Threaded expansion joint automatic assembly machine

Abstract

The present invention relates to an automatic assembly machine for threaded telescopic joints. The present invention relates to an automatic assembly machine for threaded telescopic joints. A main body assembly device places the main body on a support plate of a conveying device, a sealing ring assembly device places the sealing ring inside the main body, and a pressure ring assembly device places the pressure ring inside the main body on which the sealing ring is installed. A cover body assembly device threadably connects the cover body to the main body on which the pressure ring is installed. Both ends of the first gripper on the side away from the first gripper are provided with arc-shaped contact surfaces adapted to the inner wall of the cover body, a plane is provided between the two contact surfaces, a screw hole is provided on the plane, and the first gripper is screwed to the movable shaft of the first driving cylinder through the screw hole. The first driving cylinder drives the first gripper and the second gripper to clamp the cover body. The first manipulator can also pre-tighten the cover body under the drive of the rotating module, so that there is a connecting force between the cover body and the main body, and they will not be misaligned during transportation, which significantly improves the efficiency of assembly.

Description

Technical Field

[0001] The invention relates to the field of automatic assembly equipment for threaded expansion joints, and in particular to an automatic assembly machine for threaded expansion joints. Background Art

[0002] In the existing assembly machine, the cover body is directly placed on the main body by the clamping robot, and then tightened by the screwing robot. This makes it easy for the cover body to be misaligned with the main body during transportation, resulting in low assembly efficiency.

[0003] Therefore, it is necessary to provide a threaded expansion joint automatic assembly machine to solve the above problems. Summary of the invention

[0004] The present invention relates to an automatic assembly machine for threaded telescopic joints. The automatic assembly machine for threaded telescopic joints clamps a cover body through a first manipulator. The first manipulator can also pre-twist the cover body under the drive of a rotating module, so that there is a connecting force between the cover body and a main body, and the cover body will not be misplaced during transportation, which significantly improves the efficiency of assembly and solves the problem in the prior art that the cover body is easily misplaced with the main body during transportation because the clamping and transportation manipulator places the cover body directly on the main body, resulting in low assembly efficiency.

[0005] In order to solve the above problems, the present invention provides: an automatic assembly machine for threaded expansion joints, which is used to assemble a main body, a sealing ring, a pressure ring and a cover body, wherein the main body and the cover body are threadedly connected, and comprises:

[0006] A conveying device, the conveying device is used to convey the telescopic joint assembly structure, and a plurality of support plates are arranged on the conveying device, and the support plates are used to place the main body;

[0007] A main body assembly device, the main body assembly device is used to place the main body on the support plate;

[0008] A sealing ring assembly device, which is used to place the sealing ring in the main body;

[0009] A pressing ring assembly device, which is used to place the pressing ring in the main body on which the sealing ring is installed and is located above the sealing ring; and

[0010] A cover assembly device, used to thread the cover and the main body with a pressure ring installed; the cover assembly device includes a cover feeding unit and a cover clamping unit, the cover feeding unit is used to provide the cover; the cover clamping unit includes a rotating module and a first manipulator, the rotating module is connected to the first manipulator, and the first manipulator is used to clamp the cover;

[0011] Among them, the first manipulator includes a first driving cylinder, a first gripper and a second gripper, and the first gripper and the second gripper have the same structure; both ends of the first gripper away from the first gripper are provided with arc-shaped contact surfaces adapted to the inner wall of the cover body, and a plane is provided between the two contact surfaces, and a screw hole is provided on the plane, and the first gripper is screwed to the movable shaft of the first driving cylinder through the screw hole; the first driving cylinder is used to drive the first gripper and the second gripper to move away from or approach each other, so that the first gripper and the second gripper clamp the cover body.

[0012] Furthermore, at least one anti-skid groove is arranged on the contact surface, and the anti-skid groove is arranged to penetrate vertically to improve the efficiency of the twisting.

[0013] Furthermore, the cover clamping unit includes a cover horizontal driving module and a cover lifting module, and the output shaft of the cover horizontal driving module is connected to the cover lifting module. The output shaft of the cover lifting module is connected to the rotating module, which can increase the working range of the equipment and thus improve compatibility. The rotating module includes a support seat, a rotating motor, a transmission wheel, a belt and a rotating rod. The support seat is fixedly connected to the cover lifting module, the rotating motor is fixedly arranged on the support seat, the transmission wheel is mounted on the output shaft of the rotating motor, and the transmission wheel is connected to the upper end of the rotating rod through the belt. The upper end of the rotating rod is connected to the support seat bearing, and the lower end of the rotating rod is fixedly connected to the first driving cylinder, which saves costs.

[0014] Furthermore, the support seat includes a support portion, a first fixed block and a second fixed block. The support portion is vertically arranged, one side of the support portion is fixedly connected to the first lifting module, and the first fixed block and the second fixed block are both fixedly connected to the other side of the support portion. The first fixed block is located above the second fixed block, the belt is arranged between the first fixed block and the second fixed block, and the rotating motor is arranged on the first fixed block, which has a compact structure and saves space. The rotating rod is connected to the bearing of the second fixed block, and the area of ​​the second fixed block is smaller than that of the first fixed block, which saves costs.

[0015] Furthermore, the thickness of one end of the first fixing block connected to the rotating motor is smaller than the thickness of the other end of the first fixing block, and the other end of the first fixing block is fixedly connected to the supporting part, thereby saving costs.

[0016] Furthermore, one end of the first fixed block is provided with a plurality of mounting slots. The support seat further comprises a movable plate, on which a plurality of mounting holes are provided corresponding to the mounting slots, the rotating motor, the movable plate and the first fixed block are screw-connected, the movable plate is used to adjust the position of the rotating motor, improve the compatibility of the equipment, and facilitate the adjustment of the tightness of the belt. The end of the movable plate away from the rotating rod is provided with a push-pull portion, and the push-pull portion is used to move the movable plate to improve the efficiency of installation.

[0017] Furthermore, the rotating module further comprises a sleeve, which is fixedly arranged on the supporting seat; an internal thread is arranged in the sleeve. An external thread is arranged at the upper end of the rotating rod, the diameter of the internal thread is larger than the diameter of the external thread, and the rotating rod is threadedly connected with the sleeve. There is a tolerance between the internal thread and the external thread, and the rotating rod can be slightly offset and rotated when the cover is screwed in, so as to realize automatic correction of the position, and avoid the cover from slipping or getting stuck when being screwed in.

[0018] Furthermore, the rotating module is also provided with a spring, and the spring is sleeved on the lower end of the rotating rod, and the spring is located between the supporting seat and the first driving cylinder, which is beneficial to protecting the equipment and improving the service life.

[0019] Furthermore, the cover body clamping unit also includes a balancing module, and the balancing module includes a connecting seat and a balancing plate. The connecting seat includes a first connecting section and a second connecting section, one end of the first connecting section is fixedly connected to the first driving cylinder, and the other end of the first connecting section is fixedly connected to one end of the second connecting section. The lower surface of the second connecting section is screwed to the balancing plate, and the balancing plate is horizontally arranged between the first clamp and the second clamp. The lower end surfaces of the two ends of the balancing plate are in contact with the upper end surface of the main body, and are used to make the end surface of the cover body horizontal when clamping, so as to increase the contact area between the first clamp, the second clamp and the cover body, and improve the clamping stability and assembly efficiency.

[0020] Further, the sealing ring assembly device includes a first clamping unit, which is used to clamp the sealing ring onto the conveying device and place it into the corresponding main body. The first clamping unit includes a first horizontal driving module, a first lifting module and a first clamping module, and the output shaft of the first horizontal driving module is connected to the first lifting module. The first clamping module includes a shaping ring and a pressing block, the output shaft of the first lifting module is connected to the pressing block, and the shaping ring is fixedly connected to the first lifting module. The pressing block is located at the upper end of the shaping ring, and is used to press the sealing ring clamped in the shaping ring to the corresponding position of the main body. It can ensure that the sealing ring does not deform during the clamping process, and the pressing block presses the sealing ring into the main body, thereby improving the efficiency of assembly. The shaping ring is hollow inside, and the inner diameter of the shaping ring is equal to the outer diameter of the sealing ring or less than the set threshold of the outer diameter of the sealing ring, so as to facilitate the clamping of the sealing ring and maintain the shape of the sealing ring.

[0021] The present invention adopts the above-mentioned threaded telescopic joint automatic assembly machine, and compared with the prior art, its beneficial effects are as follows: the present invention relates to an automatic assembly machine for threaded telescopic joints, which includes a conveying device, a main body assembly device, a sealing ring assembly device, a pressure ring assembly device and a cover assembly device. The conveying device is used to convey the telescopic joint assembly structure, and a plurality of support plates are arranged on the conveying device, and the support plates are used to place the main body. The main body assembly device is used to place the main body on the support plate, the sealing ring assembly device places the sealing ring in the main body, and the pressure ring assembly device places the pressure ring in the main body installed with the sealing ring and above the sealing ring. The cover assembly device threadably connects the cover body with the main body installed with the pressure ring. The cover assembly device includes a cover feeding unit and a cover clamping unit, and the cover feeding unit is used to provide the cover body. The cover clamping unit includes a rotating module and a first manipulator, and the rotating module is connected to the first manipulator, and the first manipulator is used to clamp the cover body. The first manipulator includes a first driving cylinder, a first clamping hand and a second clamping hand, and the structures of the first clamping hand and the second clamping hand are arranged in the same manner. Both ends of the first gripper on the side away from the first gripper are provided with arc-shaped contact surfaces adapted to the inner wall of the cover body, a plane is provided between the two contact surfaces, a screw hole is provided on the plane, and the first gripper is screwed to the movable shaft of the first driving cylinder through the screw hole. The first driving cylinder is used to drive the first gripper and the second gripper to move away from or approach each other, so that the first gripper and the second gripper clamp the cover body. The threaded telescopic joint automatic assembly machine clamps the cover body through the first manipulator, and the first manipulator, driven by the rotating module, can also pre-tighten the cover body, so that there is a connecting force between the cover body and the main body, and it will not be misaligned during transportation, which significantly improves the efficiency of assembly and solves the problem of low assembly efficiency in the prior art because the clamping and transportation manipulator places the cover body directly on the main body, which makes it easy for the cover body to be misaligned with the main body during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. The drawings described below are only drawings corresponding to some embodiments of the present invention.

[0023] Figure 1 It is a structural schematic diagram of an embodiment of the automatic assembly machine for threaded expansion joints of the present invention.

[0024] Figure 2 It is a schematic diagram of the internal structure of an embodiment of the automatic assembly machine for threaded expansion joints of the present invention.

[0025] Figure 3 for Figure 2 Top view of the .

[0026] Figure 4 It is a structural schematic diagram of an embodiment of a support plate of an automatic assembly machine for threaded telescopic joints of the present invention.

[0027] Figure 5 It is a structural schematic diagram of an embodiment of a main body assembly device of an automatic assembly machine for threaded telescopic joints of the present invention.

[0028] Figure 6 It is a structural schematic diagram of an embodiment of the second clamping unit of the automatic assembly machine for threaded telescopic joints of the present invention.

[0029] Figure 7 It is a structural schematic diagram of an embodiment of a sealing ring assembly device of an automatic assembly machine for threaded expansion joints of the present invention.

[0030] Figure 8 It is a structural schematic diagram of an embodiment of a sealing ring detection unit of an automatic assembly machine for threaded expansion joints of the present invention.

[0031] Fig. 9 It is a structural schematic diagram of an embodiment of the second clamping unit of the automatic assembly machine for threaded telescopic joints of the present invention.

[0032] Fig.10 It is a structural schematic diagram of an embodiment of the first clamping unit of the automatic assembly machine for threaded telescopic joints of the present invention.

[0033] Fig.11 It is a structural schematic diagram of an embodiment of the first clamping module of the automatic assembly machine for threaded telescopic joints of the present invention.

[0034] Fig.12 It is a cross-sectional schematic diagram of an embodiment of a first clamping module of the automatic assembly machine for threaded telescopic joints of the present invention.

[0035] Fig.13 It is a structural schematic diagram of an embodiment of a shaping ring of an automatic assembly machine for threaded telescopic joints of the present invention.

[0036] Fig.14 It is a structural schematic diagram of an embodiment of a pressing ring assembly device of an automatic assembly machine for a threaded expansion joint of the present invention.

[0037] Fig.15 for Fig.14 Schematic diagram of the enlarged structure of the fourth robot.

[0038] Fig.16 It is a structural schematic diagram of an embodiment of a cover assembly device of an automatic assembly machine for threaded telescopic joints of the present invention.

[0039] Fig.17 It is a structural schematic diagram of an embodiment of a cover clamping unit of an automatic assembly machine for threaded telescopic joints of the present invention.

[0040] Fig.18 A partial structural diagram of an embodiment of a cover clamping unit of a threaded telescopic joint automatic assembly machine of the present invention

[0041] Fig.19 It is a structural schematic diagram of an embodiment of a support base of an automatic assembly machine for threaded telescopic joints of the present invention.

[0042] Fig. 20 It is a structural schematic diagram of an embodiment of the first manipulator of the automatic assembly machine for threaded telescopic joints of the present invention.

[0043] Fig.21 It is a structural schematic diagram of an embodiment of a balancing module of an automatic assembly machine for threaded telescopic joints of the present invention.

[0044] Fig. 22 It is a structural schematic diagram of an embodiment of a cover body screwing unit of an automatic assembly machine for threaded telescopic joints of the present invention.

[0045] Fig.23 It is a structural schematic diagram of an embodiment of the fifth manipulator of the cover body screwing unit of the automatic assembly machine of the threaded telescopic joint of the present invention.

[0046] Fig.24 It is a structural schematic diagram of an embodiment of an assembly detection device of an automatic assembly machine for threaded expansion joints of the present invention.

[0047] Fig.25 It is a structural schematic diagram of an embodiment of a discharging device of an automatic assembly machine for threaded telescopic joints of the present invention.

[0048] In the figure: 10. Automatic assembly machine for threaded telescopic joints, 20. Frame, 30. Conveying device, 31. Support plate, 32. Spring buckle, 40. Main assembly device, 41. Main conveying unit, 42. Third clamping unit, 421. Second horizontal drive module, 422. Third lifting module, 423. Second manipulator, 4231. Second drive cylinder, 4232. Third clamping hand, 4233. Fourth clamping hand, 424. Main balancing module, 43. Main body, 50. Sealing ring assembly device, 51. Sealing ring feeding unit, 52. First clamping unit, 521. First column, 522. First beam, 523. First horizontal drive module, 524. First lifting module, 5241. Mounting seat, 5242. Lifting Motor, 525. Second lifting module, 526. First clamping module, 5261. Shaping ring, 5262. Pressing block, 5263. Fixed seat, 5264. Adjusting block, 5265. Connecting plate, 5266. Avoidance channel, 5267. Positioning block, 5268. Stopper, 5269. Inner hole, 53. Sealing ring detection unit, 531. Support rod, 532. Adjusting plate, 533. Adjusting rod, 534. Visual sensor, 54. Transfer table, 541. Support plate, 542. Connecting block, 543. Boss, 55. Second clamping unit, 551. Support, 552. Third driving cylinder, 553. Third manipulator, 5541. Rotating cylinder, 5542. Connecting rod, 5543. Transmission wheel, 5544. .Belt, 555.Base, 56.Sealing ring, 60.Pressing ring assembly device, 61.Pressing ring feeding unit, 62.Pressing ring clamping unit, 621.Third horizontal driving module, 622.Fourth lifting module, 623.Fourth manipulator, 6231.Fourth driving cylinder, 6232.Five clamping hand, 6233.Sixth clamping hand, 6234.Pressing part, 63.Pressing ring, 70.Lid assembly device, 71.Lid feeding unit, 711.Lid feeding bin, 712.Lid conveying track, 72.Lid clamping unit, 721.Lid horizontal driving module, 722.Lid lifting module, 723.Rotating module, 7231.Support seat, a1.Support part, a2.First fixed block, a3.Second fixed block, a4 . Movable plate, a5. Push-pull part, 7232. Rotating motor, 7233. Transmission wheel, 7234. Belt, 7235. Rotating rod, 7236. Spring, 724. Balancing module, 7241. Connecting seat, 7242. Balancing plate, 725. First manipulator, 7251. First driving cylinder, 7252. First clamping hand, 7253. Second clamping hand, 7254. Anti-skid groove, 7255. Contact surface, 73. Cover body screwing unit, 731. Fifth driving cylinder, 732. Fifth manipulator, 7321. Rotating part, 7322. Raised strip, 74. Cover body, 80. Assembly detection device, 81. Support frame, 82. Servo motor, 83. Detection head, 90. Unloading device, 91. Unloading clamping unit, 92.Unloading platform, 93. Baffle, 94. Good product unloading port, 95. Waste product unloading port. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0050] The directional terms mentioned in the present invention, such as "up", "down", "front", "back", "left", "right", "inside", "outside", "side", "top" and "bottom", are only for reference to the orientation of the drawings. The directional terms used are used to illustrate and understand the present invention, but not to limit the present invention.

[0051] In the figures, structurally similar elements are denoted by the same reference numerals.

[0052] Please refer to Figure 1 , Figure 2 , Figure 3 In this embodiment, the interior of the main body 43 is provided with a through hole, a sealing ring 56 is placed inside the upper end of the main body 43, a pressure ring 63 is placed on the sealing ring 56, the cover body 74 is an annular structure, the cover body 74 is threadedly connected to the upper end of the main body 43, and the cover body 74 presses the sealing ring 56 through the pressure ring 63. The threaded telescopic joint automatic assembly machine 10 includes a frame 20, a conveying device 30, a main body assembly device 40, a sealing ring assembly device 50, a pressure ring assembly device 60, a cover body assembly device, an assembly detection device 80 and a unloading device 90. The conveying device 30 is arranged on the frame 20, and the conveying device 30 is used to convey the telescopic joint assembly structure. A plurality of support plates 31 are arranged on the conveying device 30, and the support plates 31 are used to place the main body 43. Please refer to Figure 4 At least one set of spring buckles 32 is disposed on the side of the support plate 31, and the spring buckles 32 are protrudingly disposed on the outer periphery of the support plate 31, so as to make the main body 43 and the support plate 31 interference-connected. The main body assembly device 40, the sealing ring assembly device, the assembly detection device 80 and the unloading device 90 are sequentially disposed in an annular manner on the conveying device 30.

[0053] In this embodiment, please refer to Figure 5 , Figure 6The main body assembly device 40 is used to place the main body 43 on the support plate 31. The main body assembly device 40 includes a main body conveying unit 41 and a third clamping unit 42. The main body conveying unit 41 is used to convey the main body 43 in sequence, and the third clamping unit 42 is arranged at the discharge port of the main body conveying unit 41. The third clamping unit 42 includes a second horizontal driving module 421, a third lifting module 422, a second manipulator 423 and a main body balancing module 424. The second horizontal driving module 421 is mounted on the frame 20, the third lifting module 422 is fixedly connected to the transmission shaft of the second horizontal driving module 421, and the output shaft of the third lifting module 422 is connected to the second manipulator 423.

[0054] The second manipulator 423 includes a second driving cylinder 4231, a third gripper 4232 and a fourth gripper 4233. The output shaft of the second driving cylinder 4231 is connected to the third gripper 4232 and the fourth gripper 4233, and the third gripper 4232 and the fourth gripper 4233 are arranged at intervals. The second driving cylinder 4231 is used to drive the third gripper 4232 and the fourth gripper 4233 to move away from or approach each other. The opposite sides of the third gripper 4232 and the fourth gripper 4233 are in close contact with the inner side wall of the main body 43, and are used to clamp and fix the main body 43, with a simple structure and improved clamping efficiency. The third gripper 4232 has the same structure as the fourth gripper 4233. A side surface adjacent to the third gripper 4232 and the fourth gripper 4233 is set as a plane, and the two sides of the side surface of the third gripper 4232 in contact with the main body 43 are correspondingly set as an arc surface structure, so that the third gripper 4232 is more in contact with the main body 43, and the clamping effect is improved.

[0055] The structure and working principle of the main balancing module 424 are consistent with those of the balancing module 124, and the details can be referred to the following related contents.

[0056] The second horizontal driving module 421 simultaneously drives the third lifting module 422, the second manipulator 423 and the main body balancing module 424 to move to the discharge port position of the main body conveying unit 41, and the third lifting module 422 drives the second manipulator 423 and the main body balancing module 424 to move downward until the balancing plate 4242 is in contact with the main body 43, and both ends of the balancing plate 4242 are in contact with the upper end surface of the main body 43. The second driving cylinder 4231 drives the third gripper 4232 and the fourth gripper 4233 to move away from each other, so that the arc surfaces of the sides of the third gripper 4232 and the fourth gripper 4233 are squeezed and connected with the inner side wall of the main body 43. The third lifting module 422 drives the second manipulator 423, the main body balancing module 424 and the main body 43 to rise, and the second horizontal driving module 421 drives the third lifting module 422, the second manipulator 423, the main body balancing module 424 and the main body 43 to be transported to the top of the support plate 31. The third lifting module 422 drives the second manipulator 423, the main body balancing module 424 and the main body 43 to descend. Under the pressure of the balancing plate 4242, the main body 43 is sleeved on the support plate 31. The second driving cylinder 4231 drives the third gripper 4232 and the fourth gripper 4233 to approach each other and release the main body 43. The third lifting module 422 drives the second manipulator 423 and the main body balancing module 424 to rise. The second horizontal driving module 421 drives the third lifting module 422, the second manipulator 423 and the main body balancing module 424 to return to the discharge port position of the main body conveying unit 41 to start the next round of feeding. The conveying device 30 conveys the main body 43 on the support plate 31 to the installation position corresponding to the sealing ring assembly device 50.

[0057] In this embodiment, please refer to Figure 7 The sealing ring assembly device 50 includes a sealing ring feeding unit 51, a first clamping unit 52, a sealing ring detection unit 53, a transfer platform 54 and a second clamping unit 55. The sealing ring feeding unit 51 is used to provide a sealing ring 56. The sealing ring detection unit 53 is arranged on one side of the sealing ring feeding unit 51, and is used to detect the front and back sides of the sealing ring 56. A groove is arranged on the back side of the sealing ring 56. If a groove is detected, it means that the sealing ring 56 is facing up with its back side, and it needs to be turned over to face up with its front side. The transfer platform 54 is used to transfer and place the sealing ring 56. The second clamping unit 55 is arranged between the discharge port of the sealing ring feeding unit 51 and the transfer platform 54, and is used to clamp the sealing ring 56 out of the sealing ring feeding unit 51 and place the sealing ring 56 on the transfer platform 54 with its front side facing up, so as to improve the assembly efficiency and assembly yield. The first clamping unit 52 is used to transfer the sealing ring 56 on the transfer platform 54 and press it into the main body 43.

[0058] Please refer to Figure 8, the sealing ring detection unit 53 includes a support rod 531, an adjustment plate 532, an adjustment rod 533 and a visual sensor 534. The support rod 531 is vertically arranged on one side of the discharge port of the sealing ring feeding unit 51, and the adjustment plate 532 is fixed to the upper end of the support rod 531. One end of the adjustment plate 532 is provided with a fixing groove, and one end of the adjustment rod 533 is horizontally inserted into the fixing groove. The visual sensor 534 is fixed to the other end of the adjustment rod 533 and is located directly above the sealing ring 56 at the discharge port of the sealing ring feeding unit 51, and is used to detect the front and back sides of the sealing ring 56. If the sealing ring 56 is on the back side, the sealing ring 56 needs to be turned over to the front side through the flip module and placed on the transfer platform 54; if the sealing ring 56 is on the front side, the sealing ring 56 is directly placed on the transfer platform 54 to improve the work efficiency.

[0059] In this embodiment, please refer to Fig. 9 The second clamping unit 55 includes a support 551, a third driving cylinder 552, two third manipulators 553, a flip module and a base 555. The support 551 is slidably connected to the base 555, and the support 551 is arranged below the discharge port of the sealing ring feeding unit 51. One third manipulator 553 is arranged on one side of the support 551, and another third manipulator 553 is arranged on the other side of the support 551. The two third manipulators 553 are respectively located on both sides of the discharge port of the sealing ring feeding unit 51.

[0060] The third driving cylinder 552 is disposed on the base 555, and the output shaft of the third driving cylinder 552 is fixedly connected to the support 551, and is used to drive the support 551 to reciprocate between the discharge port of the sealing ring feeding unit 51 and the transfer platform 54, thereby improving the transfer efficiency.

[0061] The flip module is arranged on the support 551, and the flip module is used to drive the two third manipulators 553 to rotate simultaneously, which significantly improves the efficiency of flipping and saves costs. The flip module includes a rotating cylinder 5541, a connecting rod 5542, four transmission wheels 5543 and two belts 5544. The rotating cylinder 5541 is arranged on one side of the support 551, and the connecting rod 5542 is rotatably arranged on the support 551, and one end of the connecting rod 5542 is fixedly connected to the output shaft of the rotating cylinder 5541. Each third manipulator 553 is fixedly connected with a transmission wheel 5543, and the other two transmission wheels 5543 are respectively fixedly arranged at the two ends of the connecting rod 5542. Each belt 5544 is used to connect the third manipulator 553 on the same side with the transmission wheel 5543 on the connecting rod 5542. Among them, the rotating cylinder 5541 is used to drive the connecting rod 5542 to rotate, and the connecting rod 5542 drives the two third manipulators 553 to rotate synchronously through the transmission wheel 5543 and the belt 5544. Compact structure, easy to install and disassemble.

[0062] The transfer platform 54 is arranged on a side of the support 551 away from the sealing ring feeding unit 51, and is used to place the sealing ring 56 after the flip. The transfer platform 54 includes a support plate 541, a connecting block 542 and a boss 543. The support plate 541 is erected on one end of the support 551 away from the sealing ring feeding unit 51, and the connecting block 542 is provided with an adjustment groove. The connecting block 542 is connected to the upper end screw of the support plate 541 through the screw passing through the adjustment groove, which is convenient for installation and disassembly, and improves compatibility and efficiency of transportation. The boss 543 is fixedly connected to the connecting block 542. The boss 543 is arranged in a truncated cone shape, and the cross-sectional area of ​​the lower end of the truncated cone is larger than the cross-sectional area of ​​the upper end of the truncated cone. The lower end of the truncated cone is provided with an annular placement platform, and the placement platform is used to place the flipped sealing ring 56, which is convenient for placement. The boss 543 also includes two avoidance grooves, which are stacked and arranged on the peripheral side of the boss 543, and are used to avoid the two third manipulators 553, so as to improve work efficiency.

[0063] In this embodiment, please refer to Fig.10 The first clamping unit 52 includes a first column 521, a first beam 522, a horizontal driving module 523, a first lifting module 524, a second lifting module 525 and a first clamping module 526. The first beam 522 is disposed on the first column 521. The horizontal driving module 523 is disposed on the first beam 522, and the second lifting module 525 is fixedly connected to the horizontal driving module 523, and is used to drive the second lifting module 525 to reciprocate along the length direction of the first beam 522.

[0064] The first lifting module 524 includes a mounting seat 5241 and a lifting motor 5242. The mounting seat 5241 is fixedly connected to the output shaft of the lifting cylinder in the second lifting module 525. The second lifting module 525 drives the first lifting module 524 and the first clamping module 526 to move up and down. The lifting motor 5242 is fixed to the upper end of the mounting seat 5241, and the fixed seat 5263 is fixedly connected to the lower end of the mounting seat 5241. The fixed seat 5263 is provided with a through avoidance channel 5266 along the axial direction, and the output shaft of the lifting motor 5242 passes through the avoidance channel 5266 and is fixedly connected to the pressing block 5262, and the structure is compact.

[0065] Please refer to Fig.11 , Fig.12 , Fig.13, the first clamping module 526 includes a shaping ring 5261, a pressing block 5262, a fixed seat 5263, a plurality of adjustment blocks 5264 and a plurality of connecting plates 5265. The fixed seat 5263 is fixedly connected to the first lifting module 524, and the fixed seat 5263 is set as a cylindrical structure to reduce the occupied space. A plurality of adjustment blocks 5264 are evenly arranged on the peripheral side of the lower end of the fixed seat 5263, and the lower end of each adjustment block 5264 is fixedly connected to one side of a connecting plate 5265. Specifically, a plurality of card slots are arranged at intervals at the lower end of the fixed seat 5263, and the upper end of the adjustment block 5264 is carded in the card slot, and the card slot is used to adjust the position of the adjustment block 5264 in the radial direction, so that the device can adapt to sealing rings 56 of different sizes, thereby improving the compatibility of the device. In this embodiment, three adjustment blocks 5264 and connecting plates 5265 are provided, which are evenly arranged on the fixed seat 5263.

[0066] Two positioning blocks 5267 are provided at the lower end of the adjustment block 5264, and the two positioning blocks 5267 are arranged at intervals. A limiting block is correspondingly provided at the upper end of the connecting plate 5265, and the limiting block is sandwiched between the two positioning blocks 5267. The positioning blocks 5267 are provided with screw holes for screw connection between the adjustment block 5264 and the connecting plate 5265, which is convenient for installation and disassembly, and improves the efficiency of assembly. The connecting plate 5265 is set as an L-shaped structure, and the other side of the connecting plate 5265 is fixedly connected to the outer peripheral side of the shaping ring 5261, which is easy to assemble and saves costs.

[0067] Please refer to Fig.13 , the interior of the shaping ring 5261 is hollow, and the inner diameter of the shaping ring 5261 is equal to the outer diameter of the sealing ring 56 or less than the set threshold of the outer diameter of the sealing ring 56. A guiding slope is provided at the lower end of the shaping ring 5261, and the outer diameter of the guiding slope gradually decreases from top to bottom, so as to facilitate the delivery of the sealing ring 56 into the main body 43 and improve the efficiency of assembly. A limiting groove for installing the connecting plate 5265 is correspondingly provided on the side of the shaping ring 5261, and a stopper 5268 is provided at the lower end of the limiting groove, and the stopper 5268 is supported and connected with the lower end surface of the connecting plate 5265. The connecting plate 5265 is connected to the peripheral side of the shaping ring 5261 by screws, and the stopper 5268 is convenient for protecting the threaded connection structure between the connecting plate 5265 and the shaping ring 5261, thereby improving the service life of the equipment.

[0068] The pressing block 5262 is located at the upper end of the shaping ring 5261 and is used to press the sealing ring 56 clamped in the shaping ring 5261 to the corresponding position of the main body 43. The pressing block 5262 is provided with a plurality of through inner holes 5269 at annular intervals, and the inner holes 5269 are used for weight reduction and ventilation, saving costs and improving assembly efficiency.

[0069] Please refer to Fig.14 , Fig.15In this embodiment, the pressing ring assembly device 60 is used to place the pressing ring 63 in the main body 43 on which the sealing ring 56 is installed and is located above the sealing ring 56. The pressing ring assembly device 60 includes a pressing ring feeding unit 61 and a pressing ring clamping unit 62. The pressing ring feeding unit 61 is used to sequentially convey the pressing ring 63, and the pressing ring clamping unit 62 is used to transfer the pressing ring 63 from the pressing ring feeding unit 61 to the main body 43, and press the pressing ring 63 into the main body 43.

[0070] The ring clamping unit 62 includes a third horizontal driving module 621, a fourth lifting module 622 and a fourth manipulator 623. The third horizontal driving module 621 is mounted on the frame 20, the fourth lifting module 622 is fixedly connected to the transmission shaft of the third horizontal driving module 621, and the output shaft of the fourth lifting module 622 is connected to the fourth manipulator 623.

[0071] The fourth manipulator 623 includes a fourth driving cylinder 6231, a fifth gripper 6232 and a sixth gripper 6233. The fourth driving cylinder 6231 drives the fifth gripper 6232 and the sixth gripper 6233 to move away from each other, so that the arc surfaces of the sides of the fifth gripper 6232 and the sixth gripper 6233 are squeezed and connected with the inner side wall of the pressing ring 63. The fifth gripper 6232 and the sixth gripper 6233 are arranged in the same structure. One end of the fifth gripper 6232 is arranged vertically, and the other end of the fifth gripper 6232 is arranged horizontally. A pressing portion 6234 is protrudingly provided at the end of the horizontal section of the fifth gripper 6232, the upper surface of the pressing portion 6234 is arranged flush with the upper surface of the horizontal section, and the lower surface of the pressing portion 6234 contacts the upper surface of the pressing ring 63, which is used to press the pressing ring 63 into the main body 43. The end surfaces of the horizontal section and the pressing portion 6234 are both configured to be arc-shaped, and the end of the horizontal section is in close contact with the inner wall of the pressing ring 63. The fifth clamping hand 6232 and the sixth clamping hand 6233 clamp and fix the pressing ring 63 through the corresponding horizontal sections.

[0072] The third horizontal driving module 621 drives the fourth lifting module 622 and the fourth manipulator 623 to move to the discharge port position of the conveying unit 61 of the cover body 74, the fourth lifting module 622 drives the fourth manipulator 623 to move downward, and the fourth driving cylinder 6231 drives the fifth gripper 6232 and the sixth gripper 6233 to move away from each other, so that the fifth gripper 6232 and the sixth gripper 6233 fix the pressing ring 63. The fourth lifting module 622 drives the fourth manipulator 623 and the pressing ring 63 to rise, and the third horizontal driving module 621 drives the fourth lifting module 622, the fourth manipulator 623 and the pressing ring 63 to move above the main body 43 on the conveying device 30. The fourth lifting module 622 drives the fourth manipulator 623 and the pressing ring 63 to descend, and the pressing part 6234 presses the pressing ring 63 into the corresponding position and depth, and the fourth driving cylinder 6231 drives the fifth gripper 6232 and the sixth gripper 6233 to move closer to each other, and release the pressing ring 63. The fourth lifting module 622 drives the fourth manipulator 623 to rise, and the third horizontal driving module 621 drives the fourth lifting module 622 and the fourth manipulator 623 to move to the discharge port position of the cover body 74 conveying unit 61 to prepare for the next round of feeding.

[0073] Please refer to Fig.16 In this embodiment, the cover assembly device 70 includes a cover assembly device 71, a cover clamping unit 72 and a cover screwing unit 73. The cover assembly device 71 is used to provide a cover 74, and the cover assembly device 71 includes a cover supply bin 711 and a cover conveying track 712. The covers 74 are sequentially conveyed from the cover supply bin 711 to the discharge port position through the cover conveying track 712. The cover clamping unit 72 is arranged at the discharge port position of the cover conveying track 712, and the cover clamping unit 72 is used to transfer the cover 74 from the cover assembly device 71 to the upper end of the main body 43 and screw the cover 74 so that the cover 74 is threadedly connected to the main body 43.

[0074] In this embodiment, please refer to Fig.17 , Fig.18 The cover body clamping unit 72 includes a horizontal driving module 721, a first lifting module 722, a rotating module 723, a balancing module 124 and a first manipulator 725. The output shaft of the horizontal driving module 721 is connected to the first lifting module 722. The output shaft of the first lifting module 722 is connected to the rotating module 723, and the rotating module 723 is connected to the first manipulator 725. The first manipulator 725 is used to clamp the cover body 74. The horizontal driving module 721 drives the first lifting module 722 and the first manipulator 725 to reciprocate between the main body 43 and the discharge port of the cover body conveying track 712, the first lifting module 722 drives the first manipulator 725 to move up and down, the first manipulator 725 clamps the cover body 74, and the rotating module 723 drives the first manipulator 725 and the cover body 74 to rotate, so that the cover body 74 and the main body 43 are tightened.

[0075] Please refer to Fig.18 , Fig.19 The rotating module 723 includes a support seat 7231, a rotating motor 7232, a transmission wheel 7233, a belt 7234, a rotating rod 7235 and a spring 7236. The support seat 7231 is fixedly connected to the first lifting module 722, and the rotating motor 7232 is fixedly arranged on the support seat 7231. The transmission wheel 7233 is sleeved on the output shaft of the rotating motor 7232, and the transmission wheel 7233 is connected to the upper end of the rotating rod 7235 through the belt 7234. The upper end of the rotating rod 7235 is connected to the bearing of the support seat 7231, and the lower end of the rotating rod 7235 is fixedly connected to the first driving cylinder 7251, which saves costs.

[0076] Please refer to Fig.19 The support seat 7231 includes a support portion a1, a first fixed block a2, a second fixed block a3 and a movable plate a4. The support portion a1 is arranged vertically, one side of the support portion a1 is fixedly connected to the first lifting module 722, and the first fixed block a2 and the second fixed block a3 are both fixedly connected to the other side of the support portion a1. The thickness of one end of the first fixed block a2 connected to the rotating motor 7232 is less than the thickness of the other end of the first fixed block a2, and the other end of the first fixed block a2 is fixedly connected to the support portion a1, which saves costs. The first fixed block a2 is located above the second fixed block a3, the belt 7234 is arranged between the first fixed block a2 and the second fixed block a3, and the rotating motor 7232 is arranged on the first fixed block a2, which has a compact structure and saves space. The area of ​​the second fixed block a3 is smaller than the area of ​​the first fixed block a2, which saves costs.

[0077] One end of the first fixed block a2 is provided with a plurality of mounting slots. The movable plate a4 is provided with a plurality of mounting holes corresponding to the mounting slots. The rotating motor 7232, the movable plate a4 and the first fixed block a2 are screw-connected. The movable plate a4 is used to adjust the position of the rotating motor 7232, improve the compatibility of the equipment, and facilitate the adjustment of the tightness of the belt 7234. The end of the movable plate a4 away from the rotating rod 7235 is provided with a push-pull part a5, which is used to move the movable plate a4 to improve the efficiency of installation.

[0078] The shaft sleeve 7237 is fixedly arranged on the second fixed block a3, and an internal thread is arranged in the shaft sleeve 7237. The upper end of the rotating rod 7235 is provided with an external thread, and the diameter of the internal thread is larger than the diameter of the external thread. The rotating rod 7235 is threadedly connected with the shaft sleeve 7237. There is a tolerance between the internal thread and the external thread. When the cover body 74 is screwed in, the rotating rod 7235 can be slightly offset and rotated. The lower end of the cover body 74 is provided with a chamfer, which can realize automatic guiding position, and can avoid the cover body 74 from slipping or being stuck when being screwed in. The spring 7236 is sleeved on the lower end of the rotating rod 7235, and the spring 7236 is located between the support seat 7231 and the first driving cylinder 7251, which is conducive to protecting the equipment and improving the service life.

[0079] Please refer to Fig.21 The first manipulator 725 includes a first driving cylinder 7251, a first gripper 7252 and a second gripper 7253. The first gripper 7252 and the second gripper 7253 have the same structure. Both ends of the first gripper 7252 away from the first gripper 7252 are provided with arc-shaped contact surfaces 7255 adapted to the inner wall of the cover body 74. At least one anti-slip groove 7254 is provided on the contact surface 7255, and the anti-slip groove 7254 is vertically penetrated to improve the efficiency of twisting.

[0080] A plane is provided between the two contact surfaces 7255, and a screw hole is provided on the plane, through which the first gripper 7252 is screwed to the movable shaft of the first driving cylinder 7251. The first driving cylinder 7251 is used to drive the first gripper 7252 and the second gripper 7253 to move away from or approach each other, so that the first gripper 7252 and the second gripper 7253 clamp the cover body 74.

[0081] Please refer to Fig. 22 The balancing module 124 includes a connecting seat 7241 and a balancing plate 7242. The connecting seat 7241 includes a first connecting section and a second connecting section, one end of the first connecting section is fixedly connected to the first driving cylinder 7251, and the other end of the first connecting section is fixedly connected to one end of the second connecting section. The lower surface of the second connecting section is screwed to the balancing plate 7242, and the balancing plate 7242 is horizontally arranged between the first clamping hand 7252 and the second clamping hand 7253. Both ends of the balancing plate 7242 are provided with an enlarged end, which is arranged in a fan shape to increase the contact surface 7255 area with the cover body 74, thereby ensuring that the upper end surface of the cover body 74 is arranged horizontally. The lower end surfaces of the enlarged ends at both ends of the balancing plate 7242 contact the upper end surface of the cover body 74, which is used to make the end surface of the cover body 74 horizontal when clamping, so as to increase the contact surface 7255 area between the first clamping hand 7252, the second clamping hand 7253 and the cover body 74, and improve the stability of clamping.

[0082] The connecting seat 7241 is set as an L-shaped structure, the width of the upper end of the first connecting section is greater than the width of the lower end of the first connecting section, and the connecting part between the upper and lower ends of the first connecting section is set as an inverted trapezoidal structure to ensure the stability of the connection and save costs.

[0083] Please refer to Fig. 22 , Fig.23 , the cover body screwing unit 73 is arranged on the frame, and the cover body screwing unit 73 and the cover body 74 clamping unit structure are different in the first manipulator, and the other structures are the same. The cover body screwing unit 73 includes a fifth driving cylinder 731 and a fifth manipulator 732, and the two rotating clamps of the fifth manipulator 732 are symmetrically arranged along the central axis of the fifth driving cylinder 731. The upper end of the rotating clamp is connected to the output shaft of the fifth driving cylinder 731, and the lower end of the rotating clamp is provided with a rotating part 7321, and the side curvature of the rotating part 7321 is matched with the side of the cover body 74, and a convex strip 7322 is provided on the inner side wall of the rotating part 7321, and the convex strip 7322 is extruded and connected with the outer peripheral side of the cover body 74, which is used to drive the cover body 74 to rotate. Among them, two convex strips 7322 are provided on the inner side wall of the rotating part 7321, and the two convex strips 7322 are arranged in parallel and side by side, which can save costs.

[0084] In this embodiment, please refer to Fig.24 The assembly detection device 80 includes a support frame 81, a servo motor 82 and a detection head 83. The support frame 81 is mounted on the frame 20, the servo motor 82 is fixedly mounted on the upper end of the support frame 81, and the output shaft of the servo motor 82 is fixedly connected to the detection head 83.

[0085] During detection, the servo motor 82 drives the detection head 83 to move downward until the lower end surface of the detection head 83 is in close contact with the upper end surface of the cover body 74. The control system obtains the downward movement height of the servo motor 82, calculates the error of the pressing depth of the cover body 74, and compares the error with the preset threshold value, so as to determine whether the assembled main body 43 and the cover body 74 meet the accuracy requirements.

[0086] In this embodiment, please refer to Fig.25The unloading device 90 includes an unloading clamping unit 91 and an unloading platform 92. The unloading clamping unit 91 is mounted on the frame 20, and the unloading platform 92 is located on one side of the conveying device 30. The unloading clamping unit 91 clamps and transports the assembled main body 43 and the cover body 74 to the unloading platform. The unloading platform is tilted, and the unloading platform is provided with a good product unloading port 94 and a discarded product unloading port 95. A rotating baffle 93 is provided at the good product unloading port 94 and the discarded product unloading port 95. When the assembled product is qualified, the baffle 93 blocks the feed port position of the discarded product unloading port 95, and the product moves out from the good product unloading port 94. When the assembled product is unqualified, the baffle 93 rotates and blocks the feed port position of the good product unloading port 94, and the product moves out from the discarded product unloading port 95, which significantly improves the work efficiency and saves costs.

[0087] The working principle of the threaded telescopic joint automatic assembly machine 10 is described in detail below.

[0088] The first and second horizontal driving modules 421 simultaneously drive the third lifting module 422, the second manipulator 423 and the main body balancing module 424 to move to the discharge port position of the main body conveying unit 41, and the third lifting module 422 drives the second manipulator 423 and the main body balancing module 424 to move downward until the balancing plate 4242 is in contact with the main body 43, and both ends of the balancing plate 4242 are in contact with the upper end surface of the main body 43. The first driving cylinder 4231 drives the first gripper 4232 and the second gripper 4233 to move away from each other, so that the arc surfaces of the sides of the third gripper 4232 and the fourth gripper 4233 are squeezed and connected with the inner side wall of the main body 43. The third lifting module 422 drives the second manipulator 423, the main body balancing module 424 and the main body 43 to rise, and the second horizontal driving module 421 drives the third lifting module 422, the second manipulator 423, the main body balancing module 424 and the main body 43 to be transported to the top of the support plate 31. The third lifting module 422 drives the second manipulator 423, the main body balancing module 424 and the main body 43 to descend. Under the pressure of the balancing plate 4242, the main body 43 is sleeved on the support plate 31. The first driving cylinder 4231 drives the third gripper 4232 and the fourth gripper 4233 to approach each other and release the main body 43. The third lifting module 422 drives the second manipulator 423 and the main body balancing module 424 to rise. The second horizontal driving module 421 drives the third lifting module 422, the second manipulator 423, and the main body balancing module 424 to return to the discharge port position of the main body conveying unit 41 to start the next round of feeding. The conveying device 30 conveys the main body 43 on the support plate 31 to the installation position corresponding to the sealing ring assembly device.

[0089] Second, the sealing ring feeding unit 51 conveys the sealing ring 56 to the discharge port, the visual sensor 534 detects the front and back sides of the sealing ring 56, and the two third manipulators 553 simultaneously clamp the sealing ring 56 and clamp the sealing ring 56 out of the discharge port under the action of the lifting cylinder. If the sealing ring 56 is on the back side after detection, the rotating cylinder 5541 is started, and the two third manipulators 553 are driven to rotate 180 degrees synchronously through the connecting rod 5542, the belt 5544 and the transmission wheel 5543 to turn the sealing ring 56 to the front side. If the sealing ring 56 is displayed as the front side, the third driving cylinder 552 drives the support 551 to move from the discharge port of the sealing ring feeding unit 51 to the transfer platform 54, and the two third manipulators 553 place the sealing ring 56 on the transfer platform 54.

[0090] Third, the second lifting module 525 drives the first lifting module 524 and the first clamping module 526 to move downward together. The shaping ring 5261 presses down to put the sealing ring 56 on the inner side of the shaping ring 5261. The second lifting module 525 drives the first lifting module 524, the first clamping module 526, and the sealing ring 56 to move upward together, and the horizontal driving module 523 drives the second lifting module 525, the first lifting module 524, the first clamping module 526, and the clamped sealing ring 56 to move to the position of the main body 43. At the same time, the second clamping unit 55 continues to clamp and transport the sealing ring 56 from the sealing ring feeding unit 51 to the transfer platform 54.

[0091] Fourth, the first lifting cylinder in the second lifting module 525 drives the first lifting module 524, the first clamping module 526, and the sealing ring 56 to move downward to the upper end of the main body 43. The lifting motor 5242 drives the pressing block 5262 to press down, pressing the sealing ring 56 into the main body 43. The lifting motor 5242 drives the pressing block 5262 to return to the initial position, and the second lifting module 525 returns the first lifting module 524 and the first clamping module 526 to the initial position, and starts the next round of operation.

[0092] The fifth and third horizontal driving modules 621 drive the fourth lifting module 622 and the fourth manipulator 623 to move to the discharge port position of the conveying unit 61 of the cover body 74, the fourth lifting module 622 drives the fourth manipulator 623 to move downward, and the fourth driving cylinder 6231 drives the fifth gripper 6232 and the sixth gripper 6233 to move away from each other, so that the fifth gripper 6232 and the sixth gripper 6233 fix the pressing ring 63. The fourth lifting module 622 drives the fourth manipulator 623 and the pressing ring 63 to rise, and the third horizontal driving module 621 drives the fourth lifting module 622, the fourth manipulator 623 and the pressing ring 63 to move above the main body 43 on the conveying device 30. The fourth lifting module 622 drives the fourth manipulator 623 and the pressing ring 63 to descend, and the pressing part 6234 presses the pressing ring 63 into the corresponding position and depth, and the fourth driving cylinder 6231 drives the fifth gripper 6232 and the sixth gripper 6233 to move closer to each other, and release the pressing ring 63. The fourth lifting module 622 drives the fourth manipulator 623 to rise, and the third horizontal driving module 621 drives the fourth lifting module 622 and the fourth manipulator 623 to move to the discharge port position of the cover body 74 conveying unit 61 to prepare for the next round of feeding.

[0093] The sixth and third horizontal driving modules 621 drive the fourth lifting module 622 and the fourth manipulator 623 to move to the discharge port position of the cover body 74 conveying unit 61, the fourth lifting module 622 drives the fourth manipulator 623 to move downward, and the fourth driving cylinder 6231 drives the fifth gripper 6232 and the sixth gripper 6233 to move away from each other, so that the fifth gripper 6232 and the sixth gripper 6233 fix the cover body 74. The fourth lifting module 622 drives the fourth manipulator 623 and the cover body 74 to rise, and the third horizontal driving module 621 drives the fourth lifting module 622, the fourth manipulator 623 and the cover body 74 to move above the main body 43 on the conveying device 30. The fourth lifting module 622 drives the fourth manipulator 623 and the cover body 74 to descend, and the pressing part 6234 presses the cover body 74 into the corresponding position and depth, and the fourth driving cylinder 6231 drives the fifth gripper 6232 and the sixth gripper 6233 to move closer to each other, and release the cover body 74. The fourth lifting module 622 drives the fourth manipulator 623 to rise, and the third horizontal driving module 621 drives the fourth lifting module 622 and the fourth manipulator 623 to move to the discharge port position of the cover body 74 conveying unit 61 to prepare for the next round of feeding.

[0094] Seventh, the fifth manipulator 732 of the cover screwing unit 73 clamps the cover 74 and rotates it to screw the cover 74 and the main body 43 together.

[0095] Eighth, the servo motor 82 drives the detection head 83 to move downward until the lower end surface of the detection head 83 is in close contact with the upper end surface of the cover body 74. The control system obtains the downward movement height of the servo motor 82, calculates the error of the pressing depth of the cover body 74, and compares the error with the preset threshold value, so as to determine whether the assembled main body 43 and the cover body 74 meet the accuracy requirements.

[0096] Ninth, when the assembled product is qualified, the baffle 93 blocks the feed port position of the discarded product discharge port 95, and the product is removed from the good product discharge port 94. When the assembled product is unqualified, the baffle 93 rotates and blocks the feed port position of the good product discharge port 94, and the product is removed from the discarded product discharge port 95.

[0097] In this embodiment, the present invention relates to an automatic assembly machine for a threaded telescopic joint, and the present invention relates to an automatic assembly machine for a threaded telescopic joint, which includes a conveying device, a main body assembly device, a sealing ring assembly device, a pressure ring assembly device, and a cover assembly device. The conveying device is used to convey the telescopic joint assembly structure, and a plurality of support plates are arranged on the conveying device, and the support plates are used to place the main body. The main body assembly device is used to place the main body on the support plate, the sealing ring assembly device places the sealing ring in the main body, and the pressure ring assembly device places the pressure ring in the main body installed with the sealing ring and above the sealing ring. The cover assembly device threadably connects the cover body with the main body installed with the pressure ring. The cover assembly device includes a cover feeding unit and a cover clamping unit, and the cover feeding unit is used to provide the cover body. The cover clamping unit includes a rotating module and a first manipulator, and the rotating module is connected to the first manipulator, and the first manipulator is used to clamp the cover body. The first manipulator includes a first driving cylinder, a first clamping hand, and a second clamping hand, and the structures of the first clamping hand and the second clamping hand are arranged in the same manner. Both ends of the first gripper on the side away from the first gripper are provided with arc-shaped contact surfaces adapted to the inner wall of the cover body, a plane is provided between the two contact surfaces, a screw hole is provided on the plane, and the first gripper is screwed to the movable shaft of the first driving cylinder through the screw hole. The first driving cylinder is used to drive the first gripper and the second gripper to move away from or approach each other, so that the first gripper and the second gripper clamp the cover body. The threaded telescopic joint automatic assembly machine clamps the cover body through the first manipulator, and the first manipulator, driven by the rotating module, can also pre-tighten the cover body, so that there is a connecting force between the cover body and the main body, and it will not be misaligned during transportation, which significantly improves the efficiency of assembly and solves the problem of low assembly efficiency in the prior art because the clamping and transportation manipulator places the cover body directly on the main body, which makes it easy for the cover body to be misaligned with the main body during transportation.

[0098] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. An automatic assembly machine for threaded expansion joints, used to assemble a main body, a sealing ring, a pressure ring and a cover body, wherein the main body and the cover body are threadedly connected, characterized in that: include: A conveying device, the conveying device is used to convey the telescopic joint assembly structure, and a plurality of support plates are arranged on the conveying device, and the support plates are used to place the main body; A main body assembly device, the main body assembly device is used to place the main body on the support plate; A sealing ring assembly device, which is used to place the sealing ring in the main body; A pressing ring assembly device, which is used to place the pressing ring in the main body on which the sealing ring is installed and is located above the sealing ring; and A cover assembly device, used to thread the cover and the main body with a pressure ring installed; the cover assembly device includes a cover feeding unit and a cover clamping unit, the cover feeding unit is used to provide the cover; the cover clamping unit includes a rotating module and a first manipulator, the rotating module is connected to the first manipulator, and the first manipulator is used to clamp the cover; Wherein, the first manipulator comprises a first driving cylinder, a first gripper and a second gripper, and the first gripper and the second gripper have the same structure; both ends of the first gripper away from the first gripper are provided with arc-shaped contact surfaces adapted to the inner wall of the cover body, a plane is provided between the two contact surfaces, a screw hole is provided on the plane, and the first gripper is screwed to the movable shaft of the first driving cylinder through the screw hole; the first driving cylinder is used to drive the first gripper and the second gripper to move away from or approach each other, so that the first gripper and the second gripper clamp the cover body; The cover body clamping unit includes a cover body horizontal driving module and a cover body lifting module, the output shaft of the cover body horizontal driving module is connected with the cover body lifting module; the output shaft of the cover body lifting module is connected with the rotating module; the rotating module includes a support seat, a rotating motor, a transmission wheel, a belt and a rotating rod; the support seat is fixedly connected with the cover body lifting module, the rotating motor is fixedly arranged on the support seat, the transmission wheel is sleeved on the output shaft of the rotating motor, and the transmission wheel is connected to the upper end of the rotating rod through the belt; the upper end of the rotating rod is connected to the support seat bearing, and the lower end of the rotating rod is fixedly connected to the first driving cylinder; the rotating module also includes a sleeve, which is fixedly arranged on the support seat; an internal thread is arranged in the sleeve; an external thread is arranged on the upper end of the rotating rod, the diameter of the internal thread is larger than the diameter of the external thread, and the rotating rod is threadedly connected with the sleeve.

2. The threaded expansion joint automatic assembly machine according to claim 1, characterized in that: At least one anti-skid groove is arranged on the contact surface, and the anti-skid groove is arranged vertically through.

3. The threaded expansion joint automatic assembly machine according to claim 1, characterized in that: The support seat includes a support part, a first fixed block and a second fixed block, the support part is vertically arranged, one side of the support part is fixedly connected to the cover body lifting module, and the first fixed block and the second fixed block are both fixedly connected to the other side of the support part; the first fixed block is located above the second fixed block, the belt is arranged between the first fixed block and the second fixed block, the rotating motor is arranged on the first fixed block, the rotating rod is connected to the bearing of the second fixed block, and the area of ​​the second fixed block is smaller than that of the first fixed block.

4. The threaded expansion joint automatic assembly machine according to claim 3, characterized in that: The thickness of one end of the first fixing block connected to the rotating electric machine is smaller than the thickness of the other end of the first fixing block, and the other end of the first fixing block is fixedly connected to the supporting part.

5. The threaded expansion joint automatic assembly machine according to claim 4, characterized in that: A plurality of mounting grooves are provided at one end of the first fixed block, and the support seat also includes a movable plate, and a plurality of mounting holes are provided on the movable plate corresponding to the mounting grooves. The rotating motor and the movable plate are screw-connected with the first fixed block, and the movable plate is used to adjust the position of the rotating motor; a push-pull portion is provided at one end of the movable plate away from the rotating rod, and the push-pull portion is used to move the movable plate.

6. The threaded expansion joint automatic assembly machine according to claim 1, characterized in that: The rotating module is further provided with a spring, the spring is sleeved on the lower end of the rotating rod, and the spring is located between the supporting seat and the first driving cylinder.

7. The threaded expansion joint automatic assembly machine according to claim 1, characterized in that: The cover body clamping unit also includes a balancing module, which includes a connecting seat and a balancing plate, and the connecting seat includes a first connecting section and a second connecting section, one end of the first connecting section is fixedly connected to the first driving cylinder, and the other end of the first connecting section is fixedly connected to one end of the second connecting section; the lower surface of the second connecting section is screwed to the balancing plate, and the balancing plate is horizontally arranged between the first clamp and the second clamp; the lower end surfaces of the two ends of the balancing plate are in contact with the upper end surface of the main body, so as to make the end surface of the main body horizontal when clamping.

8. The threaded expansion joint automatic assembly machine according to claim 1, characterized in that: The sealing ring assembly device includes a first clamping unit, which is used to clamp the sealing ring and transport it to the conveying device and place it in the corresponding main body; the first clamping unit includes a first horizontal driving module, a first lifting module and a first clamping module, and the output shaft of the first horizontal driving module is connected to the first lifting module; the first clamping module includes a shaping ring and a pressing block, the output shaft of the first lifting module is connected to the pressing block, and the shaping ring is fixedly connected to the first lifting module; the pressing block is located at the upper end of the shaping ring, and is used to press the sealing ring clamped in the shaping ring to the corresponding position of the main body; the shaping ring is hollow inside, and the inner diameter of the shaping ring is equal to the outer diameter of the sealing ring or smaller than the set threshold of the outer diameter of the sealing ring.

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