Valve group assembly platform

Abstract

This application belongs to the field of automatic mechanical assembly technology, and particularly relates to a valve group assembly platform, which includes a fixed platform and a movable rotary table. An assembly position and a fixing position are arranged at intervals on the top surface of the fixed platform. The movable rotary table includes a movable slide plate and a rotary table installed on the movable slide plate. The movable slide plate can reciprocate between the assembly position and the fixing position, and the rotary table can fix the valve body and rotate to switch the valve body assembly surface. First, fix the valve body on the rotary table at the fixing position, then move it to the assembly position through the movable slide plate, and then control the rotary table to rotate to display each valve body assembly surface, and install the corresponding required parts on the valve body. After multiple rotations, the hydraulic valve block assembly is completed. The entire assembly process is highly automated, without the need for manual repeated handling and adjustment of the assembly position of the valve body, avoiding repetitive labor; the valve body is fixedly connected to the rotary table, without the need for manual fixing and then installation, reducing the labor intensity of employees, thereby improving the assembly efficiency of the hydraulic valve block.

Description

Technical Field

[0001] This application belongs to the field of automatic mechanical assembly technology, and particularly relates to a valve group assembly platform. Background Art

[0002] During the construction of engineering machinery, the working environment is harsh and the working conditions are complex, and high product quality requirements are imposed. Among them, the hydraulic valve block, as the most critical component of the hydraulic system of engineering machinery, has a significant impact on product quality. The hydraulic valve block is a control component in the hydraulic system, used to control the pressure, flow rate, and flow direction in the hydraulic system, so as to meet the action requirements of various actuators. The hydraulic valve block has complex structures and covers a wide variety of materials, including five major types of parts such as valve bodies, hydraulic components, pipe connectors, screw plugs, and bolts.

[0003] In the existing engineering machinery industry, most of the hydraulic valve blocks are manually assembled using a desktop multi-station assembly line form of work platform. For the above-mentioned related technologies, the valve body assembly position needs to be manually carried and adjusted at each station, and the repetitive labor intensity of employees is relatively large. Moreover, when installing parts, the valve body needs to be manually fixed before installation, resulting in low assembly efficiency and thus reducing the production efficiency of the hydraulic valve block. Summary of the Invention

[0004] The purpose of this application is to provide a valve group assembly platform, aiming to solve the problems of large repetitive labor intensity and low assembly efficiency of employees in the existing valve body assembly method.

[0005] To achieve the above purpose, this application provides a valve group assembly platform, including:

[0006] A fixed platform, including a horizontal reference plane as the top surface of the fixed platform, and assembly positions and fixing positions are arranged at intervals along the first platform direction on the horizontal reference plane;

[0007] A mobile rotary table, including a moving slide plate slidably arranged on the horizontal reference plane along the first platform direction and a rotary table installed on the moving slide plate. The moving slide plate can carry the rotary table to reciprocate between the assembly position and the fixing position;

[0008] Among them, the valve body to be assembled can be clamped and fixed on the rotary table at the fixing position, and the rotary table can drive the valve body to rotate at the assembly position to switch and display the valve body assembly surface.

[0009] In an embodiment of this application, a tooling storage position is further provided on the horizontal reference plane. The assembly position, the fixing position, and the tooling storage position are arranged at intervals in sequence along the first platform direction. The valve group assembly platform includes a tooling quick-change mechanism arranged at the tooling storage position. The tooling quick-change mechanism is used to store and switch a variety of valve body positioning toolings corresponding to different specifications of valve bodies for installation. The valve body positioning tooling can be clamped and fixed on the rotary table at the fixing position.

[0010] In an embodiment of the present application, the tool quick-change mechanism includes:

[0011] A bottom plate, which is installed at the tool storage position on the fixed platform;

[0012] A tool transition seat, which is used to temporarily store the valve body positioning tool to be replaced; and

[0013] A tool storage part, which includes a plurality of tool placement areas arranged in a row. Each tool placement area is provided with a valve body positioning tool of a corresponding specification and a corresponding proximity switch.

[0014] In an embodiment of the present application, the rotary table includes:

[0015] A rotating disk, which is parallel to the horizontal reference plane. The rotating disk is provided with positioning pin shafts and a tool locking mechanism. The pin shaft of the valve body positioning tool is positioned on the rotating disk and is locked and fixed by the tool locking mechanism; and

[0016] A rotation driving motor, which is used to drive the rotating disk to rotate and the rotation axis is perpendicular to the horizontal reference plane.

[0017] In an embodiment of the present application, the valve body positioning tool and the valve body are detachably connected by a vertical locking screw.

[0018] In an embodiment of the present application, the valve body positioning tool includes a tool body. The top surface of the tool body is provided with a limiting part for positioning the bottom surface of the valve body. The bottom surface of the tool body is provided with a vertical through hole for accommodating the locking screw and a plurality of spaced positioning pin holes for positioning and connecting the rotating disk. The side surface of the tool body is provided with a locking groove for connecting the tool locking mechanism.

[0019] In an embodiment of the present application, the valve group assembly platform further includes:

[0020] A first tightening system, which is arranged directly below the fixed position on the horizontal reference plane and is used to tighten the locking screw.

[0021] In an embodiment of the present application, the first tightening system includes:

[0022] A guiding shaft, which hangs vertically downward from the bottom surface of the fixed platform;

[0023] A fixing plate, which is fixedly arranged at the hanging bottom end of the guiding shaft;

[0024] A movable plate, which is sleeved on the guiding shaft;

[0025] A tightening mechanism, which is installed on the movable plate; and

[0026] A lifting driving mechanism, which is installed on the fixing plate and is used to drive the movable plate to move up and down along the guiding shaft, so that the tightening end of the tightening mechanism can penetrate upward through the fixed platform.

[0027] In an embodiment of the present application, the valve group assembly platform further includes:

[0028] A transfer manipulator, configured to grasp and transfer the valve body positioning tooling between the fixed position and the tooling storage position, and transfer the valve body to the rotary table at the fixed position.

[0029] In an embodiment of the present application, a visual recognition position is further provided on the horizontal reference plane. The valve group assembly platform includes a first vision system disposed at the visual recognition position, and the first vision system is configured to recognize the position information on the valve body assembly surface that rotates to face the first vision system.

[0030] In an embodiment of the present application, the valve group assembly platform further includes:

[0031] An assembly manipulator, disposed on the side of the assembly position and configured to install parts such as hydraulic components to be assembled, pipe joints, screw plugs, and bolts on the corresponding valve body assembly surfaces.

[0032] In an embodiment of the present application, the valve group assembly platform includes a control system, configured to:

[0033] Control the moving slide plate to move along the first platform direction to the fixed position;

[0034] According to the specifications of the valve bodies of the valve group to be assembled, control the tooling quick-change mechanism to switch out the corresponding valve body positioning tooling;

[0035] At the fixed position, clamp and fix the valve body and the valve body positioning tooling on the rotary table;

[0036] Control the moving slide plate to move the rotary table to the visual recognition position;

[0037] Control the rotary table to rotate, drive each valve body assembly surface of the valve body to rotate to the opposite side of the first vision system respectively, and control the first vision system to recognize the installation point position information on each valve body assembly surface;

[0038] Control the moving slide plate to move the rotary table to the assembly position;

[0039] Control the rotary table to rotate, drive each valve body assembly surface to rotate to the opposite side of the assembly tightening system in sequence, and control the assembly manipulator to complete the hydraulic valve block assembly in sequence.

[0040] In the valve group assembly platform of the present application, the rotatable table can be controlled to move from the initial position to the fixed position through the moving slide plate. The valve body to be assembled is placed on the rotatable table and fixed thereto. Then, the rotatable table is controlled to move from the fixed position to the assembly position through the moving slide plate. Subsequently, the rotatable table is controlled to drive the valve body to rotate so as to switch and display each valve body assembly surface, and the parts such as hydraulic components, pipe joints, screw plugs, bolts, etc. corresponding to the displayed valve body assembly surfaces are installed on the valve body. After multiple rotations, the installation of all parts is completed. The valve group assembly platform increases the assembly space of the valve body by adding an assembly position, and there is no interference between the assembly machines during mechanical assembly. The entire assembly process is highly automated, and there is no need for manual repeated handling and adjustment of the assembly position of the valve body. The valve body is fixedly connected to the rotatable table, and there is no need for manual fixation and then installation, thus avoiding repetitive labor, reducing the labor intensity of employees, and ultimately improving the assembly efficiency of the hydraulic valve block and the production efficiency of the hydraulic valve block.

[0041] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific embodiment part. Brief Description of the Drawings

[0042] The 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 specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0043] Figure 1 is a schematic diagram of the overall structure of the valve group assembly platform in an embodiment of the present application;

[0044] Figure 2 is a schematic top view structure diagram of the valve group assembly platform in an embodiment of the present application;

[0045] Figure 3 is a schematic diagram of the overall structure of the tooling quick-change mechanism in an embodiment of the present application;

[0046] Figure 4 is a schematic diagram of the overall structure of the rotatable table in an embodiment of the present application;

[0047] Figure 5 is a schematic top view structure diagram of the rotatable table in an embodiment of the present application;

[0048] Figure 6 is a schematic top view structure diagram of the valve body positioning tooling in an embodiment of the present application;

[0049] Figure 7 is a schematic cross-sectional structure diagram of the valve body positioning tooling in an embodiment of the present application;

[0050] Figure 8 is a schematic cross-sectional structure diagram of the first tightening system in an embodiment of the present application.

[0051] Description of the Reference Numerals

[0052] Label Name Label Name 8 First tightening system 1021 Slider 81 Tightening mechanism 1022 Horizontal drive motor 82 Guide shaft 1023 Lead screw 83 Movable plate 1024 Lead screw nut 84 Fixed plate 103 Rotary table 85 Lifting drive mechanism 1031 Rotating disk 100 Valve body 1032 Rotary drive motor 600 Hydraulic valve block 1033 Rotating screw 700 Valve body positioning tooling 1034 Tooling locking mechanism 701 Limit part 104 First rectangular frame 702 Locking screw 1041 Slide rail 703 Positioning pin hole 105 Tooling quick change mechanism 704 Locking groove 1051 Tooling transition seat 101 Fixed platform 1052 Proximity switch 102 Moving slide Specific Embodiment

[0053] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the present application, and are not intended to limit the present application.

[0054] The valve assembly platform according to the present application will be described below with reference to the accompanying drawings.

[0055] As Figure 1 and Figure 2 , in an embodiment of the present application, a valve assembly platform is provided, including:

[0056] A fixed platform 101, including a horizontal reference plane as the top surface of the fixed platform 101, and assembly positions and fixing positions are arranged at intervals along the first platform direction on the horizontal reference plane;

[0057] A moving rotary table, including a moving slide plate 102 slidably arranged on the horizontal reference plane along the first platform direction and a rotary table 103 installed on the moving slide plate 102. The moving slide plate 102 can carry the rotary table 103 to reciprocate between the assembly position and the fixing position;

[0058] Wherein, the valve body 100 to be assembled can be clamped and fixed on the rotary table 103 at the fixing position, and the rotary table 103 can drive the valve body 100 to rotate at the assembly position to switch and display the valve body assembly surface.

[0059] The valve assembly platform further includes a first rectangular frame 104, and the first platform direction 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 is formed by welding square steel, and stress relief annealing treatment is carried out after welding; the support plate is fixed on the support frame, and the upper surface of the support plate is machined by milling to ensure its flatness, thereby ensuring the levelness of the support plate. To further reduce the influence of the vibration during the operation of the equipment or the surrounding environment on the levelness of the support plate, the support frame adopts heavy-duty anti-vibration legs to ensure the maximization of the single-piece vertical maximum load. Moving wheels are provided at the bottom of the support plate of the first rectangular frame 104, and the position of the valve assembly platform is adjusted through the moving wheels to make its position cooperate with the previous process, shorten the time required for process connection, and further improve production efficiency.

[0060] The fixed platform 101 is installed on the first rectangular frame 104. The assembly position and the fixing position are respectively arranged at both ends of the horizontal reference plane which is the top surface of the fixed platform 101 along the first platform direction. A slide rail 1041 extending along the first platform direction is provided on the horizontal reference plane. A slider 1021 which is slidably matched with the slide rail 1041 is provided at the bottom of the moving slide plate 102, so that the moving slide plate 102 can slide along the first platform direction. The rotary table 103 is fixedly arranged on the moving slide plate 102, and the rotary table 103 is moved along the first platform direction through the moving slide plate 102. The whole rotary table 103 is higher than the top surface of the fixed platform 101 by a certain distance and can rotate, so as to realize the switching of the valve body assembly surface for display.

[0061] Further, one end where the fixing position of the fixed platform 101 is located extends outwards. A tooling storage position is also provided on the part where the horizontal reference plane extends outwards. The assembly position, the fixing position and the tooling storage position are arranged at intervals in sequence along the first platform direction, so as to complete the whole assembly process of the hydraulic valve block 600 on the fixed platform 101.

[0062] Among them, a tooling quick-change mechanism 105 is provided at the tooling storage position. The tooling quick-change mechanism 105 is used for storing and switching a variety of valve body positioning toolings 700 corresponding to the installation of valve bodies 100 of different specifications. The valve body positioning tooling 700 can be clamped and fixed on the rotary table 103 at the fixing position.

[0063] Such as Figure 3 , specifically, the tooling quick-change mechanism 105 includes a bottom plate installed at the tooling storage position on the fixed platform 101. Tooling transition seats 1051 and tooling storage parts are respectively arranged at both ends of the bottom plate along the second direction. Among them, the tooling transition seat 1051 is used for temporarily storing the replaced valve body positioning tooling 700; the tooling storage part includes a plurality of tooling placement areas arranged in a row, and a valve body positioning tooling 700 of a corresponding specification is placed in each tooling placement area and a corresponding proximity switch 1052 is provided. The function of the proximity switch 1052 is: when the proximity switch 1052 in the tooling placement area is turned off, it indicates that the valve body positioning tooling 700 of the corresponding specification in this tooling placement area can be taken off and moved to the rotary table 103 for assembly, so as to avoid taking off the non-corresponding valve body positioning tooling 700 and affecting the assembly efficiency. It can be seen that by adding a work storage position and the tooling quick-change mechanism 105, the assembly requirements of various different specifications of valve blocks can be adapted.

[0064] Further, in order to realize the automatic identification and automatic installation of different types of toolings, the valve group assembly platform includes a controller, and the controller is configured to receive the identification electrical signal transmitted by the valve body feeding device connected to the valve group assembly platform to control the operation of the tooling quick-change mechanism 105. The specific working process is as follows:

[0065] First, the installation process of the valve body positioning tooling 700: The valve body to be assembled is conveyed to the valve group assembly platform via the valve body conveying device. First, the controller receives the recognition electrical signal and automatically closes the proximity switch 1052 of the corresponding tooling placement area according to the valve body type. Then, it controls the grasping device to grasp the valve body positioning tooling 700 of the required specification and fixedly install it on the rotary table 103. Finally, it controls the grasping device to fix the valve body to be assembled on the valve body positioning tooling 700.

[0066] Second, the switching process of the valve body positioning tooling 700: First, the controller receives a new recognition electrical signal, controls the grasping device to remove the original valve body positioning tooling 700 on the rotary table 103 and place it on the tooling transition seat 1051. At the same time, it automatically closes the proximity switch 1052 of the corresponding tooling placement area according to the new valve body type. Then, it controls the grasping device to grasp the valve body positioning tooling 700 of the required specification and fixedly install it on the rotary table 103. Finally, it controls the grasping device to put the valve body positioning tooling 700 on the tooling transition seat 1051 back to its corresponding tooling placement area and automatically opens the corresponding proximity switch 1052.

[0067] Such as Figure 4 and Figure 5 , in the embodiment of the present application, the rotary table 103 includes a rotating disk 1031 parallel to the horizontal reference plane. After the valve body positioning tooling 700 is placed on the rotating disk 1031 using the tooling quick-change mechanism 105, it is necessary to position and fix the valve body positioning tooling 700. Therefore, a positioning pin and a tooling locking mechanism 1034 are provided on the rotating disk 1031. Among them, the positioning pin is used to position the valve body positioning tooling 700, and the tooling locking mechanism 1034 is used to lock and fix the valve body positioning tooling 700.

[0068] The rotating disk 1031 needs to reciprocate between the assembly position and the fixed position during the entire assembly process. To meet the production requirements and save manpower and avoid repetitive labor, a horizontal drive motor 1022 is provided on the fixed platform 101. The transmission shaft of the horizontal drive motor 1022 is connected with a lead screw 1023. A lead screw nut 1024 meshing with the lead screw 1023 is provided at the bottom of the moving slide plate 102, driving the moving slide plate 102 to move along the first platform direction.

[0069] Moreover, during the entire assembly process, the rotating disk 1031 needs to rotate multiple times around its central axis. To meet production requirements, save manpower, and avoid repetitive labor, a rotary drive motor 1032 is provided on the fixed platform 101 to drive the rotation of the rotating disk 1031, and the rotation axis is perpendicular to the horizontal reference plane. To cooperate with the operation of the rotary drive motor 1032, gear teeth are provided on the circumferential wall of the rotating disk 1031. The transmission shaft of the rotary drive motor 1032 is connected with a rotary screw 1033, and the screw meshes with the gear teeth. When the rotary drive motor 1032 drives the screw to rotate, it drives the rotating disk 1031 to rotate around its central axis. To enable the rotating disk 1031 to display different valve body assembly surfaces each time it rotates, a servo motor is selected as the rotary drive motor 1032, and each rotation angle is set to 90°.

[0070] As Figure 6 and Figure 7 , during the rotation of the rotating disk 1031 and the movement of the moving slide 102, there are various structures on the valve body positioning tooling 700 to fix the valve body 100 and prevent it from falling off. The valve body positioning tooling 700 includes a tooling body. The top surface of the tooling body is provided with a limiting portion 701 for positioning the bottom surface of the valve body 100. The bottom surface of the tooling body is provided with a vertically penetrating hole for accommodating the locking screw 702 and a plurality of spaced positioning pin holes 703 for positioning and connecting the rotating disk 1031. The side surface of the tooling body is provided with a locking groove 704 for connecting the tooling locking mechanism 1034.

[0071] Specifically, the limiting portion 701 includes limiting blocks evenly distributed at the four corners of the top surface of the tooling body. The inner embedded dimension of the area surrounded by the limiting blocks is the same as the bottom surface dimension of the valve body 100 to position the valve body 100 and limit its movement in the horizontal plane. The positioning pin holes 703 are located within the area surrounded by the limiting blocks and correspond to the number and positions of the positioning pin shafts for positioning the tooling body. The tooling locking mechanism 1034 selects a locking cylinder, and the fixed connection between the tooling body and the rotating disk 1031 is achieved through the insertion and cooperation of the movable part of the locking cylinder with the locking groove 704. The locking screw 702 is used for the detachable connection between the tooling body and the valve body 100.

[0072] To better screw the locking screw 702, the valve group assembly platform further includes a first tightening system 8 provided directly below the fixed position on the horizontal reference plane. Through the first tightening system 8, not only can the locking screw 702 be firmly connected to the tooling body, but also manpower can be saved and labor costs can be reduced.

[0073] As Figure 8, in the embodiment of the present application, the first tightening system 8 includes a tightening mechanism 81 for screwing and locking the screw rod 702. To enable the tightening mechanism 81 to perform vertical lifting movement and make the tightening end of the tightening mechanism 81 penetrate upward through the fixed platform 101, a guide shaft 82 is vertically suspended 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 installed on the movable plate 83, and a lifting drive mechanism 85 for driving the movable plate 83 to move up and down along the extension direction of the guide shaft 82 is provided on the bottom surface of the movable plate 83. To fix the lifting drive mechanism 85, a fixing plate 84 is provided at the vertically 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 fixing plate 84 and is connected to the movable plate 83.

[0074] Specifically, the tightening mechanism 81 includes a tightening shaft and a rotating motor for driving the tightening shaft to rotate. The tightening shaft is installed on the movable plate 83, and the rotating motor is built into the tightening shaft. The tightening shaft passes through the mutually parallel movable plate 83 and fixing plate 84 from top to bottom in sequence. The fixing plate 84 makes the vertical lifting 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 on the fixing plate 84, and the movable part is connected to the movable plate 83. Moreover, the telescopic direction of the lifting cylinder is parallel to the guide shaft 82. When the lifting cylinder extends, the tightening shaft penetrates a certain distance through the top surface of the fixed platform 101. This distance is determined according to the rotating table, the valve body positioning tooling 700 assembly, and the height of the valve body 100. When the lifting cylinder retracts, the tightening shaft retracts below the top surface of the fixed platform 101.

[0075] To further increase the automation degree of the valve group assembly platform, the valve group assembly platform further includes a transfer manipulator, an assembly manipulator, a tightening system, and so on. The valve group assembly platform of the present application is provided with a tooling storage position, a valve block fixing position, and a valve block assembly position. The hydraulic valve block assembly is completed through the cooperation of the transfer manipulator and the assembly manipulator at three stations. The transfer manipulator is used to grab and transfer the valve body positioning tooling 700 between the fixed position and the tooling storage position under the control of the controller and transfer the valve body 100 to the rotary table 103 at the fixed position. The assembly manipulator and the tightening system are arranged on the side of the assembly position. The two cooperate to install parts such as hydraulic components, pipe joints, screw plugs, and bolts to be assembled onto the corresponding valve body assembly surfaces. Since there are a transfer manipulator, an assembly manipulator, a tightening system, etc. at the same time, if all work is carried out only at the fixed position, interference between the manipulators may occur. By setting the spaced-apart assembly positions, a larger placement space and operation space for other devices can be provided. Each mechanical device cooperates for automated assembly, reducing repetitive labor, lowering the labor intensity of workers and the influence of human factors, thereby ensuring the assembly efficiency.

[0076] In an embodiment of the present application, a visual recognition position is further provided on the horizontal reference plane. A first visual system is provided at the visual recognition position, and the first visual system is used to recognize and process the position information on the valve body assembly surface that rotates to face the first visual system.

[0077] Specifically, the first visual system selects an industrial camera for collecting image data and visual software for processing image data. The industrial camera is fixed at the visual recognition position of the horizontal reference plane by setting a camera bracket. The specific recognition process is as follows: First, the industrial camera cooperates with the turntable to take pictures and collect images of each valve body assembly surface and transmit them to the visual software; then, the visual software sets its internal reference with the horizontal reference plane as the device reference to establish a two-dimensional coordinate system, so as to establish the corresponding relationship between the actual position of the mounting surface of the valve body 100 and the two-dimensional coordinate system; secondly, use image processing algorithms to preprocess the image data to obtain the characteristic images of the mounting hole positions of each part on the mounting surface of the valve body 100; then, extract contour points from the characteristic images and calculate the accurate positions of each mounting hole through mathematical operations; secondly, compare the accurate positions with the coordinate values in the two-dimensional coordinate system to obtain the deviation value; finally, the visual software calculates the final position according to this deviation value and uses the assembly manipulator for assembly.

[0078] With the progress of science and technology, in order to improve the assembly efficiency and assembly accuracy, reduce the manual input and manual labor intensity, the valve group assembly platform includes a control system. The control system selects a PLC controller, and the PLC controller communicates with the horizontal drive motor 1022, the tooling locking mechanism 1034, the transfer manipulator, the lifting drive mechanism 85, the rotation motor, the industrial camera, the visual software, the rotation drive motor 1032, the assembly manipulator and the proximity switch 1052 respectively. The specific control process is as follows:

[0079] The first stage is to fix the mechanical assembly position of the valve body 100: First, control the moving slide plate 102 to move from the initial position along the direction of the first platform to the fixed position through the PLC controller, input the specification of the valve body 100, and select the corresponding positioning tooling; Secondly, close the corresponding proximity switch 1052 through the PLC controller and control the transfer manipulator to grab the positioning tooling and place it on the rotating disk 1031. The positioning pin shaft on the rotating disk 1031 cooperates with the positioning pin hole 703 on the bottom surface of the tooling body of the positioning tooling for positioning. At the same time, the tooling locking mechanism 1034 on the rotating disk 1031 cooperates with the locking groove 704 on the side surface of the tooling body of the positioning tooling for fixation; Then, control the transfer manipulator to grab the valve body 100 and place it on the top surface of the positioning tooling through the PLC controller. The limit block on the top surface of the positioning tooling cooperates with the bottom surface of the valve body 100 for positioning, and control the horizontal drive motor 1022 to drive the rotating disk 1031 to move directly above the tightening shaft through the PLC controller; Finally, control the lifting drive mechanism 85 to drive the tightening shaft to extend out of the horizontal reference plane and insert into the locking bolt inside the tooling body. At the same time, control the rotating motor to drive the tightening shaft to tighten the locking bolt and fix it with the bottom surface of the valve body 100, completing the fixation of the mechanical assembly position of the valve body 100.

[0080] The second stage: The vision system automatically identifies and stores the assembly position information of the valve body 100: First, control the moving slide plate 102 to move to the vision recognition position through the PLC controller; Secondly, control the industrial camera to take an image of the first valve body assembly surface through the PLC controller. At the same time, control the vision software to set its internal reference origin with the horizontal reference plane as the equipment reference to establish a two-dimensional coordinate system, use image processing algorithms to preprocess the image, obtain the characteristic image of the reference installation hole position on the first valve body assembly surface, extract the contour points from the characteristic image, calculate the accurate position of the reference installation hole position through mathematical operations, calculate the distance between the internal reference origin and the accurate position of the reference installation hole position, and then compare it with the standard value set by the system to obtain the actual deviation value. Since the distances of the installation hole positions on the first valve body assembly surface are fixed, the positions of the remaining installation hole positions on the first valve body assembly surface are equal to the distance from the reference installation hole position plus the actual deviation value, realizing the automatic identification of the position information of each installation hole position on the first valve body assembly surface; Then, control the rotation drive motor 1032 to rotate to the next valve body assembly surface through the PLC controller to perform the image acquisition and processing process described above; Finally, complete the automatic identification of the position information of each installation hole position on the four valve body assembly surfaces in sequence.

[0081] The third stage: automatic adjustment of the assembly position and automatic assembly: First, the horizontal drive motor 1022 is controlled by the PLC controller to drive the moving slide plate 102 to adjust the assembly position according to the deviation value calculated in the previous stage. Secondly, the PLC controller controls the moving slide plate 102 to move to the assembly position, and according to the position information of each mounting hole on the valve body assembly surface automatically recognized by the industrial camera for the valve body assembly surface, the PLC controller controls the assembly manipulator to perform automatic assembly on the corresponding valve body assembly surface. Then, the PLC controller controls the rotation drive motor 1032 to drive the rotating disk 1031 to rotate to the next valve body assembly surface for automatic assembly. Finally, the automatic assembly of all valve body assembly surfaces is completed in sequence.

[0082] After removing the assembled hydraulic valve block 600, the next valve body 100 is assembled. If the specifications of the next valve body 100 are different from those of the previous valve body 100, the process of replacing the valve body positioning tooling 700 needs to be added in the first stage: First, the PLC controller controls the transfer manipulator to grab the valve body positioning tooling 700 on the rotating disk 1031 and place it on the tooling transition seat 1051. Then, the PLC controller closes the proximity switch 1052 corresponding to the tooling placement area where the new valve body positioning tooling 700 is located and simultaneously controls the transfer manipulator to grab the new valve body positioning tooling 700 and place it on the rotating disk 1031. Finally, the PLC controller controls the transfer manipulator to grab the valve body positioning tooling 700 on the tooling transition seat 1051 and put it into its corresponding tooling placement area and simultaneously opens the corresponding proximity switch 1052.

[0083] In the description of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0084] In the present application, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to", "fixed" and other terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection or communication with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0085] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection 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 may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0086] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A valve group assembly platform, characterized in that The valve group assembly platform includes: A fixed platform (101), including a horizontal reference plane that is the top surface of the fixed platform (101). An assembly position and a fixing position are arranged at intervals along the first platform direction on the horizontal reference plane; A moving rotary table, including a moving slide plate (102) slidably arranged on the horizontal reference plane along the first platform direction and a rotary table (103) installed on the moving slide plate (102). The moving slide plate (102) can carry the rotary table (103) to reciprocate between the assembly position and the fixing position; A first tightening system (8), arranged directly below the fixing position on the horizontal reference plane and used to tighten the locking screw (702); Among them, the valve body (100) to be assembled can be positioned at the fixing position through a valve body positioning tooling (700) and clamped and fixed on the rotary table (103). And the valve body positioning tooling (700) is detachably connected to the valve body (100) through a vertical locking screw (702). The rotary table (103) can drive the valve body (100) to rotate at the assembly position to switch and display the valve body assembly surface.

2. The valve group assembly platform according to claim 1, wherein A tooling storage position is also arranged on the horizontal reference plane. The assembly position, the fixing position, and the tooling storage position are arranged at intervals in sequence along the first platform direction. The valve group assembly platform includes a tooling quick-change mechanism (105) arranged at the tooling storage position. The tooling quick-change mechanism (105) is used to store and switch multiple valve body positioning toolings (700) corresponding to different specifications of the valve body (100) installed; 3. The valve group assembly platform according to claim 2, characterized in that, The tooling quick-change mechanism (105) includes: A bottom plate, installed at the tooling storage position on the fixed platform (101); A tooling transition seat (1051), used to temporarily store the replaced valve body positioning tooling (700); and A tooling storage part, including a plurality of tooling placement areas arranged in a row. Each tooling placement area places a valve body positioning tooling (700) of a corresponding specification and is provided with a corresponding proximity switch (1052).

4. The valve assembly platform according to claim 2, wherein The rotary table (103) includes: A rotating disk (1031), parallel to the horizontal reference plane. A tooling locking mechanism (1034) is arranged on the rotating disk (1031). The valve body positioning tooling (700) is pin-positioned on the rotating disk (1031) and locked and fixed through the tooling locking mechanism (1034); and A rotation driving motor (1032), used to drive the rotating disk (1031) to rotate and the rotation axis is perpendicular to the horizontal reference plane.

5. The valve group assembly platform according to claim 4, wherein, The valve body positioning tooling (700) includes a tooling body. A limiting part (701) for positioning the bottom surface of the valve body (100) is arranged on the top surface of the tooling body. A vertical through hole for accommodating the locking screw (702) and a plurality of spaced positioning pin holes (703) for positioning and connecting the rotating disk (1031) are opened on the bottom surface of the tooling body. A locking groove (704) for connecting the tooling locking mechanism (1034) is opened on the side surface of the tooling body.

6. The valve assembly platform according to claim 2, characterized in that, The first tightening system (8) includes: The guiding shaft (82) hangs vertically downward from the bottom surface of the fixed platform (101); The fixing plate (84) is fixedly arranged at the hanging bottom end of the guiding shaft (82); The movable plate (83) is sleeved on the guiding shaft (82); The tightening mechanism (81) is installed on the movable plate (83); and The lifting drive mechanism (85) is installed on the fixing plate (84) and is used to drive the movable plate (83) to move up and down along the guiding shaft (82), so that the tightening end of the tightening mechanism (81) can penetrate upward through the fixed platform (101).

7. The valve group assembly platform according to claim 2, characterized in that The valve group assembly platform further includes: The transfer manipulator is used to grab and transfer the valve body positioning tooling (700) between the fixed position and the tooling storage position and transfer the valve body (100) to the rotary table (103) at the fixed position.

8. The valve assembly platform according to any one of claims 2 to 7, characterized in that A visual recognition position is further provided on the horizontal reference plane. The valve group assembly platform includes a first visual system arranged at the visual recognition position. The first visual system is used to recognize the position information on the valve body assembly surface that rotates to face the first visual system.

9. The valve group assembly platform according to claim 8, characterized in that, The valve group assembly platform further includes: The assembly manipulator is arranged on the side of the assembly position and is used to install the hydraulic components, pipe joints, screw plugs and bolts to be assembled on the corresponding valve body assembly surfaces.

10. The valve group assembly platform according to claim 9, characterized in that, The valve group assembly platform includes a control system configured to: Control the moving slide plate (102) to move along the first platform direction to the fixed position; According to the specifications of the valve body (100) of the valve group to be assembled, control the tooling quick-change mechanism (105) to switch out the corresponding valve body positioning tooling (700); At the fixed position, clamp and fix the valve body (100) and the valve body positioning tooling (700) on the rotary table (103); Control the moving slide plate (102) to move the rotary table (103) to the visual recognition position; Control the rotary table (103) to rotate, drive each valve body assembly surface of the valve body (100) to rotate to the opposite side of the first visual system respectively, and control the first visual system to recognize the installation point position information on each valve body assembly surface; Control the moving slide plate (102) to move the rotary table (103) to the assembly position; Control the rotary table (103) to rotate, drive each valve body assembly surface to rotate to the opposite side of the assembly tightening system in turn, and control the assembly manipulator to complete the valve group assembly in turn.

Images