space.

[0371] A sliding sleeve 93 is provided on the outer circumferential wall of the quick-change head 92. When the first placement bracket 611 moves away from or toward the second placement bracket 612, it can drive the sliding sleeve 93 to slide along the outer circumferential wall of the quick-change head 92, and drive the connection locking member 924 to correspondingly partially extend into or disengage from the torque connection hole 921. The sliding sleeve 93 functions as an intermediate transmission element. The first placement bracket 611 drives the sliding sleeve 93 to move axially along the quick-change head 92. The axial movement of the sliding sleeve 93 drives the connection locking member 924 to move perpendicular to the central axis of the quick-change head 92, thereby causing the connection locking member 924 to extend into or disengage from the torque connection hole 921. By controlling the position of the first placement bracket 611, the torque connection of the quick-change head 92 can be opened or locked.

[0372] The assembly mounting holes 613 include a first mounting hole 614 formed through the first mounting bracket 611 and a second mounting hole 615 formed through the second mounting bracket 612. The inner wall of the first mounting hole 614 is formed with a stopper portion 616 for pushing the sliding sleeve 93. When the first mounting bracket 611 moves toward the second mounting bracket 612, the stopper portion 616 abuts against the end surface of the sliding sleeve 93 away from the tightening member 91, allowing the first mounting bracket 611 to drive the sliding sleeve 93 from the locked sliding position to the released sliding position.

[0373] A first baffle 617 and a second baffle 618 are respectively provided on either axial side of the second mounting hole 615. A limiting slot 619 is formed between the first baffle 617, the inner circumferential wall of the second mounting hole 615, and the second baffle 618. A raised limiting portion 928 is formed on the outer circumferential wall of the quick-change head 92, and the limiting portion 928 is engaged with the limiting slot 619. The first baffle 617 and the second baffle 618 provide support for the tightening assembly 90. The limiting portion 928 is engaged with the limiting slot 619 to limit the horizontal displacement of the tightening assembly 90, thereby ensuring the stability of the tightening assembly 90 and preventing the tightening assembly 90 from being displaced by external forces when replacing the tightening assembly 90, thereby affecting the replacement efficiency of the tightening assembly 90.

[0374] The second placement bracket 612 is provided with a suspension support plate 621 extending from the bracket wall below the second placement hole 615. A second baffle 618 and a third baffle 622 are spaced apart on the suspension support plate 621. The tightening member 91 is supported on the suspension support plate 621, with both ends clamped between the second baffle 618 and the third baffle 622. The suspension support plate 621 and the third baffle 622 provided on the suspension support plate 621 provide auxiliary support for the tightening assembly 90, which is larger and has its center of gravity farther from the second baffle 618, thereby ensuring smooth replacement of the tightening assembly 90.

[0375] Specifically, the third baffle 622 is arranged at one end of the suspension support plate 621 away from the second mounting hole 615, and the top surface of the third baffle 622 is L-shaped, which provides support for the tightening assembly 90 and at the same time limits the horizontal movement position of the tightening assembly 90 to ensure that the tightening assembly 90 can be clamped in the limiting slot 619.

[0376] The suspension support plate 621 is also equipped with a detection sensor 623 for sensing the tightening member 91. This detection sensor 623 automatically determines whether the tightening assembly 90 has been replaced, allowing the next step to proceed as quickly as possible after the tightening assembly 90 has been replaced. Specifically, the detection sensor 623 is located on the suspension support plate 621 and directly below the tightening assembly 90. When the tightening member 91 is completely removed from the quick-change bracket 61, the detection sensor 623 senses that there are no obstacles above it and issues a replacement completion signal. This signal is then transmitted to the tightening system that controls the tightening assembly 90, allowing the next step to proceed.

[0377] The circumferential wall of the torque connection hole 921 is provided with a steel ball receiving hole 925 extending through the wall thickness. Multiple steel balls serving as connection locking members 924 are accommodated in the steel ball receiving holes 925. The inner circumferential wall of the sliding sleeve 93 is provided with a circumferential limiting groove 931. When the first placement bracket 611 is positioned away from the second placement bracket 612, the circumferential limiting groove 931 is axially offset from the steel ball receiving hole 925. The inner circumferential wall of the sliding sleeve 93 partially presses the steel balls into the torque connection hole 921. When the first placement bracket 611 is positioned closer to the second placement bracket 612, the circumferential limiting groove 931 aligns with the steel ball receiving hole 925 to partially accommodate the steel balls. By pressing the steel balls into the torque connection hole 921 or allowing them to fall into the circumferential limiting groove 931, the quick-change head 92 and the tightening shaft for transmitting torque can be quickly connected or disconnected, making operation convenient and suitable for automated assembly. It should be noted that the implementation of the connection locking member 924 is not limited to the steel ball and the steel ball receiving hole 925. It is also possible to use an elastic hoop and provide a locking portion on the quick-change head.

[0378] A convex stop is formed on the outer wall of the quick-change head 92, and a stop groove 932 is provided on the inner wall of the sliding sleeve 93, which is aligned with the convex stop. The tightening quick-change device also includes a compression spring 933, which is mounted on the outer wall of the quick-change head 92 and accommodated in the stop groove 932. One end of the compression spring 933 elastically presses against the stepped portion of the convex stop, while the other end elastically presses against the stepped portion of the stop groove 932. The compression spring 933 ensures that the sliding sleeve 93 is always in the locked sliding position when no external force is applied, thereby ensuring that the connection locking member 924 always extends into the torque connection hole 921 to lock the torque link.

[0379] Specifically, when the sliding sleeve 93 moves axially along the quick-change head 92, driven by the first placement bracket 611, the compression spring 933 is compressed, causing the sliding sleeve 93 to move to the released sliding position. When the first placement bracket 611 moves away from the second placement bracket 612, the sliding sleeve 93 returns to the locked sliding position under the action of the compression spring 933. The entire process is achieved simply by controlling the bracket drive mechanism 620 to cause the first placement bracket 611 to move linearly. Furthermore, a stop spring 934 is provided on the outer peripheral wall of the quick-change head 92 to prevent the sliding sleeve 93 from dislodging from the quick-change head 92.

[0380] A centering shaft 926 coaxially extends from the transmission connection end 923 of the quick-change head 92. The tightening member 91 is a tightening sleeve and includes a tightening end 911 with a tightening hole 914 recessed from the end surface, and a connecting end 912 with a central connecting hole 913. The centering shaft 926 is axially inserted into the central connecting hole 913 and axially extends out of the tightening hole 914. For connecting tubular workpieces (such as the pipe joint 300), the centering shaft 926 can be inserted into the tubular workpiece to assist in positioning.

[0381] A connecting shaft 927 is coaxially extended from the transmission connection end 923 of the quick-change head 92, and the tightening assembly 90 includes a gear shaft assembly 94, which includes a driving shaft 941 provided with a driving gear and a driven shaft 942 provided with a driven gear, wherein the driving shaft 941 and the driven shaft 942 are arranged side by side in the radial direction, and the tightening member 91 is installed on the outer end of the driven shaft 942. Since the driving shaft 941 and the driven shaft 942 are not on the same axis, eccentric tightening of the connecting piece can be achieved, which facilitates the tightening assembly 90 to work when the installation space is limited; in addition, the tightening assembly 90 also includes a connecting sleeve 95, one end of the connecting sleeve 95 is sleeved on the connecting shaft 927, and the other end is coaxially sleeved on the driving shaft 941. Through the connecting sleeve 95, the quick-change head 92 and the driving shaft 941 are indirectly connected, avoiding interference due to the quick-change head 92 when the installation space is limited.

[0382] Specifically, the eccentric size of the tightening member 91 can be adjusted according to the installation space range of the tightening device by adjusting the center distance between the driving shaft 941 and the driven shaft 942. Furthermore, the tightening member 91 is a tightening nut used to tighten a connector with an inner angle.

[0383] (42) First tightening system

[0384] like Figure 14 As shown, in the embodiment of the present application, the first tightening system 8 is composed of a tightening mechanism 81 , a guide shaft 82 , a movable plate 83 , a fixed plate 84 , and a lifting drive mechanism 85 .

[0385] Among them, the fixed plate 84 is fixed on the fixed platform 101 through the guide shaft 82; the lifting drive mechanism 85 is arranged on the fixed plate 84, and the lifting end of the lifting drive mechanism 85 is connected to the movable plate 83; the tightening mechanism 81 is installed on the movable plate 83, and the lifting drive mechanism 85 pushes the movable plate 83 to move up and down along the guide shaft 82 when working, thereby realizing the up and down movement of the tightening mechanism 81.

[0386] (43) Second tightening system

[0387] like Figure 27 As shown, in the embodiment of the present application, the second tightening system 9 includes a first electric tightening shaft 901, a first mounting platform 902, a first guide rail slider mechanism 903, a first drive motor 904, a second drive motor 905, a frame 906 and a worm gear.

[0388] Among them, one end of the first electric tightening shaft 901 is provided with a centering sleeve, and the centering sleeve can rotate coaxially with the first electric tightening shaft 901; the first mounting platform 902 is installed on the second drive motor 905, and the worm gear is fixed to the first mounting platform 902; the second drive motor 905 is connected to the worm gear, and the second drive motor 905 drives the worm gear to move to realize the up and down movement of the first mounting platform 902; the first drive motor 904 is fixed on the first mounting platform 902 and is used to drive the first guide rail slider mechanism 903 to drive the first electric tightening shaft 901 to realize horizontal linear movement.

[0389] Under the joint action of the first drive motor 904 and the second drive motor 905, the first electric tightening shaft 901 can move up and down and forward and backward, so that the first electric tightening shaft 901 moves to be flush with the mounting hole position of the valve body 100, and then the first electric tightening shaft 901 rotates to tighten the pipe joint 300 on the valve body 100.

[0390] The specific working process in the embodiment of the present invention is as follows:

[0391] First, the electric gripper of the second handling device 12 puts the pipe joint 300 on the first electric tightening shaft 901 and moves until the robot of the second handling device 12 encounters resistance. The sensor on the robot receives the resistance signal and drives the electric gripper to open outward to loosen the pipe joint 300 and return to the original position; then the control system 17 drives the first drive motor 904 and the second drive motor 905 according to the installation hole position of the pipe joint 300 on different valve bodies 100 to drive the first electric tightening shaft 901 to move up and down and front and back to the installation hole position, and align the pipe joint 300 with the installation hole. coaxial; then, the control system 17 controls the first electric tightening shaft 901 to move until the end face of the pipe joint 300 contacts the end face of the valve body 100; then, the first electric tightening shaft 901 is controlled to rotate in the forward direction at a small speed until the hexagonal part of the pipe joint 300 engages with the hexagonal part inside the centering sleeve. After engagement, the torque value is automatically set according to the pipe joint 300 and the first electric tightening shaft 901 is controlled to be screwed into the valve body 100, and the torque value reaches the set value; finally, the first electric tightening shaft 901 is controlled to rotate in the reverse direction at a small speed to release the torque between the centering sleeve and the pipe joint 300 and return to the initial position at the same time.

[0392] (44)Robotic tightening system

[0393] like Figure 30 、 Figure 31 As shown, the robot tightening system 10 can be composed of a base, a robot and a tightening device. The robot can be a six-axis robot fixed on the base, and the tightening device is installed at the end of the robot. Figure 31 The tightening device can be composed of a connecting plate 1001, a tightening shaft 1002, a horizontal telescopic cylinder 1003, a guide rail 1004, a sliding plate 1005, and a magnetic sleeve 1006. Guide rails 1004 are installed on both sides of the connecting plate 1001. The horizontal telescopic cylinder 1003 is fixed on the connecting plate 1001 and is located between the guide rails 1004 on both sides; the sliding plate 1005 is placed above the guide rail 1004 and is connected to the end of the telescopic cylinder through a piston rod; the tightening shaft 1002 is fixed on the sliding plate 1005. Under the action of the telescopic cylinder, the sliding plate 1005 moves along the guide rail, so that the tightening shaft 1002 follows the movement to achieve axial displacement.

[0394] The end of the tightening shaft 1002 is equipped with a magnetic sleeve 1006. After the robotic tightening system 10 moves to the unloading port of the screw plug feeding and conveying device 4, the tightening shaft 1002 slowly moves downward close to the screw plug 400, and the magnetic sleeve 1006 absorbs the screw plug to realize the loading of the screw plug; the robotic tightening system 10 moves to the valve block installation hole position, and under the action of the horizontal telescopic cylinder 1003, the tightening shaft 1002 moves forward and rotates to realize low-torque tightening of the screw plug.

[0395] The automated assembly equipment for hydraulic valve block assemblies disclosed in this application not only optimizes its design in terms of its composition, structure, and layout, but also further optimizes the assembly process based on the structural characteristics and installation locations of the components within the hydraulic valve block assembly, incorporating automated manufacturing technology. For example, the previous manual assembly method, which followed the order of mounting surfaces, can be adjusted to the order of component types. For example, without interference from automated assembly, the components can be assembled sequentially, from smallest to largest, based on their outer dimensions.

[0396] Therefore, the present application also provides an automated assembly method for a hydraulic valve block assembly, using the aforementioned automated assembly equipment for a hydraulic valve block assembly to assemble the hydraulic valve block assembly; wherein, in particular, during the assembly process, the assembly is performed sequentially according to the order of the assembly components. For example, in this embodiment, the assembly components include, in addition to the valve body 100, hydraulic components 200, pipe joints 300, screw plugs 400, etc. Therefore, the screw plugs 400 on the five valve body assembly surfaces of the valve body can be installed first, followed by the assembly of the pipe joints 300, and finally the assembly of the hydraulic components 200.

[0397] As an example, in the case of non-interference automatic assembly, the assembly can be performed according to the outer dimensions of the parts of the assembly components from small to large, that is, the automatic assembly method may include:

[0398] First, fix the valve body 100 on the assembly position of the valve assembly platform 1;

[0399] Then, multiple screw plugs 400 are tightened and installed on each valve body assembly surface of the valve body 100;

[0400] Then, tighten and install the multiple pipe joints 300 on the respective valve body assembly surfaces of the valve body 100;

[0401] Finally, the hydraulic component 200 is screwed and installed on the corresponding valve body assembly surface of the valve body 100 .

[0402] Specifically, the automated assembly process is as follows:

[0403] Step 1: Loading large parts (valve body 100, hydraulic components 200)

[0404] The valve body 100 and the hydraulic components 200 are placed at a fixed point in the loading tray 25 and transported to the inner side of the equipment through the hydraulic valve block loading and conveying device 2. The first conveying device 11 grabs the valve body and the hydraulic components from the tray for conveying.

[0405] Step 2: Fix the valve body

[0406] The first handling device 11 grabs the valve body 100 from the hydraulic valve block loading and conveying device 2 and places it on the valve group assembly platform 1. The first tightening system 8 can tighten the connecting bolts from under the workbench according to the valve block model to tighten the valve body positioning tooling 700 and the valve body 100.

[0407] Step 3: Valve block installation hole detection

[0408] After the valve body 100 is fixed, at the visual recognition position, the first vision system 13 takes a photo to collect an image of the side of the valve block facing the first vision system 13; after the collection, the turntable body rotates 90°, and the first vision system 13 takes a photo to collect an image of the other side of the valve block facing the first vision system 13. After the collection of four side images is completed, the first vision system 13 establishes a correspondence between the coordinates of the valve block mounting hole and the actual position through mathematical calculations; at the same time, the coordinate deviation value is transmitted to the robot tightening system 10 and the second tightening system 9, and the precise movement of the mounting hole is achieved through the robot tightening system 10 and the second tightening system 9; the turntable 103 moves to the assembly position.

[0409] Step 4: Loading parts

[0410] The pipe joint 300 and the screw plug 400 are placed in the joint conveying device 3 and the screw plug feeding conveying device 4 respectively. The joint conveying device 3 and the screw plug feeding conveying device 4 arrange the materials in a regular pattern and convey them to the inner side of the equipment.

[0411] Step 5: Gluing parts

[0412] After the second handling device 12 picks up the pipe joint 300, it moves to the bottom of the glue injection system 15 for thread glue coating. After the glue coating is completed, it moves to the second visual system 14 for inspection (the presence of the sealing ring on the pipe joint and the glue coating status).

[0413] Step 6: Install the parts

[0414] The first handling device 11 grabs the hydraulic component 200 and moves it to the valve block installation position. The robot tightening system 10 moves to the connection bolt position of the hydraulic component 200, tightens the bolt to fasten the hydraulic component 200 and the valve body 100, and the first handling device 11 releases the clamping jaws and returns to the origin.

[0415] The second handling device 12 moves the pipe joint 300 to the second tightening system 9, and the second tightening system 9 moves the position to install the pipe joint 300 to the corresponding mounting hole of the valve block; the electric tightening shaft works to tighten the pipe joint 300; according to the specifications of different pipe joints 300, the second tightening system 9 replaces the sleeve on the electric tightening shaft through the first sleeve quick-changing device 6.

[0416] After the robotic tightening system 10 moves to the discharge port of the screw plug feeding and conveying device 4, the tightening shaft slowly moves downward close to the screw plug 400, and the magnetic sleeve absorbs the hexagonal hole of the screw plug to realize the loading of the screw plug; the robotic tightening system 10 moves to the valve block mounting hole position, and under the action of the telescopic cylinder, the tightening shaft moves forward and rotates to tighten the screw plug; according to the specifications of different screw plugs, the robotic tightening system 10 can replace the sleeve on the electric tightening shaft through the second sleeve quick-changing device 7.

[0417] Step 7: Hydraulic valve block assembly off the line

[0418] After the hydraulic valve assembly is complete, the first tightening system 8 uses an electric tightening spindle to loosen the bolts connecting the valve body positioning fixture 700 and the valve body 100. The first handling device 11 picks up the assembled hydraulic valve block assembly from the workbench and transfers it to the unloading tray of the hydraulic valve block unloading conveyor 5. The hydraulic valve block unloading conveyor 5 operates, and the hydraulic valve block assembly is transported to the outside of the conveyor, where it can be lifted off the production line using the cantilever lifting device 16.

[0419] In the automated assembly equipment for the hydraulic valve block assembly of the present application, each functional mechanism such as handling and tightening can adopt a precisely controllable drive mechanism such as a servo motor. The control system 17 can control the functional requirements of the assembly units and components according to the automated assembly process, combined with the operational requirements and specific needs of automatic loading and unloading, grasping, assembly, testing, and operation of components and control components, and is divided into the following four categories:

[0420] 1) Automatic loading / unloading of hydraulic valve group, see Figure 34 , that is, the process control flow chart of automatic loading and unloading of hydraulic valve blocks;

[0421] 2) Automatic loading and assembly of screw plugs, see Figure 35 , i.e., a process control diagram of a screw plug assembly control unit;

[0422] 3) Automatic loading and assembly of pipe joints, see Figure 36 , i.e., a process control schematic diagram of a pipe joint assembly control unit;

[0423] 4) Automatic loading and assembly of hydraulic components, see Figure 37 , which is a process control diagram of the hydraulic component assembly control unit.

[0424] In the automated assembly equipment for the hydraulic valve block assembly of the present application, the control system 17 controls each assembly link throughout the entire assembly process of the valve block assembly, without the need for manual intervention. The material delivery module enables material loading, the material handling module automatically grasps and handles the material, the glue injection system applies the glue, the visual module determines the status of each component and accurately identifies the position of each mounting hole on the valve body, and finally, the assembly and tightening module enables the connection and fixed-torque tightening of each assembly component, eliminating the occurrence of quality risks such as missing assembly, missing tightening, and missing glue application during the assembly process. At the same time, it improves production efficiency, reduces employee labor intensity, and improves the assembly work environment.

[0425] Figure 38 The following is a general control flow chart of a control system according to a specific embodiment of the present application. As an example, as previously described, the control system 17 can utilize a PLC as the master station and communicate with a touch screen. Through the communication module, input and output are achieved between the valve assembly platform 1, the material conveying module, the material handling module, the glue injection system, the vision module, and the assembly and tightening module. This allows for control of the entire automated assembly process, while also utilizing the touch screen to enable manual debugging and key data monitoring of all modules.

[0426] From the perspective of control actions and control logic, the control system 17 may include multiple sub-control units for implementing the control of a single assembly action, such as a valve body positioning tool replacement control unit, a valve body loading control unit, a screw plug assembly control unit, a pipe joint assembly control unit, a hydraulic component assembly control unit, and / or a hydraulic valve block assembly unloading control unit, etc. Furthermore, the control system 17 may also include a timing control unit for coordinating the various sub-control units to complete the automated assembly of the hydraulic valve block assembly. The sub-control units can precisely control the servo drive motors of the various functional components in the automated assembly equipment to complete specific assembly actions, and the timing control unit can set the working order, timing nodes, start and stop conditions, etc. of each sub-control unit through software.

[0427] Specifically, based on the structure of the valve assembly platform 1, the control system 17 may include a valve body positioning tool replacement control unit configured as follows:

[0428] Drive the movable slide 102 to move along the first platform direction to a fixed position;

[0429] At the fixed position, remove the original valve body positioning tool 700 on the turntable 103 and move it away through the first handling device 11;

[0430] According to the specifications of the valve body 100 of the valve group to be assembled, the tooling quick-change mechanism 105 is controlled to switch out the corresponding valve body positioning tool 700;

[0431] The corresponding valve body positioning fixture 700 is transported to a fixed position by the first transport device 11 and clamped and fixed on the turntable 103 .

[0432] Through the valve body positioning tooling replacement control unit, the servo drive motor that controls the moving slide 102, the rotation drive motor of the turntable 103, the switch mechanism of the tooling quick change mechanism 105, and the first handling device 11 serving as a robot can be combined to realize the disassembly, replacement, and installation of the valve body positioning tooling 700, thereby adapting to valve bodies 100 of different specifications and selecting matching valve body positioning tooling 700.

[0433] Optionally, the control system 17 includes a valve body loading control unit configured to:

[0434] Control the hydraulic valve block feeding and conveying device 2 to convey the valve body 100;

[0435] Control the mobile turntable so that the turntable 103 moves to a fixed position. The turntable 103 is equipped with a valve body positioning tool 700 corresponding to the specifications of the valve body 100;

[0436] Control the first transport device 11 to grab the valve body 100 and transport it to the valve body positioning tool 700 on the turntable 103;

[0437] The first tightening system 8 is controlled to tighten and connect the valve body positioning tool 700 and the valve body 100 .

[0438] It can be seen that through the valve body loading control unit, the hydraulic valve block loading and conveying device 2, the first handling device 11, and the first tightening system 8 can be combined to sequentially complete the conveying, loading, and handling of the valve body 100 or the hydraulic component 200 and the fixed installation of the valve body 100 and the valve body positioning tool 700.

[0439] Furthermore, based on the first visual system 13, the valve body loading control unit can be further configured as follows:

[0440] Control the mobile turntable so that the turntable 103 moves to the visual recognition position;

[0441] The turntable 103 is controlled to rotate, driving each valve body assembly surface of the valve body 100 to rotate to the opposite side of the first vision system 13, and the first vision system 13 is controlled to recognize the installation point information on each valve body assembly surface.

[0442] Therefore, after the valve body 100 and the valve body positioning tool 700 are fixedly installed, the first visual system 13 can be used to further collect the installation point information on each valve body assembly surface of the valve body 100 to more accurately determine the installation position of each component, and then control the corresponding tightening device to make corresponding position fine-tuning, so as to accurately and reliably complete the positioning and tightening of the screw plug, tightening of the bolts, etc.

[0443] In order to achieve material feeding control, combined with Figure 6 The control system 17 may include a hydraulic valve block assembly unloading control unit configured to:

[0444] After the valve body 100 is assembled to form the hydraulic valve block assembly, the rotary table 103 is controlled to move to a fixed position;

[0445] Controlling the first tightening system 8 to disconnect the valve body positioning tool 700 from the hydraulic valve block assembly;

[0446] Control the first handling device 11 to grab the hydraulic valve block assembly and transport it to the hydraulic valve block unloading and conveying device 5;

[0447] Control the cantilever lifting equipment 16 to lift the hydraulic valve block assembly off the production line.

[0448] Obviously, after the hydraulic valve block assembly is assembled, the hydraulic valve block assembly unloading control unit can be combined with the control valve group assembly platform 1, the first tightening system 8, the first handling device 11, the hydraulic valve block unloading and conveying device 5, and the cantilever lifting equipment 16 to realize the automation of unloading after the assembly is completed.

[0449] To achieve process control of the screw plug assembly, the control system 17 may include a screw plug assembly control unit configured to:

[0450] Drive the screw plug feeding and conveying device 4 to control the feeding of the screw plug 400;

[0451] The robot tightening system 10 is controlled to suck the screw plug 400 , move it to the screw plug installation position of the valve body 100 , and install and tighten it.

[0452] Furthermore, on the basis that the automated assembly equipment includes a first sleeve quick-change device 6 for replacing a sleeve on a tightening shaft of the robotic tightening system 10, the screw plug assembly control unit may be further configured as follows:

[0453] Before sucking the screw plug 400, according to the specifications of the loaded screw plug 400, the first sleeve quick-changing device 6 is controlled to push out a sleeve that matches the specifications of the screw plug 400;

[0454] The robot tightening system 10 is controlled to suck and replace the sleeve on the first sleeve quick-changing device 6 .

[0455] In this way, the screw plug assembly control unit not only realizes the whole process control of the screw plug from loading, grabbing, transporting to tightening, but also can adapt to the different specifications of the screw plug and select the tightening sleeve of the corresponding specifications, so as to realize the fixed torque tightening of the screw plug stably and reliably.

[0456] Likewise, the control system 17 may also include a pipe joint assembly control unit configured to:

[0457] Drive the joint conveying device 3 to control the loading of the pipe joint 300;

[0458] Controlling the second handling device 12 to install the pipe joint 300 onto the second tightening system 9;

[0459] The second tightening system 9 is controlled to move to the pipe joint installation position of the valve body 100 and install and tighten the pipe joint 300.

[0460] As can be seen, the pipe joint assembly control unit controls the joint conveying device 3, the second handling device 12, and the second tightening system 9 to complete the installation and tightening of the pipe joint 300. However, the sealing performance of the pipe joint 300 after tightening is generally important, so it is necessary to pre-inject glue to ensure a secure installation and good sealing.

[0461] Therefore, when the automated assembly equipment includes the glue injection system 15 and the second vision system 14, the pipe joint assembly control unit may also be configured as follows:

[0462] Control the second transport device 12 to move the loaded pipe joint 300 to the glue injection system 15;

[0463] Controlling the glue injection system 15 to apply glue to the pipe joint 300;

[0464] Control the second transport device 12 to move the glued pipe joint 300 to the second visual system 14;

[0465] The second visual system 14 is controlled to evaluate the gluing state and sealing state of the pipe joint 300, and when it is judged to be qualified, the second conveying device 12 is controlled to install the glued pipe joint 300 onto the second tightening system 9; when it is judged to be unqualified, the second conveying device 12 is controlled to return to the glue injection system 15 and re-glue.

[0466] Similarly, for pipe joints 300 of different specifications, the sleeves on the tightening shaft of the second tightening system 9 need to match the specifications. Therefore, based on the automated assembly equipment including the second sleeve quick-change device 7 for replacing the sleeves on the tightening shaft of the second tightening system 9, the pipe joint assembly control unit can also be configured as follows:

[0467] Before the pipe joint 300 is moved to the glue injection system 15, the second sleeve quick-change device 7 is controlled to push out a sleeve that matches the specifications of the pipe joint 300 according to the specifications of the loaded pipe joint 300;

[0468] The second tightening system 9 is controlled to replace the sleeve on the second sleeve quick-changing device 7 .

[0469] In addition, the loading process of the hydraulic component 200 is similar to that of the valve body 100. The control system 17 includes a hydraulic component loading control unit configured to:

[0470] Control the hydraulic valve block feeding and conveying device 2 to convey the hydraulic components 200;

[0471] Control the mobile turntable so that the turntable 103 moves to the visual recognition position;

[0472] Control the first transport device 11 to grab the hydraulic component 200 and transport it to the first visual system 13;

[0473] Controlling the first visual system 13 to record and determine the state of the sealing ring of the hydraulic component 200;

[0474] If the sealing ring is in a qualified state, the first transport device 11 is controlled to grab the hydraulic component 200 and move it to the hydraulic component installation position of the valve body 100;

[0475] The robot tightening system 10 is controlled to install and tighten the hydraulic component 200 .

[0476] In summary, Figure 6 In the automatic assembly equipment shown, through the compact spatial layout of functional components, combined with the servo motor setting for realizing movement, rotation, etc., each sub-control unit of the control system 17 can independently control each assembly step or each sub-assembly process, and can also coordinate and complete the entire assembly process.

[0477] Furthermore, those skilled in the art will appreciate that incoming hydraulic valve block assemblies and their components can be numbered, organized, and automatically identified in the production workshop. This allows robots to identify specific assembly components during loading, accurately loading them, and smoothly completing the assembly process on the valve assembly platform until the hydraulic valve block assembly is automatically unloaded and even organized for shipment.

[0478] It should be noted that in the embodiments of the present application, one of the keys to achieving automated assembly is to ensure that each component is accurately positioned in each process, including transportation, handling, tightening, etc. Inaccurate positioning in any link will ultimately lead to the inability to complete accurate automated assembly.

[0479] Therefore, to improve the positioning accuracy of the valve body during the transportation and fixation process of the valve body 100, first, in terms of positioning, a loading profile groove 253 is provided on the loading tray 25 to partially accommodate and fix the valve body 100, so that the valve body can be placed in the loading profile groove for initial positioning of the valve body. Then, limit blocks are provided at the four corners of the top surface of the tool body of the valve body positioning tool 700. The embedded dimensions of the area enclosed by several limit blocks are consistent with the bottom surface dimensions of the valve body 100, so as to perform secondary positioning of the valve body 100. During operation, the first handling device 11 sucks the valve body into the limited area of ​​the limit blocks to achieve rough positioning of the hydraulic valve block. Finally, the first visual system 13 uses visual photography to accurately identify the hole position deviation of the valve body assembly surface.

[0480] Specifically, the standard valve body can be fixed on the valve body positioning tool 700, and then the turntable 103 can be rotated to ensure that the photographed surface of the standard valve body is parallel to the photographing surface of the first visual system 13, with the photographing surface of the first visual system 13 as the reference plane, and the zero point position of the photographing view frame as the origin of the plane space coordinate system; each valve body assembly surface is photographed, and the coordinate position of each hole position on each assembly surface is established, and stored as basic data of the standard valve body in the control system 17.

[0481] Regarding the calculation of the hole position deviation of the valve body to be assembled: After the valve body 100 to be assembled is fixed on the valve body positioning fixture 700, the turntable 103 is rotated to ensure that the photographed surface of the valve body to be assembled is parallel to the photographing surface of the first vision system 13. The photographing surface of the first vision system 13 is also used as the reference plane, and the zero point position of the photographing view frame is used as the origin of the plane space coordinate system. Each valve body assembly surface of the assembled valve body is photographed, and the coordinate position of each hole position on the valve body assembly surface is established. This is stored as basic data for the valve body to be assembled in the control system 17. Furthermore, the control system 17 uses the hole position coordinate position of the standard valve body as the reference dimension, compares and calculates the hole position coordinate position of the valve body to be assembled, and thus determines the hole position deviation of the valve body to be assembled.

[0482] One of the sources of valve body hole position deviation is that there is no relative tolerance between the valve body hole positions, resulting in poor hole position repeatability during processing. The second source is that there is no positioning hole on the valve body, and the valve body positioning tool 700 is connected and positioned through a threaded hole, and there is a deviation between the threaded hole and the thread.

[0483] To improve the assembly accuracy of hydraulic component 200, it is necessary to identify the hole position accuracy of hydraulic component 200. Similar to the valve body, a contoured groove is provided on the loading tray 25 for initial positioning. Then, the first vision system 13 takes pictures to accurately identify the positional deviation of the installation hole of hydraulic component 200.

[0484] Similarly, a profiling groove is provided on the loading tray 25. The four sides of the profiling groove are slightly larger than the outer dimensions of the hydraulic component. The hydraulic component 200 is placed in the profiling groove to achieve initial positioning of the hydraulic component.

[0485] To identify the mounting surface deviation of the hydraulic component 200, the hole position of the standard hydraulic component is first calibrated. The first handling device 11 clamps the hydraulic component 200 from the pallet and moves it so that the imaged surface of the hydraulic component 200 is parallel to the imaged surface of the first vision system 13. The imaged surface of the first vision system 13 is used as the reference plane, and the zero point position of the imaged view frame is used as the origin of the plane space coordinate system. The mounting surface of the hydraulic component is imaged, and the coordinate positions of each hole on the mounting surface are established. These are stored as basic data for the standard hydraulic component in the control system 17.

[0486] The hole position deviation of the hydraulic component 200 to be assembled is then calculated. Similarly, the first handling device 11 clamps the hydraulic component 200 to be assembled from the pallet and moves it so that the photographed surface of the hydraulic component 200 is parallel to the photographing surface of the first visual system 13. Similarly, the photographing surface of the first visual system 13 is used as the reference plane, and the zero point position of the photographing view frame is used as the origin of the plane space coordinate system. The mounting surface of the hydraulic component 200 is photographed, and the coordinate positions of each hole position on the mounting surface are established. These are stored as basic data for the hydraulic component 200 to be assembled in the control system 17. The control system 17 uses the hole position coordinate position of the standard hydraulic component as the reference dimension, compares and calculates the hole position coordinates of the hydraulic component 200 to be assembled, and thus determines the hole position deviation of the hydraulic component 200 to be assembled.

[0487] After obtaining the hole position deviation data, the control system 17 comprehensively calculates the coordinate size deviation of the hydraulic component 200 to be assembled on the valve body to be assembled based on the hole position deviation of the valve body to be assembled 100 and the hole position deviation of the hydraulic component 200 to be assembled; after receiving the coordinate size deviation, the robot tightening system 10 corrects the coordinate point position of the robot movement, so as to smoothly align the mounting hole of the hydraulic component 200 with the mounting hole position of the valve body 100.

[0488] From the above, it can be seen that the automated assembly equipment of the hydraulic valve block assembly of the present application is a fully automatic assembly equipment, which can be started with one button to realize the assembly of the hydraulic valve group, and the assembly process does not require human intervention; it is also compatible with the automatic assembly of various models of hydraulic valve groups, and can realize one-button selection of automatic matching assembly programs and automatic switching of positioning tooling; wherein, a centralized assembly structure is adopted, with the workbench as the center, and the material conveying module, material handling module, glue injection system, vision module, and assembly and tightening module are distributed around the workbench to form a single-station centralized assembly unit with a compact layout, which effectively reduces the equipment footprint and the number of changeover tooling. On this basis, automatic loading and centralized assembly are realized, effectively improving assembly efficiency by 40%. Moreover, the equipment integration realizes the assembly process of automatic clamping of the valve body, process visual error prevention, robot assembly of parts, automatic gluing of threads, and automatic tightening. The assembly process route has also been adjusted, from the previous manual assembly according to the order of installation surfaces to the order of part types, that is, the assembly of a single surface of the valve block is adjusted to the assembly of the next surface, and then the assembly of the next part is carried out. This is convenient for picking up parts and shortening the time for material picking and identification. Automatic assembly technology based on flexible NC positioning is also adopted: with the hydraulic valve block as the rotation center, a hole space coordinate system is established; through the flexible displacement of the robot and servo system, the precise positioning and tightening of different parts on each valve body are seamlessly connected; further, robot vision integrated positioning algorithm technology can be used: extract the image features of the valve body contour and hole position, calculate the hole position deviation through mathematical calculation and automatically correct it, so as to achieve precise positioning and assembly of the hydraulic valve.

[0489] In summary, the automated assembly equipment for hydraulic valve block assemblies in this application eliminates the need for human intervention throughout the entire assembly process, enabling automated valve body clamping, visual error prevention during the process, robotic assembly of parts, automated thread gluing, and automated tightening. This allows for unmanned operation throughout the entire assembly process. The automated glue injection system ensures consistent glue application location and quantity. Visual inspection is used for error prevention during the process, ensuring zero-defect assembly quality. Automated robotic tightening ensures 100% thread tightening with a fixed torque, and data can be managed for traceability.

[0490] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0491] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0492] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0493] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An automated assembly equipment for a hydraulic valve block assembly, characterized in that: The automated assembly equipment includes: A valve group assembly platform (1) is provided with fixed positions for fixing a valve body (100) and assembly positions for assembling other assembly components on the valve body (100) at intervals, the valve group assembly platform (1) comprising a fixed platform (101) and a movable turntable, the fixed platform (101) comprising a horizontal reference plane as the top surface of the fixed platform (101), the horizontal reference plane being provided with the assembly positions and the fixed positions sequentially arranged at intervals along a first platform direction, the movable turntable comprising a movable slide (102) slidingly provided on the horizontal reference plane along the first platform direction and a turntable (103) mounted on the movable slide (102), the movable slide (102) being capable of carrying the turntable (103) to move back and forth between the assembly position and the fixed position; Material conveying module, used to convey hydraulic valve block assembly and its assembly parts; a material handling module, for handling the hydraulic valve block assembly and the assembly components; An assembly tightening module, used for tightening the assembly components on the valve assembly platform (1) to assemble the hydraulic valve block assembly; and A control system (17) for collaboratively controlling the valve assembly platform (1), the material conveying module, the material handling module, and the assembly and tightening module to complete the automated assembly of the hydraulic valve block assembly; The material conveying module, the material handling module and the assembly and tightening module are arranged around the valve group assembly platform (1) at intervals to form a single-station centralized assembly unit. The valve body (100) to be assembled can be clamped and fixed on the turntable (103) at the fixed position. The turntable (103) can drive the valve body (100) to rotate at the assembly position to switch and display the valve body assembly surface.

2. The automated assembly equipment for the hydraulic valve block assembly according to claim 1, characterized in that: The valve assembly platform (1) comprises: A tooling quick-change mechanism (105) is provided at a tooling storage position and is used to store and switch a plurality of valve body positioning tools (700) corresponding to valve bodies (100) of different specifications, wherein the valve body positioning tools (700) can be clamped and fixed on the turntable (103) at the fixed position; The assembly position, the fixing position and the tool storage position are sequentially spaced apart along the direction of the first platform.

3. The automated assembly equipment for the hydraulic valve block assembly according to claim 2, characterized in that: The material handling module includes a first handling device (11), and the control system (17) includes a valve body positioning tool replacement control unit, wherein the valve body positioning tool replacement control unit is configured as follows: driving the movable slide (102) to move along the first platform direction to the fixed position; At the fixed position, the valve body positioning tool (700) originally on the turntable (103) is removed and moved away by the first transport device (11); According to the specifications of the valve body (100) of the valve group to be assembled, controlling the tooling quick-change mechanism (105) to switch out the corresponding valve body positioning tooling (700); The corresponding valve body positioning tool (700) is transported to the fixed position by the first transport device (11) and clamped and fixed on the turntable (103).

4. The automated assembly equipment for the hydraulic valve block assembly according to claim 2, characterized in that: The material conveying module includes a hydraulic valve block loading and conveying device (2), the material handling module includes a first handling device (11), and the assembly tightening module includes a first tightening system (8), the first tightening system (8) is arranged directly below the fixed position of the horizontal reference plane and is used to tighten and connect the valve body positioning tool (700) and the valve body (100); Furthermore, the control system (17) includes a valve body loading control unit configured to: controlling the hydraulic valve block feeding and conveying device (2) to convey the valve body (100); Controlling the movable turntable so that the turntable (103) moves to the fixed position, the turntable (103) being mounted with the valve body positioning tool (700) corresponding to the specifications of the valve body (100); controlling the first transport device (11) to grab the valve body (100) and transport it to the valve body positioning tool (700) on the turntable (103); The first tightening system (8) is controlled to tighten and connect the valve body positioning tool (700) and the valve body (100).

5. The automated assembly equipment for the hydraulic valve block assembly according to claim 4, characterized in that: A visual recognition position is also provided on the horizontal reference plane of the fixed platform (101), and the automated assembly equipment further comprises a first visual system (13) provided at the visual recognition position; Wherein, the valve body loading control unit is further configured as follows: Controlling the mobile turntable so that the turntable (103) moves to the visual recognition position; The turntable (103) is controlled to rotate, driving each valve body assembly surface of the valve body (100) to rotate to the opposite side of the first visual system (13), and the first visual system (13) is controlled to identify the installation point information on each valve body assembly surface.

6. The automated assembly equipment for the hydraulic valve block assembly according to claim 4, characterized in that: The hydraulic valve block feeding and conveying device (2) comprises: The loading roller line (22) and the return roller line (21) are both extended along the first conveying direction and arranged side by side along the second roller direction. The conveying direction of the loading roller line (22) is opposite to the conveying direction of the return roller line (21). The first conveying direction is perpendicular to the second roller direction. A first translation platform (23) and a second translation platform (24) are respectively arranged at two ends of the loading roller line (22) and the return roller line (21) along the first conveying direction, the first translation platform (23) is used for reciprocating translation transmission between the conveying head end of the loading roller line (22) and the conveying end end of the return roller line (21), and the second translation platform (24) is used for reciprocating translation transmission between the conveying end end of the loading roller line (22) and the conveying head end of the return roller line (21); and The loading tray (25) is used to load the valve body (100) and the hydraulic components (200), and can move in a closed loop along the loading roller line (22), the second translation platform (24), the return roller line (21) and the first translation platform (23) in sequence.

7. The automated assembly equipment for the hydraulic valve block assembly according to claim 6, characterized in that: The valve body positioning tool (700) comprises a tool body, the top surface of the tool body is provided with a limiting portion (701) for positioning the bottom surface of the valve body (100), and the side surface of the tool body is provided with a locking groove (704); Furthermore, the loading tray (25) comprises: A loading base (251) is flat; and The loading positioning plate (252) is positioned and installed on the top surface of the loading base (251). The loading positioning plate (252) is provided with a loading profiling groove (253) for positioning the valve body (100) and the hydraulic component (200).

8. The automated assembly equipment for a hydraulic valve block assembly according to any one of claims 4 to 7, characterized in that: The material conveying module includes a hydraulic valve block unloading and conveying device (5) and a cantilever hoisting device (16), and the control system (17) includes a hydraulic valve block assembly unloading control unit, which is configured as follows: After the valve body (100) is assembled to form a hydraulic valve block assembly, the movable turntable is controlled so that the turntable (103) moves to the fixed position; controlling the first tightening system (8) so that the valve body positioning tool (700) is disconnected from the hydraulic valve block assembly; Controlling the first transport device (11) to grab the hydraulic valve block assembly and transport it to the hydraulic valve block unloading and conveying device (5); The cantilever hoisting device (16) is controlled to hoist the hydraulic valve block assembly offline.

9. The automated assembly equipment for the hydraulic valve block assembly according to claim 8, characterized in that: The hydraulic valve block unloading and conveying device (5) comprises: Unloading tray (51); An upper roller conveyor line (52) and a lower roller conveyor line (53) are arranged at intervals and are both used to convey the unloading tray (51); a second loading position (56) is provided on one side of the conveying head end of the upper roller conveyor line (52) and a second unloading position (57) is provided on one side of the conveying end end; a head-end lifting and translation platform (54), which is arranged at the second loading position (56) and can be lifted and lowered to transfer the unloading tray (51) from the conveying end of the lower roller conveyor (53) to the conveying head of the upper roller conveyor (52); and The end lifting and translation platform (55) is arranged at the second unloading position (57) and can be lifted and moved to transfer the unloading tray (51) from the conveying end of the upper roller line (52) to the conveying head end of the lower roller line (53).

10. The automated assembly equipment for the hydraulic valve block assembly according to claim 9, characterized in that: The hydraulic valve block unloading and conveying device (5) is arranged in parallel with the hydraulic valve block loading and conveying device (2) and is arranged adjacent to the loading roller line (22) of the hydraulic valve block loading and conveying device (2).

11. The automated assembly equipment for the hydraulic valve block assembly according to claim 5 or 6, characterized in that: The material conveying module includes a screw plug feeding and conveying device (4), the assembly and tightening module includes a robot tightening system (10) with a magnetic suction structure, and the control system (17) includes a screw plug assembly control unit configured as follows: driving the screw plug feeding and conveying device (4) to control the feeding of the screw plug (400); The robot tightening system (10) is controlled to suck the screw plug (400), move it to the screw plug installation position of the valve body (100), and install and tighten it.

12. The automated assembly equipment for the hydraulic valve block assembly according to claim 11, characterized in that: The screw plug feeding and conveying device (4) comprises a plurality of screw plug conveying units (40) suitable for conveying screw plugs (400) of different specifications. The screw plug conveying units (40) comprise a material box (41), a vibrating material tray (42) and a discharge trough (43) arranged in sequence along the conveying direction of the screw plug (400). The screw plug (400) is conveyed from the material box (41) through a pipeline to the vibrating material tray (42). A discharge fence (45) is provided between the vibrating material tray (42) and the discharge trough (43) for moving the screw plug (400) to the discharge trough (43) in a specified orientation.

13. The automated assembly equipment for a hydraulic valve block assembly according to claim 11, characterized in that: The automated assembly equipment comprises a first sleeve quick-change device (6) for replacing a sleeve on a tightening shaft of the robotic tightening system (10); Wherein, the screw plug assembly control unit is further configured as follows: Before sucking the screw plug (400), according to the specifications of the loaded screw plug (400), controlling the first sleeve quick-change device (6) to push out the sleeve that matches the specifications of the screw plug (400); The robot tightening system (10) is controlled to absorb and replace the sleeve on the first sleeve quick-change device (6).

14. The automated assembly equipment for the hydraulic valve block assembly according to claim 13, characterized in that: The material conveying module includes a joint conveying device (3), the material conveying module includes a second handling device (12), the assembly and tightening module includes a second tightening system (9), and the control system (17) includes a pipe joint assembly control unit configured to: driving the joint conveying device (3) to control the loading of the pipe joint (300); controlling the second handling device (12) to install the pipe joint (300) onto the second tightening system (9); The second tightening system (9) is controlled to move to the pipe joint installation position of the valve body (100) and install and tighten the pipe joint (300).

15. The automated assembly equipment for the hydraulic valve block assembly according to claim 14, characterized in that: The automated assembly equipment includes a glue injection system (15) and a second visual system (14), and the pipe joint assembly control unit is further configured to: controlling the second transport device (12) to move the loaded pipe joint (300) to the glue injection system (15); controlling the glue injection system (15) to apply glue to the pipe joint (300); controlling the second transport device (12) to move the glue-coated pipe joint (300) to the second visual system (14); The second visual system (14) is controlled to evaluate the gluing state and sealing state of the pipe joint (300), and when it is judged to be qualified, the second conveying device (12) is controlled to install the glued pipe joint (300) onto the second tightening system (9); when it is judged to be unqualified, the second conveying device (12) is controlled to return to the glue injection system (15) and re-glue.

16. The automated assembly equipment for the hydraulic valve block assembly according to claim 15, characterized in that: The automated assembly equipment further comprises a second sleeve quick-change device (7) for replacing the sleeve on the tightening shaft of the second tightening system (9); and the pipe joint assembly control unit is further configured to: Before the pipe joint (300) is moved to the glue injection system (15), the second sleeve quick-change device (7) is controlled to push out the sleeve that matches the specifications of the pipe joint (300) according to the specifications of the loaded pipe joint (300); The second tightening system (9) is controlled to replace the sleeve on the second sleeve quick-change device (7).

17. The automated assembly equipment for a hydraulic valve block assembly according to claim 16, characterized in that: The first sleeve quick-change device (6) and the second sleeve quick-change device (7) have the same structure and both include: A quick-change bracket (61) comprising a first placement bracket (611) and a second placement bracket (612) arranged at intervals, wherein the first placement bracket (611) can be moved away from or close to the second placement bracket (612), and the quick-change bracket (61) is provided with a plurality of component placement holes (613) penetrating the first placement bracket (611) and the second placement bracket (612); and A plurality of tightening assemblies (90) are placed in a plurality of assembly placement holes (613) in a one-to-one correspondence, the tightening assemblies (90) comprising a quick-change head (92) clamped between the first placement bracket (611) and the second placement bracket (612) and a tightening member (91) clamped on the second placement bracket (612), the quick-change head (92) comprising a torque connection end (922) provided with a torque connection hole (921) and a transmission connection end (923) transmission-connected to the tightening member (91); Wherein, a connecting locking piece (924) is provided on the outer peripheral wall of the quick-change head (92); when the first placement bracket (611) is at a position far away from the second placement bracket (612), the connecting locking piece (924) partially extends into the torque connection hole (921) to lock the torque connection; when the first placement bracket (611) is at a position close to the second placement bracket (612), the connecting locking piece (924) is disengaged from the torque connection hole (921) to open the torque connection.

18. The automated assembly equipment for a hydraulic valve block assembly according to claim 17, characterized in that: A connecting shaft (927) coaxially extends from the transmission connection end (923) of the quick-change head (92), and the tightening assembly (90) further comprises: A gear shaft assembly (94) includes a driving shaft (941) provided with a driving gear and a driven shaft (942) provided with a driven gear; A connecting sleeve (95), one end of which is sleeved on the connecting shaft (927), and the other end of which is coaxially sleeved on the driving shaft (941); The driving shaft (941) and the driven shaft (942) are arranged side by side in a radial direction, and the tightening member (91) is installed on the outer end of the driven shaft (942).

19. The automated assembly equipment for a hydraulic valve block assembly according to claim 14, wherein: The joint conveying device (3) comprises: The lower layer line body (32) and the upper layer line body (31) are arranged at intervals in the upper and lower directions and are both placed along the joint conveying direction. In the joint conveying direction, the conveying head end of the lower layer line body (32) is extended outward by a set distance relative to the conveying head end of the upper layer line body (31), and the conveying end end of the lower layer line body (32) is extended outward by a set distance relative to the conveying end end of the upper layer line body (31) to form a step shape.

20. The automated assembly equipment for a hydraulic valve block assembly according to claim 11, characterized in that: The control system (17) includes a hydraulic component loading control unit configured to: controlling the hydraulic valve block loading and conveying device (2) to convey the hydraulic components (200); Controlling the mobile turntable so that the turntable (103) moves to a visual recognition position; controlling the first transport device (11) to grab the hydraulic component (200) and transport it to the first visual system (13); controlling the first visual system (13) to record and determine the state of the sealing ring of the hydraulic component (200); When the sealing ring is in a qualified state, controlling the first transport device (11) to grab the hydraulic component (200) and move it to the hydraulic component installation position of the valve body (100); The robot tightening system (10) is controlled to install and tighten the hydraulic component (200).

21. The automated assembly equipment for a hydraulic valve block assembly according to claim 2, characterized in that: The material conveying module comprises a hydraulic valve block loading and conveying device (2), a hydraulic valve block unloading and conveying device (5), a cantilever hoisting device (16), a screw plug loading and conveying device (4) and a joint conveying device (3); the material handling module comprises a first handling device (11) and a second handling device (12); the assembly tightening module comprises a first tightening system (8), a second tightening system (9) and a robot tightening system (10); The first handling device (11), the hydraulic valve block loading and conveying device (2), the hydraulic valve block unloading and conveying device (5) and the cantilever lifting device (16) are arranged outside the tool storage position of the valve group assembly platform (1), the screw plug loading and conveying device (4) and the joint conveying device (3) are arranged on both sides of the assembly position of the valve group assembly platform (1), the second tightening system (9) is arranged outside the fixed position of the valve group assembly platform (1), the first tightening system (8) is arranged directly below the fixed position of the horizontal reference plane, the second handling device (12) is arranged between the joint conveying device (3) and the second tightening system (9), and the robot tightening system (10) is arranged between the screw plug loading and conveying device (4) and the assembly position of the valve group assembly platform (1).

22. An automated assembly method for a hydraulic valve block assembly, characterized in that: The automated assembly method uses the automated assembly equipment of the hydraulic valve block assembly according to any one of claims 1 to 21 to assemble the hydraulic valve block assembly, and during the assembly process, the assembly parts are assembled sequentially according to the order of their types.

23. The automated assembly method of a hydraulic valve block assembly according to claim 22, wherein: The automated assembly method comprises: First, the valve body (100) is fixed on the assembly position of the valve assembly platform (1); Then, a plurality of screw plugs (400) are tightened and installed on each valve body assembly surface of the valve body (100); Then, a plurality of pipe joints (300) are tightened and installed on each valve body assembly surface of the valve body (100); Finally, the hydraulic component (200) is screwed and installed on the corresponding valve body assembly surface of the valve body (100).

24. The automated assembly method of a hydraulic valve block assembly according to claim 23, wherein: The step of first fixing the valve body (100) on the assembly position of the valve assembly platform (1) further includes: First, a standard valve body is fixed on a fixed position of the valve assembly platform (1), and the coordinate position of each hole on each valve assembly surface of the standard valve body is obtained by visual photography using a first visual system (13) and stored; The valve body (100) to be assembled is then fixed on a fixed position of the valve assembly platform (1), and the first visual system (13) is used to obtain the actual coordinate position of each hole position on each valve body assembly surface of the valve body (100) to be assembled by visual photography; The coordinate positions of the holes of the standard valve body are used as reference dimensions and compared with the actual coordinate positions of the holes of the valve body (100) to be assembled, thereby obtaining the deviations of the holes on the valve body (100) to be assembled.

25. The automated assembly method of a hydraulic valve block assembly according to claim 23, wherein: Finally, the step of tightening and mounting the hydraulic component (200) on the corresponding valve body assembly surface of the valve body (100) further includes: Using a first transport device (11) to move a standard hydraulic component so that a photographed surface of the standard hydraulic component is parallel to a photographing surface of a first visual system (13), and using the first visual system (13) to obtain and store the coordinate positions of each hole position on each mounting surface of the standard hydraulic component by visual photography; The hydraulic component (200) to be assembled is then moved to a position where the photographed surface is parallel to the photographing surface of the first visual system (13), and the first visual system (13) is used to obtain the actual coordinate position of each hole on each mounting surface of the hydraulic component (200) to be assembled by visual photography; The coordinate positions of the holes of the standard hydraulic component are used as reference dimensions and compared with the actual coordinate positions of the holes of the hydraulic component (200) to be assembled, thereby obtaining the deviations of the holes on the hydraulic component (200) to be assembled.

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