A leather cup assembling device and a shaping method

Abstract

The application discloses a leather cup assembling device and a shaping method, wherein the leather cup assembling device comprises a working frame, a valve block tooling, a leather cup feeding device, a direction recognizing and positioning assembly and a leather cup pressing assembly are installed on the working frame; the leather cup assembling device and the shaping method have the advantages that the feeding state of the leather cup is recognized through the direction recognizing and positioning assembly, so that the accuracy during the leather cup assembling is ensured, the leather cup pressing assembly can automatically grab the leather cup and perform the pressing of the leather cup on the valve block, two groups of the leather cup pressing assembly perform the forward and reverse leather cup assembling respectively, the shaping of the leather cup can be directly performed after the leather cup assembling is completed, the full-automatic assembling process of the leather cup is realized, the labor cost is reduced, the production efficiency is greatly improved, meanwhile, the diameter of the grabbing sleeve and the limiting table of the two groups of the leather cup pressing assembly can ensure that the leather cup is not damaged at the slotted end part during the shaping of the leather cup, and the assembling quality of the leather cup is further improved.

Description

TECHNICAL FIELD

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

[0002] The automobile brake booster system is an important component of the modern automobile brake system, which is mainly arranged 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 the automobile brake booster system is mainly in the form of manual or semi-automatic assembly. With the continuous development and application of intelligent and automatic technologies, automatic assembly has become a trend in the manufacturing industry, and has broad prospects and application value. The full-automatic assembly of the automobile brake booster system has become an effective means for automobile manufacturers to improve competitiveness, reduce costs and improve product quality.

[0003] In the assembly process of the brake booster system, a leather cup needs to be installed in the valve hole of the valve block to ensure its sealing performance. Due to the limited rebound force of the leather cup, the leather cup needs to be shaped in the circumferential direction after assembly to ensure the installation accuracy of the leather cup. The current leather cup shaping method mostly adds a shaping device after the leather cup assembly. Due to the different directions of the leather cup during installation, it is difficult to realize unified shaping of the leather cup in different directions by a single shaping device, which greatly prolongs the overall assembly rhythm of the leather cup. SUMMARY

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

[0005] The application provides a leather cup assembly device, which comprises a working frame, a valve block tool installed on the working frame and arranged to position the valve block, a leather cup feeding device arranged to automatically transport the leather cup to a direction recognizing position of a direction recognizing and positioning assembly, the direction recognizing and positioning assembly arranged to recognize and adjust the front and back of the leather cup output by the leather cup feeding device, and a leather cup pressing assembly capable of grabbing the recognized leather cup and pressing it into the valve block on the valve block tool.

[0006] The leather cup feeding device, the direction recognizing and positioning assembly and the leather cup pressing assembly are provided in two groups on the working frame, and the two groups of the leather cup feeding device, the direction recognizing and positioning assembly and the leather cup pressing assembly are arranged to cooperate with the assembly of the forward leather cup with the slotted end facing away from the side of the working frame and the reverse leather cup with the closed end facing away from the side of the working frame.

[0007] The skin bowl press-fitting assembly comprises a mechanical arm assembly fixedly arranged on a working frame and a grabbing press-fitting assembly coupled with the mechanical arm assembly, the grabbing press-fitting assembly comprises a grabbing sleeve fixedly connected with a driving assembly of the mechanical arm assembly, a connecting guide rod is arranged through and fixedly connected in the grabbing sleeve, the connecting guide rod extends to a side of the grabbing sleeve close to the working frame at one end close to the working frame and is fixedly provided with a limiting table, and a collection gap is arranged between the limiting table and the one end of the grabbing sleeve close to the working frame.

[0008] The skin bowl press-fitting assembly further comprises a collection mechanism arranged to press-fit the skin bowl in an elliptical shape to the grabbing sleeve, and a releasing assembly arranged on the grabbing sleeve and arranged to push the skin bowl in the grabbing sleeve out to the collection gap position, the releasing assembly comprises a driven crowbar arranged in the grabbing sleeve in a hinged manner, the driven crowbar extends to a corresponding position of the collection gap at one end close to the working frame and is fixedly provided with a crowbar head. In the grabbing press-fitting assembly arranged to assemble a forward skin bowl, the outer cylindrical surface of the grabbing sleeve is gap-fitted with the inner wall of the valve hole, the diameter of the limiting table matches the inner ring diameter of the skin bowl, and the diameter of the grabbing sleeve is greater than the diameter of the limiting table; in the grabbing press-fitting assembly arranged to assemble a reverse skin bowl, the diameter of the grabbing sleeve matches the inner ring diameter of the skin bowl, and the diameter of the limiting table is smaller than the diameter of the grabbing sleeve.

[0009] When the skin bowl is collected into the grabbing sleeve, the part of the skin bowl close to the working frame corresponds to the position of the driven crowbar, and when the driven crowbar swings relative to the grabbing sleeve, the crowbar head can abut against the inner ring surface of the corresponding side of the skin bowl to push the corresponding part of the skin bowl into the embedding groove.

[0010] In the grabbing press-fitting assembly arranged to assemble a forward skin bowl, the edge of the end surface of the limiting table away from the working frame is provided with a chamfer; in the grabbing press-fitting assembly arranged to assemble a reverse skin bowl, the edge of the end surface of the grabbing sleeve close to the working frame is provided with a chamfer.

[0011] The limiting table is provided with a probe groove along the axial direction of the grabbing sleeve, and the grabbing 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 located on the opposite side of the crowbar head with respect to the central axis of the grabbing sleeve.

[0012] The collection mechanism comprises a top plate capable of moving axially along the grabbing sleeve and being inserted into the probe groove and the guide groove, and when the top plate moves away from the working frame and passes through the probe groove and the guide groove, the skin bowl at the collection gap position can be pushed into the grabbing sleeve in an elliptical shape.

[0013] The orientation positioning assembly comprises a telescopic cylinder fixedly arranged on the working frame, a visual sensor, a placing table fixedly arranged on the telescopic end of the telescopic cylinder, and a containing groove capable of containing the leather bowl output by the leather bowl placing device on the placing table.

[0014] In the telescopic cylinder retracted state, the containing groove on the placing table corresponds to the position of the output end of the leather bowl placing device; in the telescopic cylinder extended state, the containing groove on the placing table corresponds to the position of the turnover motor.

[0015] The orientation positioning assembly comprises a telescopic cylinder fixedly arranged on the working frame, a visual sensor, a placing table fixedly arranged on the telescopic end of the telescopic cylinder, and a containing groove capable of containing the leather bowl output by the leather bowl placing device on the placing table.

[0016] The oil injection assembly comprises an oil injection support fixedly arranged on the working frame, and an oil injector fixedly arranged on the oil injection support.

[0017] The oil injection support is provided with an oil receiving groove at the oil injection position of the oil injector, and a sewage pipeline arranged to discharge oil in the oil receiving groove.

[0018] The transfer assembly comprises a support frame fixedly arranged on the working frame, a transverse sliding rail fixedly arranged on the support frame, a transfer sliding table slidingly arranged on the transverse sliding rail, a lifting cylinder fixedly arranged on the transfer sliding table, a lifting sliding table fixedly arranged on the output end of the lifting cylinder, a steering motor fixedly arranged on the lifting sliding table, and an inner support grabbing head fixedly arranged on the output end of the steering motor.

[0019] The transfer sliding table is capable of moving along the length direction of the transverse sliding rail under the action of an external power device, and the orientation position of the orientation positioning assembly and the oil injection position of the oil injection assembly are located on the moving track of the inner support grabbing head.

[0020] The valve block tooling comprises a transposition guide rail fixedly arranged on the working frame, and an assembly table slidingly arranged on the transposition guide rail.

[0021] The valve block is mounted on the assembly table when the valve block is assembled, and the assembly table is capable of sliding between the assembly positions of the two groups of leather bowl press-fitting assemblies under the action of an external power device.

[0022] This application also provides a method for shaping a leather cup, applicable to the leather cup assembly equipment described in any of the above claims, comprising: performing forward and reverse orientation checks on the leather cup before assembly, so that the orientation of the leather cup matches the target of the corresponding position leather cup pressing assembly; after the leather cup pressing assembly moves the leather cup to the corresponding position of the groove, the driven pry bar swings and pushes the leather cup into the groove through the pry head; the gripping sleeve, the driven pry bar, and the limiting stage rotate at least 180° about the central axis of the gripping sleeve; and performing corresponding shaping actions for leather cups with different orientations.

[0023] Specifically, the shaping actions performed on the leather cups with different orientations are as follows: For leather cups with the slotted end facing away from the ground, the gripping sleeve and the limiting platform are moved away from the ground, and the outer circular surface of the limiting platform is used to achieve the contact shaping of the inner ring surface of the leather cup; For leather cups with the closed end facing away from the ground, the gripping sleeve and the limiting platform are moved closer to the ground, and the outer circular surface of the gripping sleeve is used to achieve the contact shaping of the inner ring surface of the leather cup.

[0024] The aforementioned cup forming method further includes: when multiple recessed slots in the valve block are used to install forward cups, the cup pressing assembly sequentially performs pressing and forming actions on the multiple recessed slots in the direction from the ground to the side of the cup pressing assembly; when multiple recessed slots in the valve block are used to install reverse cups, the cup pressing assembly sequentially performs pressing and forming actions on the multiple recessed slots in the direction from the ground to the side of the cup pressing assembly.

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

[0026] The positioning component identifies the feeding status of the leather cup, ensuring the accuracy of the leather cup assembly. The leather cup pressing component can automatically grasp the leather cup and press it onto the valve block. The two sets of leather cup pressing components perform forward and reverse leather cup assembly respectively. After the leather cup is assembled, it can be directly shaped, realizing a fully automated assembly process. This not only reduces labor costs but also greatly improves production efficiency. At the same time, the diameter settings of the gripping sleeve and limiting table of the two sets of leather cup pressing components ensure that the grooved end of the leather cup is not damaged during the shaping process, further improving the assembly quality of the leather cup. Attached Figure Description

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

[0028] Figure 2 This is a schematic diagram of the leather cup assembly equipment according to an embodiment of this application, with the "leather cup pressing component" omitted.

[0029] Figure 3Structure enlarged schematic view of "orientation positioning assembly 800" and "oil injection assembly 900" in the leather cup assembly equipment of the embodiment of the application;

[0030] Figure 4 Structure enlarged schematic view of "transfer assembly 700" in the leather cup assembly equipment of the embodiment of the application;

[0031] Figure 5 Structure schematic view of "collection mechanism 500" in the leather cup assembly equipment of the embodiment of the application;

[0032] Figure 6 Structure schematic view of "collection mechanism 500" in the leather cup assembly equipment of the embodiment of the application;

[0033] Figure 7 Structure schematic view of "limiting plate 540" and "positioning push plate 560" in the leather cup assembly equipment of the embodiment of the application;

[0034] Figure 8 Structure schematic view of "mechanical arm assembly 610" and "grabbing and pressing assembly 620" in the leather cup assembly equipment of the embodiment of the application;

[0035] Figure 9 Local structure schematic view of "grabbing and pressing assembly 620" in the leather cup assembly equipment of the embodiment of the application;

[0036] Figure 10 Local structure schematic view of "grabbing and pressing assembly 620" in the leather cup assembly equipment of the embodiment of the application;

[0037] Figure 11 Local structure schematic view of "grabbing and pressing assembly 620" in the leather cup assembly equipment of the embodiment of the application;

[0038] Figure 12 Local structure schematic view of "grabbing and pressing assembly 620" in the leather cup assembly equipment of the embodiment of the application, with "grabbing sleeve 623" hidden;

[0039] Figure 13 Structure sectional view of "grabbing sleeve 623" in the leather cup assembly equipment of the embodiment of the application;

[0040] Figure 14 Structure sectional view of "valve block 410" in the leather cup assembly equipment of the embodiment of the application;

[0041] Figure 15 Structure schematic view of "leather cup 420" in the leather cup assembly equipment of the embodiment of the application.

[0042] Reference signs

[0043] Work frame 100, vibration feeding assembly 200, transposition guide rail 310, assembly table 320, valve block 410, valve hole 411, embedding groove 412, leather cup 420, closed end 421, slotted end 422, collection mechanism 500, let-out guide rail 510, let-out sliding table 520, limiting cylinder 530, limiting plate 540, first plate body 541, positioning arc groove 542, positioning inclined surface 543, positioning cylinder 550, positioning push plate 560, second plate body 561, guide arc groove 562, guide inclined surface 563, insertion groove 564, positioning table 570, insertion hole 571, eccentric positioning groove 572, let-out groove 573, jacking cylinder 580, top plate 581, let-out cylinder 590, mechanical arm assembly 610, grabbing and pressing assembly 620, transition support 621, linking cylinder 622, grabbing sleeve 623, first driving cylinder 624, linking seat 625, linking support 626, second driving cylinder 627, linkage shaft 628, adapter 629, positioning frame 630, driving lever 631, driven pry lever 632, exploration groove 633, guide groove 634, limiting table 637, pry head 638, telescopic shaft 639, synchronization plate 640, abutment plate 641, linking guide rod 642, collection gap 643, stroke groove 644, shaping plate 645, fixed block 646, elastic member 647, transfer assembly 700, support frame 710, transverse sliding rail 720, transfer sliding table 730, lifting cylinder 740, lifting sliding table 750, steering motor 760, inner support grabbing head 770, orientation positioning assembly 800, support 810, electric sliding table 811, overturning motor 812, fork frame 813, mounting seat 820, telescopic cylinder 821, material placing table 822, visual sensor 830, oil injection assembly 900, oil injection support 910, oil injector 920. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0045] As shown in Figures 1 to 14 , the leather cup assembly equipment provided by the embodiments of the present application comprises a work frame 100, and a valve block tool, a collection mechanism 500 and a leather cup pressing assembly installed on the work frame 100.

[0046] The skin bowl press-fitting assembly comprises a mechanical arm assembly 610 fixedly arranged on the working frame 100 and a grabbing press-fitting assembly 620 coupled with the mechanical arm assembly 610, the mechanical arm assembly 610 adopts a double-arm four-axis robot structure, the grabbing press-fitting assembly 620 is installed at the output end of the mechanical arm of the mechanical arm assembly 610, and the mechanical arm assembly 610 can drive the grabbing press-fitting assembly 620 to move in the horizontal direction, the vertical direction or rotate along the axis thereof.

[0047] The grabbing press-fitting assembly 620 comprises a connecting cylinder 622 fixedly connected with the driving assembly of the mechanical arm assembly 610, the connecting cylinder 622 is fixedly connected with a positioning frame 630 close to one end of the working frame 100, the positioning frame 630 is fixedly provided with a grabbing sleeve 623 close to one end of the working frame 100, a stop plate 641 is slidably arranged in the grabbing sleeve 623, a connecting guide rod 642 penetrating through the grabbing sleeve 623 is fixedly arranged on the positioning frame 630, the connecting guide rod 642 extends to a limiting table 637 fixedly arranged on the side of the grabbing sleeve 623 close to the working frame 100, and a collection gap 643 is arranged between the limiting table 637 and the end of the grabbing sleeve 623 close to the working frame 100.

[0048] Two shaping plates 645 capable of elastically sliding along the axis of the grabbing sleeve 623 relative to the stop plate 641 are further arranged in the grabbing sleeve 623, the two shaping plates 645 are symmetrical about the central axis of the grabbing sleeve 623 and are located on the same diameter extension line of the grabbing sleeve 623.

[0049] A driven crowbar 632 is further hingedly arranged in the grabbing sleeve 623, the driven crowbar 632 extends to the corresponding position of the collection gap 643 close to one end of the working frame 100 and is fixedly provided with a crowbar head 638, a guide arc segment is arranged on the connecting guide rod 642, the crowbar head 638 is located at the corresponding position of the guide arc segment, the end of the stop plate 641 close to the working frame 100 and the guide arc segment are located on the opposite sides of the shaping plate 645, respectively, the limiting table 637 is provided with a probe groove 633 penetrating in the axial direction of the grabbing sleeve 623, and the grabbing sleeve 623 is provided with a guide groove 634 close to one end of the working frame 100, the probe groove 633 and the guide groove 634 are coaxial and are located on the opposite side of the crowbar head 638 relative to the shaping plate 645.

[0050] The collection mechanism 500 comprises a positioning table 570 and a jacking cylinder 580 fixedly connected with the working frame 100, the end face of the positioning table 570 away from the working frame 100 is provided with a insertion hole 571 and an eccentric positioning groove 572 capable of placing the skin bowl 420 in communication with the insertion hole 571, a positioning cylinder 550 is fixedly arranged on the working frame 100, a positioning push plate 560 is fixedly arranged on the extension end of the positioning cylinder 550, and the positioning push plate 560 is provided with a guide arc groove 562 close to one end of the positioning table 570.

[0051] The positioning table 570 is provided with a clearance slot 573, the positioning push plate 560 is provided with an insertion slot 564 communicated with the guide arc slot 562, and the telescopic end of the jacking cylinder 580 is fixedly provided with a top plate 581 capable of being inserted into the clearance slot 573, the insertion slot 564, the exploration slot 633 and the guide slot 634.

[0052] The power execution assembly is fixedly connected with the positioning frame 630, can drive the abutting plate 641 to slide relative to the grabbing sleeve 623, and can also drive the driven crowbar 632 to swing relative to the grabbing sleeve 623. When the shaping plate 645 is not subjected to the elastic force for moving to the side close to the working frame 100, the distance between the abutting 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 bowl assembly equipment is as follows: initially, the positioning cylinder 550 and the jacking cylinder 580 are in the retracted state, the positioning push plate 560 keeps a distance from the eccentric positioning slot 572, the top plate 581 is located on the side of the positioning table 570 close to the working frame 100, the shaping plate 645 is not subjected to the elastic force for moving to the side close to the working frame 100, and the end close to the working frame 100 is located on the side away from the working frame 100 of the guide arc segment, and the crowbar head 638 is located on the side close to the center axis of the grabbing sleeve 623.

[0054] When the cup 420 is positioned, the cup 420 is placed in the eccentric positioning groove 572, at this time the cup 420 is coaxial with the insertion hole 571 and the outer circular surface of the cup 420 close to one side of 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 grabbing and pressing assembly 620 to move to the corresponding position of the cup 420 and the limiting table 637 passes through the cup 420 (the insertion hole 571 can provide space for the limiting table 637), the cup 420 is just located at the position of the collection gap 643, the grabbing sleeve 623 is coaxial with the cup 420, the abutting plate 641 faces one side of the positioning push plate 560, and after the grabbing and pressing assembly 620 is positioned, the positioning cylinder 550 extends to drive the positioning push plate 560 to move close to the cup 420, the positioning push plate 560 abuts against the outer circular surface of the cup 420 through the inner wall of the guiding arc groove 562, thereby driving the central axis of the cup 420 to move away from the central axis of the grabbing sleeve 623, when the inner annular surface of the cup 420 abuts against the connecting guide rod 642, the jacking 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 gap slot 573, the exploration slot 633, the insertion slot 564 and abuts against the end of the cup 420 close to the working frame 100, with the movement of the top plate 581 to the guide groove 634, the part of the cup 420 close to the positioning push plate 560 is lifted and inclined away from the working frame 100, at the same time, the cup 420 is deformed under the pushing of the top plate 581, it is radially contracted and oval-shaped and collected into the grabbing sleeve 623, the part of the cup 420 away from the positioning push plate 560 abuts against the guiding arc segment on the connecting guide rod 642, when the cup 420 is completely collected into the grabbing sleeve 623, the jacking cylinder 580 drives the top plate 581 to reset, and the positioning cylinder 550 drives the positioning push plate 560 to reset;

[0055] During the pressing, the mechanical arm assembly 610 drives the grabbing and pressing assembly 620 to move to the corresponding position of the valve block tool, the grabbing sleeve 623 is coaxial with the valve hole 411 of the valve block 410 on the valve block tool, 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 collection gap 643 is located at the corresponding position of the embedding groove 412 in the valve hole 411, the power execution assembly drives the driven pry lever 632 to swing relative to the grabbing sleeve 623, the pry head 638 moves to the side away from the central axis of the grabbing sleeve 623 and abuts against the corresponding side inner surface of the leather cup 420, the leather cup 420 is partially embedded in the embedding groove 412 under the pushing of the pry head 638, at this time, the power execution assembly further drives the abutting plate 641 to move to the side close to the working frame 100, the shaping plate 645 moves synchronously until abutting against the corresponding side end surface of the leather cup 420, the leather cup 420 is separated from the grabbing sleeve 623 in the middle under the pushing of the shaping plate 645, with the movement of the abutting plate 641, the abutting plate 641 pushes the leather cup 420 away from the side of the connecting guide rod 642, at the same time, the abutting plate 641 and the shaping plate 645 move relatively, the shaping plate 645 is moved to the side close to the working frame 100 under the elastic force, when the abutting plate 641 is moved 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 is completely embedded in the embedding groove 412 under the elastic force of itself, after the mechanical 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 repeatedly performed.

[0056] In the embodiment of the application, the above-mentioned leather cup assembly device is adopted, the eccentric positioning of the leather cup 420 relative to the grabbing sleeve 623 is realized by the positioning push plate 560, and the deformation of the leather cup 420 and the recovery in the grabbing sleeve 623 are realized by the top plate 581, which greatly improves the grabbing efficiency of the leather cup 420, because the leather cup 420 is in an inclined elliptical shape when it is collected, it will not deform too much, so as to ensure the shape accuracy of itself in the assembly process, thereby improving the assembly accuracy of the leather cup 420 in the valve block 410, on the other hand, the leather cup 420 is gradually pushed out of the grabbing sleeve 623 along the long axis direction in the releasing 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] As shown in Figure 5 , Figure 6 , the collection mechanism 500 further comprises a limiting cylinder 530 fixedly connected with the working frame 100, and a limiting plate 540 is fixedly arranged on the telescopic end of the limiting cylinder 530. The limiting plate 540 and the positioning push plate 560 are respectively located on the opposite sides of the eccentric positioning groove 572, the telescopic ends of the limiting cylinder 530 and the positioning cylinder 550 are coaxial, and the limiting plate 540 is provided with a positioning arc groove 542 on the end close to the positioning push plate 560.

[0058] It can be understood that when the skin bowl 420 is arranged on the grabbing sleeve 623 before positioning and is transferred by the skin bowl press-fitting assembly, the limiting plate 540 is driven by the limiting cylinder 530 to extend after the skin bowl 420 moves to the corresponding position of the eccentric positioning groove 572, the positioning arc groove 542 is matched with the gap between the outer circular surface of the grabbing sleeve 623, and the limiting plate 540 is close to the end surface of the work frame 100 on one side when the grabbing press-fitting assembly 620 is moved away from the work frame 100 by the mechanical arm assembly 610, so that the skin bowl 420 on the grabbing sleeve 623 is pulled down.

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

[0060] The positioning push plate 560 includes a second plate body 561 fixedly connected with the extension end of the positioning cylinder 550, the insertion groove 564 is arranged through the second plate body 561, the guide arc groove 562 is arranged on one end of the second plate body 561 close to the limiting plate 540, and the guide arc groove 562 is provided with a guide inclined surface 563 facing the work frame 100 on the inner wall of the side away from the limiting plate 540. Among them, the two ends of the guide inclined surface 563 and the positioning inclined surface 543 are respectively gathered to the side close to the center axis of the insertion hole 571, and when the skin bowl 420 is collected to the grabbing sleeve 623 by the top plate 581, the skin bowl 420 can be radially deformed under the guidance of the guide inclined surface 563 and the positioning inclined surface 543, so as to ensure the smoothness of the skin bowl 420 into the grabbing sleeve 623.

[0061] As shown in Figure 5 , Figure 6 , the work frame 100 is fixedly provided with a let-go guide rail 510, and the let-go guide rail 510 is slidably provided with a let-go sliding table 520. Among them, the limiting cylinder 530, the positioning cylinder 550, the positioning table 570 and the jacking cylinder 580 are respectively fixedly arranged on the let-go sliding table 520, and the let-go guide rail 510 is also fixedly provided with a let-go cylinder 590 capable of driving the let-go sliding table 520 to slide relative to the let-go guide rail 510.

[0062] It can be understood that the relative positions of the positioning table 570, the work frame 100 and the mechanical arm assembly 610 can be adjusted by the let-go cylinder 590, and when multiple skin bowl press-fitting assemblies are arranged on the work frame 100, the position interference between the multiple skin bowl press-fitting assemblies can be avoided, and the overall assembly efficiency of the skin bowl 420 can be improved.

[0063] As shown in Figures 8 to 13As shown, the power execution assembly includes a first driving cylinder 624 fixedly connected with the adapter cylinder 622 at one end away from the working frame 100, and a second driving cylinder 627. The telescopic end of the first driving cylinder 624 is fixedly connected with a linkage shaft 628 coaxial with the grabbing sleeve 623. The telescopic end of the second driving cylinder 627 is fixedly connected with a telescopic shaft 639 coaxial with the grabbing sleeve 623. The telescopic shaft 639 is slidingly arranged in the linkage shaft 628 and extends to the side of the linkage shaft 628 close to the working frame 100. The end of the linkage shaft 628 close to the working frame 100 is fixedly connected with an abutting plate 641. The end of the telescopic shaft 639 close to the working frame 100 is hingedly connected with a driving lever 631. The end of a driven lever 632 away from a prying head 638 is hingedly connected with the end of the driving lever 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 or retract, the abutting plate 641 can be driven to move axially relative to the grabbing sleeve 623, thereby releasing the skin bowl 420 in the grabbing sleeve 623. When the second driving cylinder 627 drives the telescopic shaft 639 to extend or retract, the driving lever 631 drives the driven lever 632 to swing relative to the grabbing sleeve 623, and the prying head 638 pushes the skin bowl 420 in the grabbing sleeve 623 radially outwards.

[0065] As shown in Figure 8 , Figure 9 , the end of the adapter cylinder 622 away from the working frame 100 is fixedly provided with a transition support 621, and the second driving cylinder 627 is fixedly arranged at the end of the transition support 621 away from the working frame 100. The end of the second driving cylinder 627 away from the transition support 621 is fixedly provided with an adapter seat 625, and the first driving cylinder 624 is fixedly arranged at the end of the adapter seat 625 away from the second driving cylinder 627. The telescopic end of the first driving cylinder 624 is fixedly connected with an adapter support 626 slidingly connected with the adapter seat 625 and the transition support 621, respectively, and the linkage shaft 628 is fixedly arranged on the adapter support 626.

[0066] As shown in Figure 8 , Figure 10 , Figure 11 , the end of the adapter cylinder 622 close to the working frame 100 is fixedly provided with a transition piece 629, and the positioning frame 630 is fixedly arranged at the end of the transition piece 629 close to the working frame 100.

[0067] As shown in Figure 8 , Figure 11 , Figure 12 , the end of the linkage shaft 628 close to the working frame 100 is fixedly provided with a synchronous plate 640, and the abutting plate 641 is fixedly arranged on the synchronous plate 640.

[0068] As shown in Figure 13As shown, the abutment plate 641 is provided with two stroke grooves 644 extending along the axial direction of the gripping sleeve 623. The two stroke grooves 644 are symmetrical about the central axis of the gripping 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 stroke grooves 644 at the corresponding positions.

[0070] like Figure 13 As shown, two fixing blocks 646 symmetrical about the central axis of the gripping sleeve 623 are fixedly provided on the abutment plate 641, and the two fixing blocks 646 correspond to the positions of the two shaping plates 645 respectively. Among them, an elastic element 647 is fixedly provided between the shaping plate 645 and the corresponding fixing block 646.

[0071] Understandably, when the shaping plate 645 and the abutment plate 641 move relative to each other about the gripping sleeve 623, the elastic element 647 can accumulate elastic potential energy, which on the one hand ensures the reliability of the force exerted by the shaping plate 645 on the cup 420, and on the other hand realizes the automatic reset of the shaping plate 645.

[0072] The elastic element 647 can be set as an elastic element such as a spring, snap ring or 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 shift guide rail 310 fixedly mounted on the working frame 100, and an assembly table 320 is slidably mounted on the shift guide rail 310.

[0074] The embodiment of the application provides a skin bowl assembling method, which is suitable for the skin bowl assembling device in the above embodiment 1, and comprises the following steps: step S1, initially positioning the skin bowl 420 so that the grabbing sleeve 623 is coaxial with the skin bowl 420; step S2, applying a radial force to the outer circumferential surface of the skin bowl 420 at a first direction so that the skin bowl 420 is eccentric to the grabbing sleeve 623 until the corresponding side outer circumferential surface of the skin bowl 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 side end face of the skin bowl 420 away from the grabbing sleeve 623 so that the skin bowl 420 is collected into the grabbing sleeve 623 in an elliptical shape; step S4, inserting the grabbing sleeve 623 into the valve hole 411 of the valve block 410 until the collection gap 643 is located at the corresponding position of the embedding groove 412; step S5, applying a radial force to the inner annular surface of the skin bowl 420 at a second direction so that the central axis of the skin bowl 420 moves to the side direction close to the central axis of the grabbing sleeve 623; and step S6, sequentially applying axial forces to the intermediate position and the predetermined position of the side end face of the skin bowl 420 close to the grabbing sleeve 623 so that the skin bowl 420 is completely separated from the grabbing sleeve 623 and is embedded into the valve hole 411 under the action of the self elastic force. The predetermined position is the tangent position of the outer circumferential surface of the skin bowl 420 and the inner cavity wall of the grabbing sleeve 623, and the first direction and the second direction are opposite directions along the radial direction of the skin bowl 420.

[0075] In step S3, after the axial force is applied to the predetermined position of the side end face of the skin bowl 420 away from the grabbing sleeve 623, the method further comprises the following step: applying a guiding force to the side end face of the skin bowl 420 close to the grabbing sleeve 623 so that the two side outer circumferential surfaces of the skin bowl 420 which are symmetrical about the first direction and the second direction are radially contracted and deformed.

[0076] As shown in FIG. 1, Figures 1 to 15 The embodiment of the application provides a skin bowl assembling device, which comprises a working frame 100, a valve block tool, a skin bowl feeding device, a direction recognizing and positioning assembly 800 and a skin bowl pressing assembly are installed on the working frame 100.

[0077] The direction recognizing and positioning assembly 800 is arranged to recognize and adjust the front and back surfaces of the skin bowl 420 output by the skin bowl feeding device, and the skin bowl pressing assembly can grab the skin bowl 420 after the direction recognizing and press the skin bowl 420 into the valve block 410 on the valve block tool.

[0078] The skin bowl feeding device, the direction recognizing and positioning assembly 800 and the skin bowl pressing assembly are respectively provided with two groups on the working frame 100, one group of the skin bowl feeding device, the direction recognizing and positioning assembly 800 and the skin bowl pressing assembly are correspondingly arranged and used for assembling the forward skin bowl 420, and the other group of the skin bowl feeding device, the direction recognizing and positioning assembly 800 and the skin bowl pressing assembly are correspondingly arranged and used for assembling the reverse skin bowl 420.

[0079] The skin bowl press-fitting assembly comprises a mechanical arm assembly 610 fixedly arranged on the working frame 100 and a grabbing press-fitting assembly 620 coupled with the mechanical arm assembly 610, the mechanical arm assembly 610 adopts a double-arm four-axis robot structure, the grabbing press-fitting assembly 620 is installed at the output end of the mechanical arm of the mechanical arm assembly 610, and the mechanical arm assembly 610 can drive the grabbing press-fitting assembly 620 to move in the horizontal direction, the vertical direction or rotate along the axis thereof.

[0080] The grabbing press-fitting assembly 620 comprises a grabbing sleeve 623 fixedly connected with the driving assembly of the mechanical arm assembly 610, an adapter guide rod 642 is arranged in the grabbing sleeve 623 and fixedly connected therewith, the adapter guide rod 642 extends to the side of the grabbing sleeve 623 close to the working frame 100 and is fixedly provided with a limiting table 637, and a collection gap 643 is arranged between the limiting table 637 and the end of the grabbing sleeve 623 close to the working frame 100.

[0081] The skin bowl press-fitting assembly further comprises a collection mechanism 500 arranged to press-fit the skin bowl 420 in an elliptical shape into the grabbing sleeve 623 and a release assembly arranged on the grabbing sleeve 623 and arranged to push the skin bowl 420 in the grabbing sleeve 623 out to the position of the collection gap 643, the release assembly comprises a driven crowbar 632 hingedly arranged in the grabbing sleeve 623, the driven crowbar 632 extends to the corresponding position of the collection gap 643 at the end close to the working frame 100 and is fixedly provided with a crowbar head 638.

[0082] The forward skin bowl 420 is specifically a skin bowl 420 with the slotted end 422 facing away from the side of the working frame 100, in the grabbing press-fitting assembly 620 arranged to assemble the forward skin bowl 420, the outer circular surface of the grabbing sleeve 623 is gap-fitted with the inner wall of the valve hole 411, the diameter of the limiting table 637 matches the inner ring diameter of the skin bowl 420, and the diameter of the grabbing sleeve 623 is greater than the diameter of the limiting table 637; the reverse skin bowl 420 is specifically a skin bowl 420 with the closed end 421 facing away from the side of the working frame 100, in the grabbing press-fitting assembly 620 arranged to assemble the reverse skin bowl 420, the diameter of the grabbing sleeve 623 matches the inner ring diameter of the skin bowl 420, and the diameter of the limiting table 637 is less than the diameter of the grabbing sleeve 623.

[0083] In the state that the skin bowl 420 is collected into the grabbing sleeve 623, the part of the skin bowl 420 close to the working frame 100 relative to the horizontal plane is in position correspondence with the driven crowbar 632, and when the driven crowbar 632 swings relative to the grabbing sleeve 623, the crowbar head 638 can abut against the inner ring surface of the corresponding side of the skin bowl 420 to push the corresponding part of the skin bowl 420 into the embedding groove 412.

[0084] It can be understood that, as Figure 15As shown, the two side end faces of the cup 420, one of which is provided as a flat surface as a closed end 421, and the other of which is provided with an open slot as a slotted end 422. During the shaping of the cup 420 by the cup press-fitting assembly, due to the forward and reverse arrangement of the cup 420 in the valve block 410, in order to avoid the shaping member cutting the cup 420 during shaping, the shaping action needs to be performed from the closed end 421 side to the slotted end 422 side of the cup 420.

[0085] It can be understood that, since the cup 420 needs to be distinguished in terms of front and back during assembly into the valve block 410, the orientation positioning assembly 800 can perform forward and reverse orientation recognition on the cup 420 at the recognition station. When the cup 420 is recognized to be oriented incorrectly, the cup 420 will be flipped over. When the cup 420 is recognized to be oriented correctly, the cup 420 will be directly assembled into the valve block 410.

[0086] During positioning, the cup 420 is output by the cup feeding device to the orientation station of the orientation positioning assembly 800. After the orientation positioning assembly 800 adjusts the forward and reverse orientation of the cup 420, the cup press-fitting assembly collects the cup 420 into the grabbing sleeve 623 by the collection mechanism 500.

[0087] During press fitting, the mechanical arm assembly 610 moves the grabbing press-fitting assembly 620 to the corresponding position of the valve block tool. The grabbing sleeve 623 is coaxial with the valve hole 411 of the valve block 410 on the valve block tool. After the grabbing sleeve 623 is positioned, the mechanical arm assembly 610 inserts the grabbing sleeve 623 into the valve hole 411. When the collection gap 643 is located at the corresponding position of the embedding groove 412 in the valve hole 411, the driven pry lever 632 swings relative to the grabbing sleeve 623 and pushes the cup 420 into the embedding groove 412 by the pry head 638.

[0088] During shaping, for the forward cup 420, the grabbing press-fitting assembly 620 moves away from the working frame 100, and the outer circular surface of the limiting table 637 realizes the abutting shaping of the inner ring surface of the cup 420. For the reverse cup 420, the grabbing press-fitting assembly 620 moves towards the working frame 100, and the outer circular surface of the grabbing sleeve 623 realizes the abutting shaping of the inner ring surface of the cup 420.

[0089] In the embodiment of the present application, the skin bowl assembly equipment is adopted, the feeding state of the skin bowl 420 is identified through the orientation positioning assembly 800, so as to ensure the accuracy of the skin bowl 420 assembly, the skin bowl pressing assembly can automatically grab the skin bowl 420 and perform the pressing assembly of the skin bowl 420 on the valve block 410, and the two groups of skin bowl pressing assemblies perform forward and reverse skin bowl 420 assembly respectively, and the shaping of the skin bowl 420 can be directly performed after the skin bowl 420 assembly is completed, realizing the full automatic assembly process of the skin bowl 420, which not only reduces the labor cost, but also greatly improves the production efficiency, and the diameter of the grabbing sleeve 623 and the limiting table 637 of the two groups of skin bowl pressing assemblies can ensure that the skin bowl 420 is not damaged during the shaping of the skin bowl 420, further improving the assembly quality of the skin bowl 420.

[0090] As shown in Figures 8 to 13 , the edge of the limiting table 637 away from the side surface of the working frame 100 in the grabbing and pressing assembly 620 for assembling the forward skin bowl 420 is provided with a chamfer;

[0091] In the grabbing and pressing assembly 620 for assembling the reverse skin bowl 420, the edge of the grabbing sleeve 623 close to the side surface of the working frame 100 is provided with a chamfer.

[0092] It can be understood that the chamfer provided on the grabbing sleeve 623 and the limiting table 637 can guide the skin bowl 420 during shaping, so as to ensure the assembly accuracy of the skin bowl 420.

[0093] As shown in Figures 8 to 13 , the limiting table 637 is provided with a probe groove 633 penetrating along the axis of the grabbing sleeve 623, and the grabbing sleeve 623 is provided with a guide groove 634 coaxial with the probe groove 633 at one end close to the working frame 100, and the probe groove 633 and the guide groove 634 are located on the opposite side of the pry head 638 with respect to the center axis of the grabbing sleeve 623.

[0094] The collecting mechanism 500 includes a top plate 581 capable of moving axially along the grabbing sleeve 623 and being inserted into the probe groove 633 and the guide groove 634, when the top plate 581 moves away from the working frame 100 and passes through the probe groove 633 and the guide groove 634, the skin bowl 420 at the collecting gap 643 position can be pushed into the grabbing sleeve 623 in an elliptical shape.

[0095] As shown in Figure 1 , Figure 2 , the skin bowl feeding device is specifically provided 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 work station of the orientation positioning assembly 800.

[0096] It can be understood that the skin bowl 420 can be transferred to the orientation station of the orientation positioning assembly 800 by the vibration feeding assembly 200, and the orientation positioning assembly 800 can realize the forward and reverse orientation of the skin bowl feeding device output skin bowl 420.

[0097] It can be understood that the skin bowl feeding device is mainly arranged to transfer the skin bowl 420 to the orientation station of the orientation positioning assembly 800, and the structure form is not limited to the above-mentioned one, for example, a turntable feeding, a belt feeding, a robot feeding and the like can also be adopted, as long as the feeding action of the skin bowl 420 can be realized, and the specific limitation is not made here.

[0098] As shown in Figure 1 , Figure 2 , the oil injection assembly 900 arranged to inject oil around the skin bowl 420 after orientation, and the transfer assembly 700 arranged to transfer the skin bowl 420 between the skin bowl pressing assembly grabbing station, the orientation positioning assembly 800 orientation station and the oil injection assembly 900 oil injection station.

[0099] It can be understood that the reason why the oil injection assembly 900 is arranged to inject oil around the skin bowl 420 is that in the process of the skin bowl pressing assembly driving the skin bowl 420 to be pressed into the embedding groove 412, the outer circumferential surface of the skin bowl 420 will be in contact with the inner wall of the valve hole 411, and under the action of friction, the pose state of the skin bowl 420 can be affected. By injecting oil around the skin bowl 420, the friction between the skin bowl 420 and the inner wall of the valve hole 411 can be reduced, thereby reducing the influence of friction on the installation precision of the skin bowl 420.

[0100] As shown in Figures 1 to 3 , the orientation positioning assembly 800 includes a mounting seat 820 fixedly arranged on the working frame 100, a telescopic cylinder 821 and a visual sensor 830 fixedly installed on the mounting seat 820, a telescopic end of the telescopic cylinder 821 is fixedly provided with a discharging table 822, and the discharging table 822 is provided with a containing groove capable of containing the skin bowl 420 output by the skin bowl feeding device.

[0101] The orientation positioning assembly 800 further includes a support 810 fixedly arranged on the working frame 100, and an electric sliding table 811 capable of moving towards or away from the side of the discharging table 822 is installed on the support 810. A turnover motor 812 is fixedly arranged on the electric sliding table 811, and a fork 813 is installed on the output end of the turnover motor 812.

[0102] In the telescopic cylinder 821 contraction state, the containing groove on the discharging table 822 corresponds to the output end position of the skin bowl feeding device, that is, the skin bowl 420 output by the skin bowl feeding device can directly fall into the containing groove on the discharging table 822; in the telescopic cylinder 821 extension state, the containing groove on the discharging table 822 corresponds to the position of the turnover motor 812.

[0103] Specifically, in the initial state, the telescopic cylinder 821 is in the retracted state, and the electric sliding table 811 is located at one end of the sliding stroke away from the placing table 822. After the rubber cup 420 output by the rubber cup feeding device falls into the accommodating groove on the placing table 822, the vision sensor 830 can perform positive and negative vision detection on the rubber cup 420 in the accommodating groove of the placing table 822. If the orientation of the rubber cup 420 is correct, the rubber cup 420 is directly transferred to the oil injection station of the oil injection assembly 900 through the transfer assembly 700. If the orientation of the rubber cup 420 is incorrect, the telescopic cylinder 821 is extended. After the telescopic cylinder 821 is fully extended, the electric sliding table 811 drives the turnover motor 812 and the fork frame 813 to move towards the placing table 822. The fork frame 813 clamps the rubber cup 420 in the accommodating groove of the placing table 822. The electric sliding table 811 moves away from the placing table 822 to provide adjustment space for the fork frame 813. The fork frame 813 turns over the rubber cup 420 by 180° under the drive of the turnover motor 812. After the rubber cup 420 is turned over, the electric sliding table 811 moves towards the placing table 822, and the fork frame 813 places the rubber cup 420 in the accommodating groove on the placing table 822. The telescopic cylinder 821 and the electric sliding table 811 are reset, and then the rubber cup 420 is transferred to the oil injection station of the oil injection assembly 900 through the transfer assembly 700.

[0104] It can be understood that the structure of the orientation positioning assembly 800 is not limited to the above-mentioned one. For example, a clamping and turnover mechanism can be directly arranged at the accommodating groove on the placing table 822. On the other hand, the orientation positioning assembly 800 can also be integrally arranged on the rubber cup feeding device to directly realize positive and negative orientation during the feeding of the rubber cup 420.

[0105] It can be understood that the orientation positioning assembly 800 is mainly arranged to identify and adjust the positive and negative orientations of the rubber cup 420. However, based on the structure of the rubber cup feeding device, when the rubber cup feeding device adopts semi-automatic feeding, that is, the orientation of the rubber cup is adjusted by manual operation in advance, the orientation positioning assembly 800 can be omitted accordingly.

[0106] As shown in Figures 1 to 3 , the oil injection assembly 900 comprises an oil injection support 910 fixedly arranged on the working frame 100, and an oil injector 920 fixedly arranged on the oil injection support 910.

[0107] It can be understood that the oil injection support 910 is provided with an oil receiving groove at the oil injection station of the oil injector 920, and a sewage discharge pipeline arranged to discharge oil from the oil receiving groove.

[0108] As shown in 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 sliding rail 720 fixedly arranged on the support frame 710, a transfer sliding table 730 slidingly arranged on the transverse sliding rail 720, a lifting cylinder 740 fixedly arranged on the transfer sliding table 730, a lifting sliding table 750 fixedly arranged on the output end of the lifting cylinder 740, a steering motor 760 fixedly arranged on the lifting sliding table 750, and an inner support grabbing head 770 fixedly arranged on the output end of the steering motor 760.

[0109] It can be understood that the transfer sliding table 730 can move along the length direction of the transverse sliding rail 720 under the action of an external power device, thereby driving the synchronous movement of the steering motor 760 and the inner support grabbing head 770.

[0110] The orientation positioning assembly 800 and the oil injection assembly 900 are arranged on the moving track of the inner support grabbing head 770. After the orientation positioning assembly 800 completes the orientation of the cup 420, the transfer sliding table 730 moves to the orientation positioning assembly 800 along the transverse sliding rail 720, the lifting cylinder 740 extends and grabs the cup 420 at the orientation positioning assembly 800 through the inner support grabbing head 770, and then the lifting cylinder 740 retracts to the original position. The transfer sliding table 730 moves to the oil injection assembly 900 along the transverse sliding rail 720, the lifting cylinder 740 extends to the position corresponding to the oil injector 920, the oil injector 920 is started at this time, the steering motor 760 drives the inner support grabbing head 770 to rotate to realize the oil injection on the circumferential surface of the cup 420, and after the oil injection of the cup 420 is completed, the transfer sliding table 730 moves to the cup pressing assembly along the transverse sliding rail 720, and the inner support grabbing head 770 is driven by the lifting cylinder 740 to place the cup 420 at the grabbing position of the cup pressing assembly. Finally, all the components of the transfer assembly 700 are reset to execute the next working cycle.

[0111] It can be understood that the process stations of the orientation positioning assembly 800 and the oil injection assembly 900 are not limited to the above-mentioned one. Based on the overall layout of the assembly device, the orientation, oil injection and assembly grabbing of the cup 420 can be arranged in a non-linear manner, thereby improving the compactness of the device. At this time, the transfer assembly 700 needs to increase the horizontal movement degree of freedom of the inner support grabbing head 770, so as to ensure that the inner support grabbing head 770 can transfer the cup 420 between multiple stations. Specifically, the transmission form between the transverse sliding rail 720 and the transfer sliding table 730 can be replaced by an X-Y double-shaft sliding table on the horizontal plane. Through the driving in two directions on the horizontal plane, the inner support grabbing head 770 can be flexibly transferred on the horizontal plane coordinates, thereby improving the overall adaptability of the device.

[0112] As shown in FIG. 6, the cup pressing assembly 800 includes a cup pressing frame 810 fixedly arranged on the working frame 100, a cup pressing cylinder 820 fixedly arranged on the cup pressing frame 810, and a cup orientation positioning mechanism 830 fixedly arranged on the output end of the cup pressing cylinder 820. Figure 1 , Figure 2As shown, the valve block tool includes a transposition guide rail 310 fixedly arranged on the working frame 100, and an assembly table 320 is slidingly arranged on the transposition guide rail 310. Among them, the valve block 410 is installed on the assembly table 320 when assembling the cup 420, and the assembly table 320 can slide between the assembly stations of the two sets of cup pressing assembly components under the action of an external power device.

[0113] It can be understood that when one of the cup pressing assembly components performs forward cup 420 pressing on the valve block 410 at the assembly station, the assembly table 320 at this position is transferred to the assembly station of the other cup pressing assembly component and performs reverse cup 420 pressing; or when one of the cup pressing assembly components performs reverse cup 420 pressing on the valve block 410 at the assembly station, the assembly table 320 at this position is transferred to the assembly station of the other cup pressing assembly component and performs forward cup 420 pressing.

[0114] The embodiment of the application provides a cup shaping method, which is suitable for the cup assembly equipment in the above-mentioned embodiment 3, and includes the following steps: S1, before cup 420 assembly, the cup 420 is oriented in forward and reverse directions, so that the orientation of the cup 420 matches the target of the corresponding cup pressing assembly component; S2, corresponding shaping actions are performed on cups 420 with different orientations; in step S2, for the cup 420 with the slotted end 422 oriented away from the ground side, the gripping sleeve 623 and the limiting table 637 move away from the ground side, and the outer circular surface of the limiting table 637 is used to realize the contact shaping of the inner ring surface of the cup 420; for the cup 420 with the closed end 421 oriented away from the ground side, the gripping sleeve 623 and the limiting table 637 move towards the ground side, and the outer circular surface of the gripping sleeve 623 is used to realize the contact shaping of the inner ring surface of the cup 420.

[0115] In step S2, the following steps are further included: when the valve block 410 has multiple embedding grooves 412 for installing forward cups 420, in the direction from the ground to the side of the cup pressing assembly component, the cup pressing assembly component sequentially performs the pressing and shaping actions of the forward cup 420 on the multiple embedding grooves 412; when the valve block 410 has multiple embedding grooves 412 for installing reverse cups 420, in the direction from the cup pressing assembly component to the ground side, the cup pressing assembly component sequentially performs the pressing and shaping actions of the reverse cup 420 on the multiple embedding grooves 412.

[0116] In step S2, the following steps are further included: for the cup 420 with the closed end 421 oriented away from the ground side, the gripping sleeve 623 and the limiting table 637 move back and forth along the axial direction of the cup 420 twice, and the outer circular surface of the gripping sleeve 623 is used to realize the contact shaping of the inner ring surface of the cup 420 twice.

[0117] Before step S2, further comprising: after the cup press assembly moves the cup 420 to the corresponding position of the embedding groove 412, the driven lever 632 swings and pushes the cup 420 into the embedding groove 412 through the lever head 638; the grabbing sleeve 623, the driven lever 632 and the limiting table 637 rotate at least 180° about the center axis of the grabbing sleeve 623.

[0118] It can be understood that the rotation of the grabbing sleeve 623, the driven lever 632 and the limiting table 637 is to press the inner ring surface of the cup 420 in the circumferential direction through the lever head 638, so that the cup 420 is further embedded in the embedding groove 412, and on the other hand, since the grabbing sleeve 623 and the limiting table 637 are provided with the probe groove 633 and the guide groove 634, and the cup 420 is only subjected to a one-way force through the lever head 638 during the initial press assembly, if the cup press assembly directly performs a shaping action on the cup 420, the cup 420 may be deformed and taken out by the cup press assembly through the probe groove 633 and the guide groove 634 when the cup press assembly is separated from the valve block 410, resulting in assembly failure, and the staff needs to handle it manually, which greatly affects the assembly efficiency of the cup 420, and when the grabbing sleeve 623, the driven lever 632 and the limiting table 637 rotate more than 180°, the positions of the probe groove 633 and the guide groove 634 are also adjusted synchronously, so that the above problems are avoided.

[0119] After step S2, further comprising: the driven lever 632 and the lever head 638 rotate back, and the cup press assembly performs the cup 420 press assembly and shaping cycle of the next station.

[0120] The embodiments of the application are described above in combination with the drawings, but the application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative but not restrictive, and those skilled in the art can make many forms under the inspiration of the application without departing from the scope of the application and the protection scope of the claims, which are all within the protection scope of the application.

Claims

1. A bowl assembly apparatus, wherein, The utility model relates to a valve block automatic assembly device, including: a working frame; a valve block tool mounted on the working frame and arranged to position the valve block; a leather cup feeding device arranged to automatically feed the leather cup to a direction orientation station of a direction orientation assembly; the direction orientation assembly arranged to orient and adjust the front and back of the leather cup fed by the leather cup feeding device; a leather cup pressing assembly capable of grabbing the oriented leather cup and pressing it into the valve block on the valve block tool; wherein the leather cup feeding device, the direction orientation assembly and the leather cup pressing assembly are each provided with two groups on the working frame, and the two groups of the leather cup feeding device, the direction orientation assembly and the leather cup pressing assembly are arranged to cooperate to assemble the forward leather cup with the slotted end facing away from the working frame and the reverse leather cup with the closed end facing away from the working frame; the leather cup pressing assembly includes a mechanical arm assembly fixedly arranged on the working frame and a grabbing and pressing assembly coupled with the mechanical arm assembly, the grabbing and pressing assembly includes a grabbing sleeve fixedly connected with a driving assembly of the mechanical arm assembly, an adapter guide rod is fixedly connected and penetrates through the grabbing sleeve, the adapter guide rod extends to the side of the grabbing sleeve close to the working frame at the end close to the working frame and is fixedly provided with a limiting table, a receiving gap is arranged between the limiting table and the end of the grabbing sleeve close to the working frame; the leather cup pressing assembly further includes a receiving mechanism arranged to press the leather cup into an oval shape and incline it to be pressed into the grabbing sleeve, and a releasing assembly arranged on the grabbing sleeve and arranged to push the leather cup in the grabbing sleeve out to the receiving gap position, the releasing assembly includes a driven pry bar hingedly arranged in the grabbing sleeve, the end of the driven pry bar close to the working frame extends to the corresponding position of the receiving gap and is fixedly provided with a pry head; in the grabbing and pressing assembly arranged to assemble the forward leather cup, the outer cylindrical surface of the grabbing sleeve is gap-fitted with the inner wall of the valve hole, the diameter of the limiting table matches the inner ring diameter of the leather cup, and the diameter of the grabbing sleeve is greater than the diameter of the limiting table; in the grabbing and pressing assembly arranged to assemble the reverse leather cup, the diameter of the grabbing sleeve matches the inner ring diameter of the leather cup, and the diameter of the limiting table is smaller than the diameter of the grabbing sleeve; when the leather cup is received in the grabbing sleeve, the part of the leather cup close to the working frame corresponds to the position of the driven pry bar, and when the driven pry bar swings relative to the grabbing sleeve, the pry head can abut the inner ring surface of the corresponding side of the leather cup to push the corresponding part of the leather cup into the embedding groove.

2. The bowl assembly apparatus of claim 1, wherein, in the grabbing and pressing assembly arranged to assemble the forward leather cup, the edge of the end face of the limiting table away from the working frame is provided with a chamfer; in the grabbing and pressing assembly arranged 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.

3. The bowl assembly apparatus of claim 1, wherein, a probe groove is arranged along the axial direction of the grabbing sleeve, the end of the grabbing sleeve close to the working frame is provided with a guide groove coaxial with the probe groove, and the probe groove and the guide groove are located on the opposite side of the pry head with respect to the central axis of the grabbing sleeve; wherein the receiving mechanism includes a top plate capable of moving axially along the grabbing sleeve and being inserted into the probe groove and the guide groove, and when the top plate moves away from the working frame and passes through the probe groove and the guide groove, it can push the leather cup at the receiving gap position into the grabbing sleeve in an oval shape.

4. The bowl assembly apparatus of claim 1, wherein, The orientation positioning assembly comprises a telescopic cylinder fixedly arranged on the working frame, a visual sensor, a placing table fixedly arranged on the telescopic end of the telescopic cylinder, and a containing groove capable of containing the output leather bowl of the leather bowl placing device arranged on the placing table; The working frame is further provided with a support fixedly arranged thereon, the support is provided with an electric sliding table capable of moving towards or away from the placing table, a turnover motor is fixedly arranged on the electric sliding table, and a fork is arranged on the output end of the turnover motor; In the retracted state of the telescopic cylinder, the containing groove on the placing table corresponds to the output end of the leather bowl placing device; In the extended state of the telescopic cylinder, the containing groove on the placing table corresponds to the turnover motor.

5. The bowl assembly apparatus of claim 1, wherein, Further comprising an oil spraying assembly arranged to spray oil around the leather bowl after orientation, and a transfer assembly arranged to transfer the leather bowl between the leather bowl pressing assembly grabbing station, the orientation positioning assembly orientation station and the oil spraying assembly oil spraying station.

6. The bowl assembly apparatus of claim 5, wherein, The oil spraying assembly comprises an oil spraying support fixedly arranged on the working frame, and an oil sprayer fixedly arranged on the oil spraying support; The oil spraying support is provided with an oil receiving groove and a sewage discharge pipeline arranged to discharge the oil in the oil receiving groove at the oil spraying station of the oil sprayer.

7. A bowl assembly apparatus according to claim 5 or 6, wherein, The transfer assembly comprises a support frame fixedly arranged on the working frame, a horizontal sliding rail fixedly arranged on the support frame, a transfer sliding table slidingly arranged on the horizontal sliding rail, a lifting cylinder fixedly arranged on the transfer sliding table, a lifting sliding table fixedly arranged on the output end of the lifting cylinder, a steering motor fixedly arranged on the lifting sliding table, and an inner support grabbing head fixedly arranged on the output end of the steering motor; The transfer sliding table is capable of moving along the length direction of the horizontal sliding rail under the action of an external power device, and the orientation station of the orientation positioning assembly and the oil spraying station of the oil spraying assembly are located on the moving track of the inner support grabbing head.

8. The bowl assembly apparatus of claim 1, wherein, The valve block tooling comprises a transposition guide rail fixedly arranged on the working frame, and an assembly table slidingly arranged on the transposition guide rail; The valve block is mounted on the assembly table when the leather bowl is assembled, and the assembly table is capable of sliding between the assembly stations of the two leather bowl pressing assemblies under the action of an external power device.

9. A method of shaping a leather cup, wherein, The leather bowl assembly equipment suitable for any one of claims 1 to 8 comprises: Before the leather bowl is assembled, the leather bowl is oriented in the forward direction and the reverse direction, so that the orientation of the leather bowl matches the target of the corresponding position of the leather bowl pressing assembly; After the leather bowl pressing assembly moves the leather bowl to the corresponding position of the embedding groove, the driven lever swings and pushes the leather bowl into the embedding groove through the lever head; The grabbing sleeve, the driven lever and the limiting table rotate at least 180° about the center axis of the grabbing sleeve; Different shaping actions are performed on the leather bowls with different orientations; Specifically, for the leather bowl with the slotted end oriented away from the ground, the grabbing sleeve and the limiting table move away from the ground, and the limiting table outer circular surface realizes the contact shaping of the inner ring surface of the leather bowl; For the leather bowl with the closed end oriented away from the ground, the grabbing sleeve and the limiting table move towards the ground, and the grabbing sleeve outer circular surface realizes the contact shaping of the inner ring surface of the leather bowl. Further comprising:

10. The bowl shaping method of claim 9, wherein, ​ When the valve block has multiple embedding slots for installing the positive skin bowl, the skin bowl press-fitting assembly performs the press-fitting and shaping actions of the positive skin bowl on the multiple embedding slots in sequence from the ground to the side of the skin bowl press-fitting assembly; When the valve block has multiple embedding slots for installing the negative skin bowl, the skin bowl press-fitting assembly performs the press-fitting and shaping actions of the negative skin bowl on the multiple embedding slots in sequence from the side of the skin bowl press-fitting assembly to the ground.

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