Packing cup assembling equipment and shaping method

Abstract

The invention discloses packing cup assembling equipment and a shaping method.The packing cup assembling equipment comprises a working frame, and a valve block tool, a packing cup feeding device, a direction recognizing and positioning assembly and a packing cup pressing assembly are installed on the working frame. The feeding state of the leather cups is recognized through the direction recognizing and positioning assembly, so that the accuracy during assembly of the leather cups is guaranteed, the leather cup press-fitting assemblies can automatically grab the leather cups and carry out press-fitting of the leather cups on valve blocks, and the two leather cup press-fitting assemblies carry out forward and reverse leather cup assembly correspondingly; after the packing cup is assembled, the packing cup can be directly shaped, the full-automatic assembly process of the packing cup is achieved, the labor cost is reduced, the production efficiency is greatly improved, and the production cost is reduced. Meanwhile, due to the arrangement of the diameters of grabbing sleeves and limiting tables of the two sets of leather cup press-fitting assemblies, it can be guaranteed that the slotting ends of the leather cups are not damaged when the leather cup press-fitting assemblies conduct shaping on the leather cups, and the assembly quality of the leather cups is further improved.

Description

Technical Field

[0001] The present application relates to the technical field of brake booster system assembly, and in particular to a cup assembly device and shaping method. Background Art

[0002] The automobile brake booster system is an important part of the modern automobile brake system. It is mainly set to reduce the force required by the driver when stepping on the brake pedal and improve the efficiency and stability of the brake system. In the current technology, the production of automobile brake booster systems is mainly manual or semi-automatic assembly. With the continuous development and application of intelligent and automated technologies, automated assembly has become a trend in the manufacturing industry with broad prospects and application value. The fully automatic assembly of automobile brake booster systems has also become an effective means for current automobile manufacturers to enhance competitiveness, reduce costs and improve product quality.

[0003] During the assembly of the brake booster system, a leather cup needs to be installed inside the valve hole of the valve block to ensure its sealing performance. Since the leather cup has limited resilience, it needs to be circumferentially shaped after assembly to ensure the installation accuracy of the leather cup. Currently, most of the leather cup shaping methods are to add additional shaping equipment after the leather cup is assembled. At the same time, since the leather cup has different directions during installation, it is difficult to achieve uniform shaping for leather cups in different directions through a single shaping equipment, which greatly prolongs the overall assembly cycle of the leather cup. Summary of the invention

[0004] In view of the deficiencies in the related art, the present application provides a leather cup assembly device and shaping method with high assembly efficiency and guaranteed installation accuracy.

[0005] The present application provides a cup assembly device, comprising: a working frame; a valve block tooling installed on the working frame and configured to position the valve block; a cup feeding device, configured to automatically convey the cup to the orientation recognition station of the orientation recognition and positioning component; the orientation recognition and positioning component is configured to recognize and adjust the front and back sides of the cup output by the cup feeding device; a cup pressing component, capable of grabbing the recognized cup and pressing it into the valve block on the valve block tooling;

[0006] Wherein, the leather cup feeding device, the direction identification and positioning assembly, and the leather cup pressing assembly are respectively provided with two groups on the working frame, and the two groups of leather cup feeding devices, direction identification and positioning assembly, and leather cup pressing assembly are respectively configured to cooperate with the assembly of the positive leather cup with the slotted end facing the side away from the working frame and the reverse leather cup with the closed end facing the side away from the working frame;

[0007] The leather cup press-fitting assembly includes a mechanical arm assembly fixedly arranged on the working frame and a grabbing and pressing assembly coupled to the mechanical arm assembly, the grabbing and pressing assembly includes a grabbing sleeve fixedly connected to the driving assembly of the mechanical arm assembly, a connecting guide rod is passed through and fixedly connected to the grabbing sleeve, the connecting guide rod extends to the side of the grabbing sleeve close to the working frame at one end close to the working frame and is fixedly provided with a limit platform, and a collecting gap is provided between the limit platform and the grabbing sleeve close to the end of the working frame;

[0008] The leather cup press-fitting assembly also includes a collecting mechanism configured to press-fit the leather cup into the grabbing sleeve in an elliptical and inclined manner, a releasing assembly arranged on the grabbing sleeve and configured to push the leather cup in the grabbing sleeve to the collecting gap position, the releasing assembly includes a driven prying rod hingedly arranged in the grabbing sleeve, the driven prying rod extends to a position corresponding to the collecting gap near one end of the working frame and is fixed with a prying head; in a grabbing and pressing assembly configured to assemble a forward leather cup, the outer cylindrical surface of the grabbing sleeve is gap-matched with the inner wall of the valve hole, the diameter of the limit platform matches the inner ring diameter of the leather cup, and the diameter of the grabbing sleeve is larger than the diameter of the limit platform; in a grabbing and pressing assembly configured to assemble a reverse leather cup, the diameter of the grabbing sleeve matches the inner ring diameter of the leather cup, and the diameter of the limit platform is smaller than the diameter of the grabbing sleeve;

[0009] When the leather cup is retracted into the grabbing sleeve, the part of the leather cup close to the working frame corresponds to the position of the driven pry bar. When the driven pry bar swings relative to the grabbing sleeve, the pry head can contact the inner annular surface of the corresponding side of the leather cup to push the corresponding part of the leather cup into the embedding groove.

[0010] Among them, in the grabbing and pressing assembly configured to assemble the forward leather cup, the edge of the end face of the limit platform away from the working frame is provided with a chamfer; in the grabbing and pressing assembly configured to assemble the reverse leather cup, the edge of the end face of the grabbing sleeve close to the working frame is provided with a chamfer.

[0011] The limit platform is provided with a probe groove along the axial direction of the grab sleeve, and the grab sleeve is provided with a guide groove coaxial with the probe groove at one end close to the working frame, and the probe groove and the guide groove are both located on the opposite side of the prying head with respect to the central axis of the grab sleeve;

[0012] Among them, the collecting mechanism includes a top plate that can move axially along the grabbing sleeve and is plugged into the probe groove and the guide groove. When the top plate moves away from the working frame and passes through the probe groove and the guide groove, the leather cup at the collecting gap position can be pushed into the grabbing sleeve in an elliptical shape.

[0013] Wherein, the orientation and positioning assembly includes a telescopic cylinder and a visual sensor fixedly arranged on the working frame, a material discharge platform is fixedly arranged on the telescopic end of the telescopic cylinder, and a receiving groove capable of receiving the output leather cup of the leather cup feeding device is arranged on the material discharge platform; a support is also fixedly arranged on the working frame, and an electric slide which can move toward or away from one side of the material discharge platform is installed on the support, a flip motor is fixedly arranged on the electric slide, and a fork frame is installed on the output end of the flip motor;

[0014] Among them, when the telescopic cylinder is in the retracted state, the accommodating groove on the material discharging table corresponds to the output end position of the leather cup loading device; when the telescopic cylinder is in the extended state, the accommodating groove on the material discharging table corresponds to the position of the flip motor.

[0015] It also includes an oil injection assembly configured to spray oil circumferentially on the rear leather cup after recognition, and a transfer assembly configured to transfer the leather cup between the leather cup press assembly grasping station, the recognition and positioning assembly recognition station, and the oil injection assembly injection station.

[0016] Wherein, the fuel injection assembly comprises a fuel injection bracket fixedly arranged on the working frame, and a fuel injector is fixedly arranged on the fuel injection bracket;

[0017] The fuel injection bracket is provided with an oil receiving tank and a sewage discharge pipeline for discharging the oil in the oil receiving tank at the fuel injection station of the fuel injector.

[0018] Wherein, the transfer assembly comprises a support frame fixedly arranged on the working frame, a transverse sliding rail is fixedly arranged on the support frame, a transfer slide is slidably arranged on the transverse sliding rail, a lifting cylinder is fixedly arranged on the transfer slide, a lifting slide is fixedly arranged on the output end of the lifting cylinder, a steering motor is fixedly arranged on the lifting slide, and an internal support grabbing head is fixedly arranged on the output end of the steering motor;

[0019] Among them, the transfer slide can move along the length direction of the transverse slide rail under the action of an external power device, and the orientation recognition station of the orientation and positioning component and the oil injection station of the oil injection component are both located on the moving track of the inner support grabbing head.

[0020] Wherein, the valve block tooling comprises a transposition guide rail fixedly arranged on the working frame, and an assembly platform is slidably arranged on the transposition guide rail;

[0021] The valve block is installed on an assembly table when assembling the leather cup, and the assembly table can slide between the assembly stations of the two sets of leather cup press assemblies under the action of an external power device.

[0022] The present application also provides a leather cup shaping method, which is applicable to any of the leather cup assembly devices described above, including: identifying the forward and reverse directions of the leather cup before assembling it, so that the orientation of the leather cup matches the target of the leather cup press-fitting assembly at the corresponding position; after the leather cup press-fitting assembly moves the leather cup to the corresponding position of the embedding groove, the driven pry bar swings and pushes the leather cup to partially embed into the embedding groove through the pry head; the grabbing sleeve, the driven pry bar, and the limit table rotate at least 180° about the central axis of the grabbing sleeve; and corresponding shaping actions are performed for leather cups with different orientations;

[0023] Among them, the corresponding shaping actions are performed for the leather cups with different orientations as follows: for the leather cup with the slotted end facing away from the ground, the grabbing sleeve and the limit platform are moved toward the side away from the ground, and the interference shaping of the inner annular surface of the leather cup is achieved through the outer cylindrical surface of the limit platform; for the leather cup with the closed end facing away from the ground, the grabbing sleeve and the limit platform are moved toward the side close to the ground, and the interference shaping of the inner annular surface of the leather cup is achieved through the outer cylindrical surface of the grabbing sleeve.

[0024] The above-mentioned leather cup shaping method also includes: when there are multiple grooves for installing forward leather cups in the valve block, the leather cup press assembly performs the forward leather cup pressing and shaping actions on the multiple grooves in turn from the ground to one side of the leather cup press assembly; when there are multiple grooves for installing reverse leather cups in the valve block, the leather cup press assembly performs the reverse leather cup pressing and shaping actions on the multiple grooves in turn from the leather cup press assembly to one side of the ground.

[0025] This application has at least the following beneficial effects:

[0026] The loading status of the leather cup is identified by the direction recognition and positioning component to ensure the accuracy of the leather cup assembly. The leather cup press-fitting component can automatically grab the leather cup and press-fit the leather cup on the valve block, and the two groups of leather cup press-fitting components respectively perform forward and reverse leather cup assembly. After the leather cup assembly is completed, the leather cup can be directly shaped, realizing a fully automated assembly process for the leather cup, which not only reduces labor costs, but also greatly improves production efficiency. At the same time, the diameter settings of the grabbing sleeves and limit tables of the two groups of leather cup press-fitting components can ensure that the grooved end of the leather cup is not damaged when the leather cup is shaped, further improving the assembly quality of the leather cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of the leather cup assembly device according to an embodiment of the present application;

[0028] Figure 2 This is a schematic diagram of the structure of the leather cup assembly device of the embodiment of the present application without the "leather cup press-fitting assembly";

[0029] Figure 3It is a schematic diagram of the structure enlargement of the "positioning assembly 800" and "oil injection assembly 900" in the leather cup assembly device of the embodiment of the present application;

[0030] Figure 4 It is a schematic diagram of the structure enlargement of the "transfer assembly 700" part of the leather cup assembly device of the embodiment of the present application;

[0031] Figure 5 It is a structural schematic diagram of the "collecting mechanism 500" in the leather cup assembly device of the embodiment of the present application;

[0032] Figure 6 This is a structural schematic diagram of the "collecting mechanism 500" in the leather cup assembly device of the embodiment of the present application;

[0033] Figure 7 It is a structural schematic diagram of the "limiting plate 540" and the "positioning push plate 560" in the leather cup assembly device of the embodiment of the present application;

[0034] Figure 8 It is a structural schematic diagram of the "mechanical arm assembly 610" and "grasping and pressing assembly 620" parts of the leather cup assembly equipment of the embodiment of the present application;

[0035] Fig. 9 It is a partial structural schematic diagram of the "grasping and pressing assembly 620" in the leather cup assembly equipment of the embodiment of the present application;

[0036] Fig.10 It is a partial structural schematic diagram of the "grasping and pressing assembly 620" in the leather cup assembly equipment of the embodiment of the present application;

[0037] Fig.11 It is a partial structural schematic diagram of the "grasping and pressing assembly 620" in the leather cup assembly equipment of the embodiment of the present application;

[0038] Fig.12 This is a partial structural schematic diagram of the "grabbing and pressing assembly 620" in the leather cup assembly device of the embodiment of the present application after the "grabbing sleeve 623" is hidden;

[0039] Fig.13 This is a structural cross-sectional view of the "grasping sleeve 623" part of the leather cup assembly device of the embodiment of the present application;

[0040] Fig.14 This is a structural cross-sectional view of the “valve block 410 ” according to an embodiment of the present application;

[0041] Fig.15 This is a schematic diagram of the structure of the “leather cup 420” according to an embodiment of the present application.

[0042] Reference numerals

[0043] Working frame 100, vibration feeding assembly 200, transposition guide rail 310, assembly table 320, valve block 410, valve hole 411, embedded groove 412, leather cup 420, closed end 421, slotted end 422, collecting mechanism 500, yielding guide rail 510, yielding slide 520, limit cylinder 530, limit plate 540, first plate 541, positioning arc groove 542, positioning inclined surface 543, positioning cylinder 550, positioning push plate 5 60. Second plate 561, guide arc groove 562, guide slope 563, slot 564, positioning platform 570, socket 571, eccentric positioning groove 572, clearance groove 573, lifting cylinder 580, top plate 581, clearance cylinder 590, mechanical arm assembly 610, grabbing and pressing assembly 620, transition bracket 621, connecting tube 622, grabbing sleeve 623, first driving cylinder 624, connecting seat 625, connecting bracket 6 26. Second driving cylinder 627, linkage shaft 628, adapter 629, positioning frame 630, active rod 631, driven lever 632, exploration groove 633, guide groove 634, limit table 637, pry head 638, telescopic shaft 639, synchronous plate 640, stop plate 641, connecting guide rod 642, collection gap 643, travel groove 644, shaping plate 645, fixing block 646, elastic member 647, transfer assembly 700, Support frame -710, transverse slide rail -720, transfer slide -730, lifting cylinder -740, lifting slide -750, steering motor -760, internal support grabbing head -770, direction recognition and positioning component -800, support -810, electric slide -811, flip motor -812, fork frame -813, mounting seat -820, telescopic cylinder -821, unloading table -822, visual sensor -830, injection component -900, injection bracket -910, injector -920. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0045] ,like Figures 1 to 14 As shown, an embodiment of the present application provides a leather cup assembly device, including a working frame 100 and a valve block tooling, a collecting mechanism 500 and a leather cup press-fitting assembly installed on the working frame 100 .

[0046] The leather cup pressing assembly includes a robotic arm assembly 610 fixedly mounted on a working frame 100 and a grabbing and pressing assembly 620 coupled to the robotic arm assembly 610. The robotic arm assembly 610 adopts a dual-arm four-axis robot structure, and the grabbing and pressing assembly 620 is installed at the output end of the robotic arm assembly 610. The robotic arm assembly 610 can drive the grabbing and pressing assembly 620 to move horizontally or vertically, or rotate along its own axis.

[0047] The grabbing and pressing assembly 620 includes a connecting tube 622 fixedly connected to the driving assembly of the robot arm assembly 610, and the connecting tube 622 is fixedly connected to a positioning frame 630 at one end near the working frame 100, and a grabbing sleeve 623 is fixedly provided at one end of the positioning frame 630 near the working frame 100. A stop plate 641 is slidingly provided in the grabbing sleeve 623, and a connecting guide rod 642 passing through the grabbing sleeve 623 is fixed on the positioning frame 630. The connecting guide rod 642 extends from one end near the working frame 100 to the side of the grabbing sleeve 623 near the working frame 100 and is fixedly provided with a limit platform 637, and a collecting gap 643 is provided between the limit platform 637 and the end of the grabbing sleeve 623 near the working frame 100.

[0048] Two shaping plates 645 are also provided in the grabbing sleeve 623 and can elastically slide relative to the abutment plate 641 along the axial direction of the grabbing sleeve 623 . The two shaping plates 645 are symmetrical about the central axis of the grabbing sleeve 623 and are both located on the same diameter extension line of the grabbing sleeve 623 .

[0049] A driven pry bar 632 is also hingedly provided in the grabbing sleeve 623. The driven pry bar 632 extends to the corresponding position of the collecting gap 643 at one end close to the working frame 100 and is fixed with a pry head 638. A guide arc section is provided on the connecting guide rod 642, and the pry head 638 is located at the corresponding position of the guide arc section. The end of the abutment plate 641 close to the working frame 100 and the guide arc section are respectively located on the opposite side of the shaping plate 645. The limit platform 637 is provided with an exploration groove 633 along the axial direction of the grabbing sleeve 623. A guide groove 634 is provided at the end of the grabbing sleeve 623 close to the working frame 100. The exploration groove 633 and the guide groove 634 are coaxial and are both located on the opposite side of the pry head 638 with respect to the shaping plate 645.

[0050] The collecting mechanism 500 includes a positioning platform 570 and a lifting cylinder 580 fixedly connected to the working frame 100. The positioning platform 570 is provided with a socket 571 and an eccentric positioning groove 572 which is connected to the socket 571 and can hold the leather cup 420 on its end face away from the working frame 100. The working frame 100 is fixedly provided with a positioning cylinder 550. The telescopic end of the positioning cylinder 550 is fixedly provided with a positioning push plate 560. The positioning push plate 560 is provided with a guide arc groove 562 on the end close to the positioning platform 570.

[0051] The positioning platform 570 is penetrated by a clearance groove 573, the positioning push plate 560 is penetrated by a slot 564 connected to the guide arc groove 562, and a top plate 581 that can be plugged into the clearance groove 573, the slot 564, the exploration groove 633, and the guide groove 634 is fixed on the telescopic end of the lifting cylinder 580.

[0052] The cup pressing assembly further includes a power actuator assembly fixedly connected to the positioning frame 630, which can drive the abutment plate 641 to slide relative to the grabbing sleeve 623, and can also drive the driven lever 632 to swing relative to the grabbing sleeve 623. When the shaping plate 645 is not subjected to the elastic force to move toward the side close to the working frame 100, the distance between the abutment plate 641 and the working frame 100 is greater than the distance between the shaping plate 645 and the working frame 100.

[0053] The working principle of the leather cup assembly equipment is as follows: initially, the positioning cylinder 550 and the lifting cylinder 580 are in a retracted state, the positioning push plate 560 maintains a distance from the eccentric positioning groove 572, the top plate 581 is located on the side of the positioning platform 570 close to the working frame 100, the shaping plate 645 is not subjected to the elastic force moving toward the side close to the working frame 100, and the end close to the working frame 100 is located on the side of the guide arc away from the working frame 100, and the pry head 638 is located on the side close to the central axis of the grab sleeve 623;

[0054] When positioning the leather cup 420, place the leather cup 420 in the eccentric positioning groove 572. At this time, the leather cup 420 is coaxial with the socket 571 and the outer cylindrical surface close to the positioning push plate 560 abuts against the inner wall of the corresponding side of the eccentric positioning groove 572. The mechanical arm assembly 610 drives the grasping and pressing assembly 620 to move to the corresponding position of the leather cup 420 and the limit platform 637 passes through the leather cup 420 (the socket 571 can provide a space for the limit platform 637). 20 is just located at the collecting gap 643, the grabbing sleeve 623 is coaxial with the leather cup 420, and the abutment plate 641 faces the side of the positioning push plate 560. After the grabbing and pressing assembly 620 is positioned, the positioning cylinder 550 extends to drive the positioning push plate 560 to move closer to the leather cup 420. The positioning push plate 560 contacts the outer surface of the leather cup 420 through the inner wall of the guide arc groove 562, thereby driving the central axis of the leather cup 420 away from the grabbing sleeve 623. The upper plate 581 moves to one side of the central axis. When the inner annular surface of the leather cup 420 contacts the connecting guide rod 642, the lifting cylinder 580 is started and drives the top plate 581 to move away from the working frame 100. The top plate 581 passes through the clearance groove 573, the exploration groove 633, and the slot 564 and contacts the end of the leather cup 420 close to the working frame 100. As the top plate 581 moves through the guide groove 634, the side of the leather cup 420 close to the positioning push plate 560 moves away from the working frame 100. One side of the frame 100 rises and tilts, and at the same time, the leather cup 420 is deformed under the push of the top plate 581, and its radial contraction is elliptical and retracted into the grabbing sleeve 623. The part of the leather cup 420 away from the positioning push plate 560 fits with the guide arc section on the connecting guide rod 642. When the leather cup 420 is completely retracted into the grabbing sleeve 623, the lifting cylinder 580 drives the top plate 581 to reset, and the positioning cylinder 550 drives the positioning push plate 560 to reset;

[0055] During press-fitting, the mechanical arm assembly 610 drives the grabbing and pressing assembly 620 to move to the corresponding position of the valve block tooling, and the grabbing sleeve 623 is coaxial with the valve hole 411 of the valve block 410 on the valve block tooling. When the grabbing sleeve 623 is positioned, the mechanical arm assembly 610 drives the grabbing sleeve 623 to insert into the valve hole 411. When the collecting gap 643 is located at the corresponding position of the embedded groove 412 in the valve hole 411, the power execution assembly drives the driven pry bar 632 to swing relative to the grabbing sleeve 623, and the pry head 638 moves to the side away from the central axis of the grabbing sleeve 623 and contacts the inner annular surface of the corresponding side of the leather cup 420. The leather cup 420 is partially embedded in the embedded groove 412 under the push of the pry head 638. At this time, the power execution assembly further drives the abutment plate 641 to move toward the side close to the working frame 100, and the shaping plate 645 is simultaneously The leather cup 420 moves step by step until it contacts the corresponding side end surface of the leather cup 420. The middle part of the leather cup 420 is separated from the grabbing sleeve 623 under the push of the shaping plate 645. As the push plate 641 moves, the push plate 641 will push the leather cup 420 away from the side part of the connecting guide rod 642. At the same time, the push plate 641 and the shaping plate 645 produce relative movement. The shaping plate 645 is subjected to the elastic force moving toward the side close to the working frame 100. When the push plate 641 moves to be flush with the end of the grabbing sleeve 623 close to the working frame 100, the leather cup 420 is completely pushed out of the grabbing sleeve 623. At this time, the leather cup 420 will be completely embedded in the embedding groove 412 under the action of its own elastic force. After the robot arm assembly 610, the grabbing and pressing assembly 620 and the power execution assembly are reset, the above-mentioned assembly work of the leather cup 420 in the valve block 410 can be repeated.

[0056] In the embodiment of the present application, the above-mentioned leather cup assembly equipment is used, and the eccentric positioning of the leather cup 420 relative to the grasping sleeve 623 is achieved by positioning the push plate 560. At the same time, the deformation of the leather cup 420 and the recovery of the leather cup 420 in the grasping sleeve 623 are achieved by the top plate 581, which greatly improves the grasping efficiency of the leather cup 420. Since the leather cup 420 is in an inclined elliptical shape when retracted, it will not undergo excessive deformation, thereby ensuring its own shape accuracy during the assembly process, thereby improving its assembly accuracy in the valve block 410. On the other hand, the leather cup 420 is gradually pushed out of the grasping sleeve 623 along the long axis direction during the release process, which further improves the assembly reliability of the leather cup 420 and avoids the problem of assembly failure of the leather cup 420.

[0057] like Figure 5 , Figure 6 As shown, the collecting mechanism 500 further includes a limit cylinder 530 fixedly connected to the working frame 100, and a limit plate 540 is fixedly provided on the telescopic end of the limit cylinder 530. The limit plate 540 and the positioning push plate 560 are respectively located on the opposite sides of the eccentric positioning groove 572, and the telescopic ends of the limit cylinder 530 and the positioning cylinder 550 are coaxial, and a positioning arc groove 542 is provided on the end of the limit plate 540 close to the positioning push plate 560.

[0058] It can be understood that when the leather cup 420 is set to be sleeved on the grabbing sleeve 623 before positioning and is transferred by the leather cup pressing assembly, after the leather cup 420 moves to the corresponding position of the eccentric positioning groove 572, the limiting cylinder 530 drives the limiting plate 540 to extend, and the positioning arc groove 542 is matched with the outer cylindrical surface clearance of the grabbing sleeve 623. When the robotic arm assembly 610 drives the grabbing pressing assembly 620 to move away from the working frame 100, the end face of the limiting plate 540 close to the working frame 100 can abut against the corresponding end of the leather cup 420, thereby pulling the leather cup 420 off the grabbing sleeve 623.

[0059] like Figure 7 As shown, the limit plate 540 includes a first plate body 541 fixedly connected to the telescopic end of the limit cylinder 530, a positioning arc groove 542 is arranged at one end of the first plate body 541 close to the positioning push plate 560, and a positioning inclined surface 543 facing the working frame 100 is provided on the inner wall of the positioning arc groove 542 away from the positioning push plate 560.

[0060] The positioning push plate 560 includes a second plate body 561 fixedly connected to the telescopic end of the positioning cylinder 550, a slot 564 is provided through the second plate body 561, a guide arc groove 562 is provided at one end of the second plate body 561 close to the limit plate 540, and a guide slope 563 facing the working frame 100 is provided on the inner wall of the guide arc groove 562 away from the limit plate 540. Among them, the two ends of the guide slope 563 and the positioning slope 543 are respectively retracted to the side close to the central axis of the jack 571, and when the top plate 581 pushes the leather cup 420 to be retracted to the grabbing sleeve 623, the leather cup 420 can be radially contracted and deformed under the guiding action of the guide slope 563 and the positioning slope 543, thereby ensuring the smoothness of the leather cup 420 entering the inside of the grabbing sleeve 623.

[0061] like Figure 5 , Figure 6 As shown, a yielding guide rail 510 is fixedly provided on the working frame 100, and a yielding slide 520 is slidably provided on the yielding guide rail 510. Among them, a limiting cylinder 530, a positioning cylinder 550, a positioning platform 570, and a lifting cylinder 580 are respectively fixedly provided on the yielding slide 520, and a yielding cylinder 590 capable of driving the yielding slide 520 to slide relative to the yielding guide rail 510 is also fixedly provided on the yielding guide rail 510.

[0062] It can be understood that by allowing the cylinder 590 to adjust the relative position of the positioning table 570, the working frame 100, and the robot arm assembly 610, when multiple groups of leather cup press-fitting assemblies are provided on the working frame 100, position interference between the multiple groups of leather cup press-fitting assemblies can be avoided, thereby improving the overall assembly efficiency of the leather cup 420.

[0063] like Figures 8 to 13As shown, the power actuator assembly includes a first driving cylinder 624 and a second driving cylinder 627 fixedly connected to the end of the connecting cylinder 622 away from the working frame 100. A linkage shaft 628 coaxial with the grab sleeve 623 is fixedly connected to the telescopic end of the first driving cylinder 624. A telescopic shaft 639 coaxial with the grab sleeve 623 is fixedly connected to the telescopic end of the second driving cylinder 627. The telescopic shaft 639 is slidably arranged in the linkage shaft 628 and extends to the side of the linkage shaft 628 close to the working frame 100. Among them, the end of the linkage shaft 628 close to the working frame 100 is fixedly connected to the abutment plate 641, and the end of the telescopic shaft 639 close to the working frame 100 is hinged with an active rod 631, and the end of the driven prying rod 632 away from the prying head 638 is hinged to the end of the active rod 631 away from the telescopic shaft 639.

[0064] It can be understood that when the first driving cylinder 624 drives the linkage shaft 628 to extend and retract, it can drive the abutment plate 641 to move axially relative to the grabbing sleeve 623, thereby realizing the release of the inner skin cup 420 of the grabbing sleeve 623; when the second driving cylinder 627 drives the telescopic shaft 639 to extend and retract, the active rod 631 drives the driven pry rod 632 to swing relative to the grabbing sleeve 623, and then the pry head 638 is used to realize the radial push-out of the inner skin cup 420 of the grabbing sleeve 623.

[0065] like Figure 8 , Fig. 9 As shown, a transition bracket 621 is fixedly provided at one end of the connecting cylinder 622 away from the working frame 100, and a second driving cylinder 627 is fixedly provided at one end of the transition bracket 621 away from the working frame 100. A connecting seat 625 is fixedly provided at one end of the second driving cylinder 627 away from the transition bracket 621, and a first driving cylinder 624 is fixedly provided at one end of the connecting seat 625 away from the second driving cylinder 627. Among them, a connecting bracket 626 which is slidably connected to the connecting seat 625 and the transition bracket 621 is fixedly provided at the telescopic end of the first driving cylinder 624, and a linkage shaft 628 is fixedly provided on the connecting bracket 626.

[0066] like Figure 8 , Fig.10 , Fig.11 As shown, an adapter 629 is fixedly provided at one end of the connecting tube 622 close to the working frame 100 , and a positioning frame 630 is fixedly arranged at one end of the adapter 629 close to the working frame 100 .

[0067] like Figure 8 , Fig.11 , Fig.12 As shown, a synchronous plate 640 is fixedly provided at one end of the linkage shaft 628 close to the working frame 100 , and a stop plate 641 is fixedly provided on the synchronous plate 640 .

[0068] like Fig.13As shown, two travel grooves 644 extending along the axial direction of the grabbing sleeve 623 are formed through the abutment plate 641 , and the two travel grooves 644 are symmetrical about the central axis of the grabbing sleeve 623 .

[0069] The shaping plate 645 is provided with a sliding protrusion, and the sliding protrusions of the two shaping plates 645 are respectively slidably connected to the travel grooves 644 at corresponding positions.

[0070] like Fig.13 As shown, two fixing blocks 646 symmetrical about the central axis of the grab sleeve 623 are fixed on the abutment plate 641, and the two fixing blocks 646 correspond to the positions of the two shaping plates 645. Among them, an elastic member 647 is fixed between the shaping plate 645 and the fixing blocks 646 at the corresponding positions.

[0071] It is understandable that when the shaping plate 645 and the abutment plate 641 move relative to each other axially about the grab sleeve 623, the elastic member 647 can accumulate elastic potential energy, which can ensure the reliability of the force exerted by the shaping plate 645 on the leather cup 420 on one hand, and realize the automatic resetting of the shaping plate 645 on the other hand.

[0072] The elastic member 647 can be set as an elastic element such as a spring, a retaining spring or an elastic rubber, as long as it can realize the elastic sliding of the shaping plate 645 relative to the abutment plate 641, which will not be elaborated here.

[0073] like Figure 1 , Figure 2 As shown, the valve block tooling includes a transposition guide rail 310 fixedly arranged on the working frame 100 , and an assembly platform 320 is slidably arranged on the transposition guide rail 310 .

[0074] The embodiment of the present application provides a leather cup assembly method, which is applicable to the leather cup assembly device in the above-mentioned embodiment 1, including: step S1, initially positioning the leather cup 420 so that the grabbing sleeve 623 is coaxial with the leather cup 420; step S2, applying a radial force to the outer cylindrical surface of the leather cup 420 in a first direction so that the leather cup 420 is eccentric with the grabbing sleeve 623 until the outer cylindrical surface of the corresponding side of the leather cup 420 is tangent to the inner cavity wall of the grabbing sleeve 623; step S3, applying an axial force to a predetermined position of the end surface of the leather cup 420 away from the grabbing sleeve 623 so that the leather cup 420 is elliptical and retracted to the grabbing sleeve 623. Sleeve 623; Step S4, insert the grab sleeve 623 into the valve hole 411 of the valve block 410 until the collecting gap 643 is located at the corresponding position of the embedding groove 412; Step S5, apply radial force on the inner annular surface of the leather cup 420 in the second direction, so that the central axis of the leather cup 420 moves toward the side close to the central axis of the grab sleeve 623; Step S6, apply axial force in sequence at the middle position of the end surface of the leather cup 420 close to the grab sleeve 623 and the predetermined position, so that the leather cup 420 is completely separated from the grab sleeve 623 and embedded in the valve hole 411 under the action of its own elastic force. Among them, the predetermined position is specifically the tangent position between the outer circumferential surface of the leather cup 420 and the inner cavity wall of the grab sleeve 623, and the first direction and the second direction are specifically opposite directions along the radial direction of the leather cup 420.

[0075] In step S3, after applying an axial force to a predetermined position of the end face of the leather cup 420 away from the grabbing sleeve 623, it also includes: applying a guiding force to the end face of the leather cup 420 close to the grabbing sleeve 623, so that the outer cylindrical surfaces of the leather cup 420 on both sides symmetrical about the first direction and the second direction shrink and deform in the radial direction.

[0076] like Figures 1 to 15 As shown, an embodiment of the present application provides a leather cup assembly device, including a working frame 100, on which a valve block tooling, a leather cup feeding device, an orientation and positioning assembly 800 and a leather cup press-fitting assembly are installed.

[0077] The orientation and positioning assembly 800 is configured to perform front and back orientation and adjustment on the leather cup 420 output by the leather cup feeding device, and the leather cup pressing assembly can grab the oriented leather cup 420 and press-fit it into the valve block 410 on the valve block tooling.

[0078] The leather cup loading device, the direction positioning assembly 800, and the leather cup pressing assembly are respectively provided with two groups on the working frame 100, one group of the leather cup loading device, the direction positioning assembly 800, and the leather cup pressing assembly are positioned correspondingly and are configured to cooperate with the assembly of the forward leather cup 420, and the other group of the leather cup loading device, the direction positioning assembly 800, and the leather cup pressing assembly are positioned correspondingly and are configured to cooperate with the assembly of the reverse leather cup 420.

[0079] The leather cup pressing assembly includes a robotic arm assembly 610 fixedly mounted on a working frame 100 and a grabbing and pressing assembly 620 coupled to the robotic arm assembly 610. The robotic arm assembly 610 adopts a dual-arm four-axis robot structure, and the grabbing and pressing assembly 620 is installed at the output end of the robotic arm assembly 610. The robotic arm assembly 610 can drive the grabbing and pressing assembly 620 to move horizontally or vertically, or rotate along its own axis.

[0080] The grabbing and pressing assembly 620 includes a grabbing sleeve 623 fixedly connected to the driving assembly of the robot arm assembly 610, and a connecting guide rod 642 is inserted through and fixedly connected to the grabbing sleeve 623. The connecting guide rod 642 extends to the side of the grabbing sleeve 623 close to the working frame 100 and is fixedly provided with a limit platform 637. A collecting gap 643 is provided between the limit platform 637 and the end of the grabbing sleeve 623 close to the working frame 100.

[0081] The leather cup pressing assembly also includes a collecting mechanism 500 configured to press the leather cup 420 into the grabbing sleeve 623 in an elliptical and inclined manner, and a releasing assembly disposed on the grabbing sleeve 623 and configured to push the leather cup 420 in the grabbing sleeve 623 to the position of the collecting gap 643, the releasing assembly includes a driven pry bar 632 hingedly disposed in the grabbing sleeve 623, the driven pry bar 632 extends from one end close to the working frame 100 to the corresponding position of the collecting gap 643 and is fixed with a pry head 638.

[0082] Among them, the positive leather cup 420 is specifically a leather cup 420 with a slotted end 422 facing the side away from the working frame 100, and is configured to be assembled in a grabbing and pressing assembly 620 for assembling the positive leather cup 420. The outer cylindrical surface of the grabbing sleeve 623 is gap-matched with the inner wall of the valve hole 411, the diameter of the limit platform 637 matches the inner ring diameter of the leather cup 420, and the diameter of the grabbing sleeve 623 is larger than the diameter of the limit platform 637; the reverse leather cup 420 is specifically a leather cup 420 with a closed end 421 facing the side away from the working frame 100, and is configured to be assembled in a grabbing and pressing assembly 620 for assembling the reverse leather cup 420. The diameter of the grabbing sleeve 623 matches the inner ring diameter of the leather cup 420, and the diameter of the limit platform 637 is smaller than the diameter of the grabbing sleeve 623.

[0083] When the leather cup 420 is retracted into the grabbing sleeve 623, the portion of the leather cup 420 inclined relative to the horizontal plane close to the working frame 100 corresponds to the position of the driven pry bar 632. When the driven pry bar 632 swings relative to the grabbing sleeve 623, it can contact the inner annular surface of the corresponding side of the leather cup 420 through the pry head 638 to push the corresponding portion of the leather cup 420 into the embedding groove 412.

[0084] It is understandable that if Fig.15As shown, on the end faces of both sides of the leather cup 420, one end face is set as a plane and serves as a closed end 421, and the other end face is set with an open groove and serves as a slotted end 422. When the leather cup press-fitting assembly shapes the leather cup 420, due to the positive and negative settings of the leather cup 420 and the valve block 410, in order to avoid the shaping piece from cutting the leather cup 420 when shaping the leather cup 420, it is necessary to perform a shaping action along the closed end 421 side of the leather cup 420 toward the slotted end 422 side.

[0085] It is understandable that since the front and back sides of the leather cup 420 need to be distinguished during the assembly process of the valve block 410, the front and back sides of the leather cup 420 need to be controlled after being output by the leather cup feeding device. Specifically, the orientation and positioning component 800 can identify the front and back sides of the leather cup 420 at the identification station. When it is identified that the leather cup 420 is facing the wrong direction, the leather cup 420 will be flipped. When it is identified that the leather cup 420 is facing the correct direction, the leather cup 420 will be directly assembled in the valve block 410.

[0086] During positioning, the cup feeding device outputs the cup 420 to the orientation recognition station of the orientation recognition and positioning assembly 800. After the orientation recognition and positioning assembly 800 adjusts the cup 420 in the forward and reverse directions, the cup pressing assembly collects the cup 420 into the grabbing sleeve 623 through the collecting mechanism 500.

[0087] During press-fitting, the mechanical arm assembly 610 drives the grabbing and pressing assembly 620 to move to the corresponding position of the valve block tooling, and the grabbing sleeve 623 is coaxial with the valve hole 411 of the valve block 410 on the valve block tooling. When the grabbing sleeve 623 is positioned, the mechanical arm assembly 610 drives the grabbing sleeve 623 to insert into the valve hole 411. When the collecting gap 643 is located at the corresponding position of the embedded groove 412 in the valve hole 411, the driven pry bar 632 swings relative to the grabbing sleeve 623 and pushes the leather cup 420 to be partially embedded in the embedded groove 412 through the pry head 638;

[0088] During shaping, for the positive leather cup 420, the grabbing and pressing assembly 620 is moved to the side away from the working frame 100, and the interference shaping of the inner annular surface of the leather cup 420 is achieved through the outer cylindrical surface of the limit platform 637; for the reverse leather cup 420, the grabbing and pressing assembly 620 is moved to the side close to the working frame 100, and the interference shaping of the inner annular surface of the leather cup 420 is achieved through the outer cylindrical surface of the grabbing sleeve 623.

[0089] In the embodiment of the present application, the above-mentioned leather cup assembly equipment is used, and the loading status of the leather cup 420 is identified by the direction and positioning component 800, so as to ensure the accuracy of the leather cup 420 during assembly. The leather cup press-fitting component can automatically grab the leather cup 420 and perform the press-fitting of the leather cup 420 on the valve block 410, and the two groups of leather cup press-fitting components respectively perform forward and reverse leather cup 420 assembly. After the leather cup 420 is assembled, the leather cup 420 can be directly shaped, realizing a fully automated assembly process of the leather cup 420, which not only reduces labor costs, but also greatly improves production efficiency. At the same time, the diameter settings of the grabbing sleeve 623 and the limit platform 637 of the two groups of leather cup press-fitting components can ensure that they do not cause damage to the slotted end 422 of the leather cup 420 when performing the shaping of the leather cup 420, thereby further improving the assembly quality of the leather cup 420.

[0090] like Figures 8 to 13 As shown, in the grabbing and pressing assembly 620 configured to assemble the forward leather cup 420, the edge of the end surface of the limiting platform 637 away from the working frame 100 is provided with a chamfer;

[0091] In the grabbing and pressing assembly 620 configured to assemble the reverse leather cup 420 , the edge of the end surface of the grabbing sleeve 623 close to one side of the working frame 100 is provided with a chamfer.

[0092] It is understandable that the chamfers provided on the grabbing sleeve 623 and the limiting platform 637 can guide the leather cup 420 during shaping, thereby ensuring the assembly accuracy of the leather cup 420 .

[0093] like Figures 8 to 13 As shown, the limit platform 637 is provided with a probe groove 633 axially extending through the grab sleeve 623, and the grab sleeve 623 is provided with a guide groove 634 coaxial with the probe groove 633 at one end close to the working frame 100. The probe groove 633 and the guide groove 634 are both located on the opposite side of the pry head 638 with respect to the central axis of the grab sleeve 623.

[0094] Among them, the collecting mechanism 500 includes a top plate 581 that can move axially along the grabbing sleeve 623 and is plugged into the exploration groove 633 and the guide groove 634. When the top plate 581 moves toward the side away from the working frame 100 and passes through the exploration groove 633 and the guide groove 634, the leather cup 420 at the collecting gap 643 can be pushed into the grabbing sleeve 623 in an elliptical shape.

[0095] like Figure 1 , Figure 2 As shown, the leather cup feeding device is specifically configured as a vibration feeding assembly 200 fixedly arranged on the working frame 100 , and the discharge end of the vibration feeding assembly 200 extends to the orientation recognition station of the orientation and positioning assembly 800 .

[0096] It is understandable that the leather cup 420 can be transferred to the orientation recognition station of the orientation recognition and positioning component 800 by vibrating the loading component 200, and the orientation recognition and positioning component 800 can realize the positive and negative orientation recognition of the leather cup 420 output by the leather cup loading device.

[0097] It can be understood that the leather cup feeding device is mainly configured to transfer the leather cup 420 to the identification station of the identification and positioning component 800, and its structural form is not limited to the above-mentioned one. For example, turntable feeding, belt feeding, robot feeding and the like can also be adopted. As long as the feeding action of the leather cup 420 can be realized, no specific limitation is made here.

[0098] like Figure 1 , Figure 2 As shown, it also includes an oil injection assembly 900 configured to spray oil circumferentially on the rear leather cup 420 and a transfer assembly 700 configured to transfer the leather cup 420 between the leather cup press assembly grasping station, the orientation positioning assembly 800 orientation station, and the oil injection assembly 900 injection station.

[0099] It is understandable that the reason why oil is sprayed on the circumference of the leather cup 420 through the oil injection assembly 900 is that in the process of the leather cup pressing assembly driving the leather cup 420 to be pressed into the groove 412, the outer circumferential surface of the leather cup 420 will come into contact with the inner wall of the valve hole 411, and the position of the leather cup 420 may be affected by the friction force. By spraying oil on the circumferential surface of the leather cup 420, the friction between it and the inner wall of the valve hole 411 can be reduced, thereby reducing the influence of friction on the installation accuracy of the leather cup 420.

[0100] like Figures 1 to 3 As shown, the orientation and positioning assembly 800 includes a mounting base 820 fixedly set on the working frame 100, on which a telescopic cylinder 821 and a visual sensor 830 are fixedly installed, and a discharge table 822 is fixedly provided on the telescopic end of the telescopic cylinder 821, and the discharge table 822 is provided with a receiving groove capable of accommodating the output leather cup 420 of the leather cup feeding device.

[0101] The orientation and positioning assembly 800 also includes a support 810 fixedly mounted on the working frame 100, on which is mounted an electric slide 811 capable of moving toward or away from one side of the unloading platform 822, on which is fixedly mounted a flip motor 812, on which is mounted a fork frame 813 at the output end.

[0102] Among them, when the telescopic cylinder 821 is in the retracted state, the receiving groove on the discharge table 822 corresponds to the output end position of the leather cup loading device, that is, the leather cup 420 output by the leather cup loading device can directly fall into the receiving groove on the discharge table 822; when the telescopic cylinder 821 is in the extended state, the receiving groove on the discharge table 822 corresponds to the position of the flip motor 812.

[0103] Specifically, in the initial state, the telescopic cylinder 821 is in a retracted state, and the electric slide 811 is located at one end of the sliding stroke away from the discharge platform 822. When the leather cup 420 output by the leather cup feeding device falls into the receiving groove on the discharge platform 822, the visual sensor 830 can perform positive and negative visual inspection on the leather cup 420 in the receiving groove of the discharge platform 822. If the orientation of the leather cup 420 is correct, the leather cup 420 is directly transferred to the injection station of the injection assembly 900 through the transfer assembly 700. If the orientation of the leather cup 420 is wrong, the telescopic cylinder 821 is extended. When the telescopic cylinder 821 is fully extended, the electric slide 811 drives the flip motor 812 and the fork 811 to rotate. The frame 813 moves toward the side close to the unloading platform 822, the fork frame 813 clamps the leather cup 420 in the receiving groove of the unloading platform 822, and the electric slide 811 moves away from the unloading platform 822 to leave adjustment space for the fork frame 813. The fork frame 813 flips the leather cup 420 180° under the drive of the flipping motor 812. After the leather cup 420 flips, the electric slide 811 moves toward the side close to the unloading platform 822 and the fork frame 813 places the leather cup 420 back in the receiving groove on the unloading platform 822. The telescopic cylinder 821 and the electric slide 811 are reset, and then the leather cup 420 is transferred to the injection station of the injection assembly 900 through the transfer assembly 700.

[0104] It is understandable that the structural form of the orientation and positioning component 800 is not limited to the above-mentioned one. For example, a clamping and flipping mechanism can be directly set at the alignment position of the receiving groove on the discharge table 822. On the other hand, the orientation and positioning component 800 can also be integrated on the leather cup feeding device to directly realize the front and back orientation recognition during the feeding process of the leather cup 420.

[0105] It is understandable that the orientation and positioning component 800 is mainly configured to identify and adjust the forward and reverse directions of the leather cup 420. However, based on the structural form of the leather cup loading device, when the leather cup loading device adopts semi-automatic loading, that is, the orientation of the leather cup is manually adjusted in advance, the orientation and positioning component 800 can be discarded accordingly.

[0106] like Figures 1 to 3 As shown, the oil injection assembly 900 includes an oil injection bracket 910 fixedly disposed on the working frame 100 , and an oil injector 920 is fixedly disposed on the oil injection bracket 910 .

[0107] It is understandable that the fuel injection bracket 910 is provided with an oil receiving tank and a drain pipe for discharging the oil in the oil receiving tank at the fuel injection station of the fuel injector 920.

[0108] like Figure 1 , Figure 2 , Figure 4As shown, the transfer assembly 700 includes a support frame 710 fixedly arranged on the working frame 100, a transverse slide rail 720 is fixedly provided on the support frame 710, a transfer slide 730 is slidably provided on the transverse slide rail 720, a lifting cylinder 740 is fixedly provided on the transfer slide 730, a lifting slide 750 is fixedly provided on the output end of the lifting cylinder 740, a steering motor 760 is fixedly provided on the lifting slide 750, and an internal support grabbing head 770 is fixedly provided on the output end of the steering motor 760.

[0109] It is understandable that the transfer slide 730 can move along the length direction of the transverse slide rail 720 under the action of an external power device, thereby driving the steering motor 760 and the internal support grabbing head 770 to move synchronously.

[0110] Among them, the recognition station of the recognition and positioning component 800 and the injection station of the injection component 900 are both located on the moving track of the inner support grabbing head 770. When the recognition and positioning component 800 has completed the recognition of the leather cup 420, the transfer slide 730 moves along the transverse slide rail 720 to the recognition station of the recognition and positioning component 800, the lifting cylinder 740 extends out and grabs the leather cup 420 at the recognition station through the inner support grabbing head 770, and then the lifting cylinder 740 retracts and resets, and the transfer slide 730 moves along the transverse slide rail 720 to the injection station of the injection component 900. At this point, the lifting cylinder 740 extends out again to the position of the leather cup 420 corresponding to the position of the injector 920. At this time, the injector 920 is started, and the steering motor 760 drives the inner support grabbing head 770 to rotate to realize oil spraying on the circumference of the leather cup 420. When the leather cup 420 is sprayed with oil, the transfer slide 730 moves along the transverse slide rail 720 to the grabbing station of the leather cup pressing assembly and drives the inner support grabbing head 770 to place the leather cup 420 at the grabbing station of the leather cup pressing assembly through the lifting cylinder 740. Finally, all components of the transfer assembly 700 are reset to execute the next working cycle.

[0111] It can be understood that the process station setting form of the orientation and positioning component 800 and the injection component 900 is not limited to the above-mentioned one. Based on the overall layout of the assembly device, the orientation, injection and assembly grasping of the leather cup 420 can be set to a nonlinear distribution, thereby improving the compactness of the device. At this time, the transfer component 700 needs to increase the horizontal movement freedom of the internal support grasping head 770, so as to ensure that the internal support grasping head 770 can realize the transfer of the leather cup 420 between multiple stations. It can be specifically set to replace the transmission form between the transverse slide rail 720 and the transfer slide 730 with an X, Y dual-axis slide on the horizontal plane. Through the drive in two directions on the horizontal plane, the flexible transfer of the coordinates of the internal support grasping head 770 on the horizontal plane can be realized, thereby improving the overall adaptability of the device.

[0112] like Figure 1 , Figure 2As shown, the valve block tooling includes a transposition guide rail 310 fixedly arranged on the working frame 100, and an assembly platform 320 is slidably arranged on the transposition guide rail 310. The valve block 410 is installed on the assembly platform 320 when assembling the leather cup 420, and the assembly platform 320 can slide between the assembly stations of the two sets of leather cup press-fitting assemblies under the action of an external power device.

[0113] It can be understood that after one group of leather cup press-fitting assemblies presses the valve block 410 at the assembly station with the forward leather cup 420, the assembly station 320 at this position is transferred to the assembly station of another group of leather cup press-fitting assemblies, and press-fits the reverse leather cup 420; or, after one group of leather cup press-fitting assemblies presses the valve block 410 at the assembly station with the reverse leather cup 420, the assembly station 320 at this position is transferred to the assembly station of another group of leather cup press-fitting assemblies, and press-fits the forward leather cup 420.

[0114] The embodiment of the present application provides a leather cup shaping method, which is applicable to the leather cup assembly equipment in the above-mentioned embodiment 3, including: step S1, before assembling the leather cup 420, it is identified in the forward and reverse directions, so that the orientation of the leather cup 420 matches the target of the leather cup press-fitting assembly at the corresponding position; step S2, performing corresponding shaping actions on the leather cups 420 with different orientations; wherein, in step S2, specifically: for the leather cup 420 with the slotted end 422 facing the side away from the ground, the grabbing sleeve 623 and the limit platform 637 are moved toward the side away from the ground, and the interference shaping of the inner annular surface of the leather cup 420 is achieved through the outer cylindrical surface of the limit platform 637; for the leather cup 420 with the closed end 421 facing the side away from the ground, the grabbing sleeve 623 and the limit platform 637 are moved toward the side close to the ground, and the interference shaping of the inner annular surface of the leather cup 420 is achieved through the outer cylindrical surface of the grabbing sleeve 623.

[0115] Step S2 also includes: when there are multiple embedded grooves 412 in the valve block 410 for installing the forward leather cup 420, the leather cup press-fitting assembly performs the press-fitting and shaping actions of the forward leather cup 420 on the multiple embedded grooves 412 in turn from the ground to one side of the leather cup press-fitting assembly; when there are multiple embedded grooves 412 in the valve block 410 for installing the reverse leather cup 420, in the direction from the leather cup press-fitting assembly to one side of the ground, the leather cup press-fitting assembly performs the press-fitting and shaping actions of the reverse leather cup 420 on the multiple embedded grooves 412 in turn.

[0116] Step S2 also includes: for the leather cup 420 with the closed end 421 facing away from the ground, the grabbing sleeve 623 and the limiting platform 637 move back and forth twice along the axial direction of the leather cup 420, and the outer cylindrical surface of the grabbing sleeve 623 implements two interference shapings on the inner annular surface of the leather cup 420.

[0117] Before step S2, it also includes: after the leather cup press-fitting assembly moves the leather cup 420 to the corresponding position of the embedding groove 412, the driven pry bar 632 swings and pushes the leather cup 420 to partially embed into the embedding groove 412 through the pry head 638; the grabbing sleeve 623, the driven pry bar 632, and the limit platform 637 rotate at least 180° about the central axis of the grabbing sleeve 623.

[0118] It is understandable that the reason for rotating the grabbing sleeve 623, the driven pry bar 632 and the limiting platform 637 is that, on the one hand, the pry head 638 is used to press the inner annular surface of the leather cup 420 in the circumferential direction, so that the leather cup 420 is further embedded in the embedding groove 412; on the other hand, since the grabbing sleeve 623 and the limiting platform 637 are provided with the exploration groove 633 and the guide groove 634, and the leather cup 420 is only applied with a unidirectional force by the pry head 638 during the initial press-fitting, if the leather cup press-fitting assembly is directly performed When the leather cup 420 is reshaped and the leather cup press-fitting assembly is separated from the valve block 410, the leather cup 420 may be deformed and brought out by the leather cup press-fitting assembly through the probe groove 633 and the guide groove 634, resulting in assembly failure. At this time, the staff also needs to handle it manually, which greatly affects the assembly efficiency of the leather cup 420. When the grabbing sleeve 623, the driven pry bar 632, and the limit platform 637 are rotated more than 180°, the positions of the probe groove 633 and the guide groove 634 are also adjusted synchronously to avoid the above-mentioned problems.

[0119] After step S2, the following steps are also included: the driven pry bar 632 and the pry head 638 rotate and reset, and the leather cup press-fitting assembly performs the leather cup 420 press-fitting and shaping cycle of the next station.

[0120] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A cup assembly device, wherein: include: Working framework; A valve block tooling, mounted on the working frame, configured to position the valve block; A cup feeding device is configured to automatically convey the cup to the orientation recognition station of the orientation recognition and positioning assembly; The orientation and positioning assembly is configured to identify and adjust the front and back sides of the leather cup output by the leather cup feeding device; The cup press-fit assembly can grab the cup after it is turned and press it into the valve block on the valve block tooling; Wherein, the leather cup feeding device, the direction identification and positioning assembly, and the leather cup pressing assembly are respectively provided with two groups on the working frame, and the two groups of leather cup feeding devices, direction identification and positioning assembly, and leather cup pressing assembly are respectively configured to cooperate with the assembly of the positive leather cup with the slotted end facing the side away from the working frame and the reverse leather cup with the closed end facing the side away from the working frame; The leather cup press-fitting assembly includes a mechanical arm assembly fixedly arranged on the working frame and a grabbing and pressing assembly coupled to the mechanical arm assembly, the grabbing and pressing assembly includes a grabbing sleeve fixedly connected to the driving assembly of the mechanical arm assembly, a connecting guide rod is passed through and fixedly connected to the grabbing sleeve, the connecting guide rod extends to the side of the grabbing sleeve close to the working frame at one end close to the working frame and is fixedly provided with a limit platform, and a collecting gap is provided between the limit platform and the grabbing sleeve close to the end of the working frame; The leather cup press-fitting assembly also includes a collecting mechanism configured to press-fit the leather cup into the grabbing sleeve in an elliptical shape and an inclined manner, and a releasing assembly arranged on the grabbing sleeve and configured to push the leather cup in the grabbing sleeve to the collecting gap position, and the releasing assembly includes a driven prying rod hingedly arranged in the grabbing sleeve, and the driven prying rod extends to a position corresponding to the collecting gap near one end of the working frame and is fixed with a prying head; In a grabbing and pressing assembly configured to assemble a forward leather cup, the outer circumferential surface of the grabbing sleeve is clearance-matched with the inner wall of the valve hole, the diameter of the limiting platform matches the inner ring diameter of the leather cup, and the diameter of the grabbing sleeve is larger than the diameter of the limiting platform; In a gripping and pressing assembly configured to assemble a reverse leather cup, the diameter of the gripping sleeve matches the inner ring diameter of the leather cup, and the diameter of the stopper is smaller than the diameter of the gripping sleeve; When the leather cup is retracted into the grabbing sleeve, the part of the leather cup close to the working frame corresponds to the position of the driven pry bar. When the driven pry bar swings relative to the grabbing sleeve, the pry head can contact the inner annular surface of the corresponding side of the leather cup to push the corresponding part of the leather cup into the embedding groove.

2. The cup assembly device according to claim 1, wherein: In a grabbing and pressing assembly configured to assemble a forward leather cup, the edge of the end surface of the limit platform away from the working frame is chamfered; In a grabbing and pressing assembly configured to assemble a reverse leather cup, a chamfer is provided on the edge of the end surface of the grabbing sleeve close to one side of the working frame.

3. The cup assembly device according to claim 1, wherein: The limit platform is provided with a probe groove along the axial direction of the grab sleeve, and the grab sleeve is provided with a guide groove coaxial with the probe groove at one end close to the working frame, and the probe groove and the guide groove are both located on the opposite side of the prying head with respect to the central axis of the grab sleeve; Among them, the collecting mechanism includes a top plate that can move axially along the grabbing sleeve and is plugged into the probe groove and the guide groove. When the top plate moves away from the working frame and passes through the probe groove and the guide groove, the leather cup at the collecting gap position can be pushed into the grabbing sleeve in an elliptical shape.

4. The cup assembly device according to claim 1, wherein: The orientation and positioning assembly includes a telescopic cylinder and a visual sensor fixedly arranged on the working frame, a material placing table is fixedly arranged on the telescopic end of the telescopic cylinder, and a receiving groove capable of accommodating the output leather cup of the leather cup feeding device is arranged on the material placing table; The working frame is also fixed with a support, on which an electric slide that can move toward or away from one side of the unloading platform is installed, and a flip motor is fixed on the electric slide, and a fork frame is installed on the output end of the flip motor; Wherein, when the telescopic cylinder is in the retracted state, the accommodating groove on the material discharging table corresponds to the output end position of the leather cup feeding device; When the telescopic cylinder is in an extended state, the accommodating groove on the unloading table corresponds to the position of the flip motor.

5. The cup assembly device according to claim 1, wherein: It also includes an oil injection assembly configured to spray oil circumferentially on the rear leather cup after the recognition, and a transfer assembly configured to transfer the travel of the leather cup between the leather cup press assembly grasping station, the recognition and positioning assembly recognition station, and the oil injection assembly injection station.

6. The cup assembly device according to claim 5, wherein: The fuel injection assembly comprises a fuel injection bracket fixedly arranged on the working frame, and a fuel injector is fixedly arranged on the fuel injection bracket; The fuel injection bracket is provided with an oil receiving tank and a sewage discharge pipeline for discharging the oil in the oil receiving tank at the fuel injection station of the fuel injector.

7. The cup assembly device according to claim 5 or 6, wherein: The transfer assembly includes a support frame fixedly arranged on the working frame, a transverse sliding rail is fixedly arranged on the support frame, a transfer slide is slidably arranged on the transverse sliding rail, a lifting cylinder is fixedly arranged on the transfer slide, a lifting slide is fixedly arranged on the output end of the lifting cylinder, a steering motor is fixedly arranged on the lifting slide, and an internal support grabbing head is fixedly arranged on the output end of the steering motor; Among them, the transfer slide can move along the length direction of the transverse slide rail under the action of an external power device, and the orientation recognition station of the orientation and positioning component and the oil injection station of the oil injection component are both located on the moving track of the inner support grabbing head.

8. The cup assembly device according to claim 1, wherein: The valve block tooling comprises a transposition guide rail fixedly arranged on the frame working frame, and an assembly platform is slidably arranged on the transposition guide rail; Wherein, the valve block is installed on an assembly table when assembling the leather cup, and the assembly table can slide between assembly stations of two sets of leather cup press-fitting components under the action of an external power device.

9. A method for shaping a leather cup, wherein: The cup assembly device according to any one of claims 1 to 8 comprises: Before assembling the leather cup, identify its forward and reverse directions so that the orientation of the leather cup matches the target of the leather cup press-fit assembly at the corresponding position; After the leather cup press-fitting assembly moves the leather cup to the corresponding position of the embedding groove, the driven pry bar swings and pushes the leather cup through the pry head until it is partially embedded in the embedding groove; The grab sleeve, driven pry bar and limit table rotate at least 180° about the central axis of the grab sleeve; Perform corresponding shaping actions for leather cups in different directions; The corresponding shaping actions for the leather cups in different directions are as follows: For the leather cup with the slotted end facing away from the ground, the grabbing sleeve and the limit table are moved toward the side away from the ground, and the interference shaping of the inner annular surface of the leather cup is achieved through the outer cylindrical surface of the limit table; For the leather cup with the closed end facing away from the ground, the grabbing sleeve and the limit platform move toward the side close to the ground, and the outer cylindrical surface of the grabbing sleeve is used to achieve resistance shaping of the inner annular surface of the leather cup.

10. The cup shaping method according to claim 9, wherein: Also includes: When there are multiple embedded grooves in the valve block for installing the positive leather cup, the leather cup press-fitting assembly performs press-fitting and shaping actions of the positive leather cup on the multiple embedded grooves in sequence from the ground to one side of the leather cup press-fitting assembly; When there are multiple embedded grooves for installing reverse leather cups in the valve block, when the leather cup press-fitting assembly is directed to the ground side, the leather cup press-fitting assembly performs press-fitting and shaping actions on the multiple embedded grooves in turn.

Images