Electromagnetic valve element assembly assembling device and control method thereof

Abstract

The invention relates to the technical field of electromagnetic valves, in particular to an electromagnetic valve element assembly assembling device and a control method thereof. The device comprises a rack and a controller, and the rack is provided with a rotating disc module, a feeding and discharging module, a lower sealing gasket assembling module, a spring conveying module, an upper sealing gasket assembling pre-pressing module, an upper sealing gasket pressure supplementing module, a detection module and a transferring and discharging module. The rotating disc module, the feeding and discharging module, the lower sealing gasket assembling module, the spring conveying module, the upper sealing gasket assembling pre-pressing module, the upper sealing gasket pressure supplementing module, the detection module and the transfer discharging module are all electrically connected with the controller. And the feeding and discharging module, the lower sealing gasket assembling module, the spring conveying module, the upper sealing gasket assembling pre-pressing module, the upper sealing gasket pressure supplementing module, the detection module and the transfer discharging module are sequentially arranged on the circumference of the rotating disc module. The electromagnetic valve element assembly assembling device is low in labor cost, high in assembling efficiency and low in defective rate.

Description

Technical Field

[0001] The present invention relates to the technical field of solenoid valves, and in particular to a solenoid valve core assembly device and a control method thereof. Background Art

[0002] The valve core assembly is an important component of the solenoid valve, which is mainly composed of a valve core, a lower sealing gasket, a spring and an upper sealing gasket. However, in the prior art, the assembly of the valve core, the lower sealing gasket, the spring and the upper sealing gasket requires workers to perform the assembly, which not only requires high labor costs, but also has low assembly efficiency and is prone to defective products, resulting in a high defective rate. Summary of the invention

[0003] The technical solution to be solved by the present invention is to provide an assembly device for a solenoid valve core assembly and a control method thereof with low labor cost, high assembly efficiency and low defective rate.

[0004] The technical solution adopted by the present invention is: an assembly device for a solenoid valve core assembly, which includes a frame and a controller, on which a turntable module, a loading and unloading module, a lower sealing gasket assembly module, a spring conveying module, an upper sealing gasket assembly pre-compression module, an upper sealing gasket pressure replenishing module, a detection module and a transfer unloading module are arranged, and the turntable module, the loading and unloading module, the lower sealing gasket assembly module, the spring conveying module, the upper sealing gasket assembly pre-compression module, the upper sealing gasket pressure replenishing module, the detection module and the transfer unloading module are all electrically connected to the controller, and the loading and unloading module, the lower sealing gasket assembly module, the spring conveying module, the upper sealing gasket assembly pre-compression module, the upper sealing gasket pressure replenishing module, the detection module and the transfer unloading module are sequentially arranged on the circumference of the turntable module, wherein:

[0005] The turntable module is used to transport the valve core components in different states to the corresponding module positions;

[0006] The loading and unloading module is used to transport the valve core to the turntable module and take out the assembled valve core assembly on the transfer unloading module;

[0007] A lower sealing gasket assembly module is used to install the lower sealing gasket into the valve core;

[0008] A spring delivery module, used for delivering the spring into the valve core equipped with the lower sealing gasket;

[0009] The upper sealing gasket assembly pre-pressing module is used to convey the upper sealing gasket into the valve core equipped with the lower sealing gasket and the spring, and pre-press the upper sealing gasket into the valve core;

[0010] The upper sealing gasket pressure supplementing module is used to completely press the upper sealing gasket into the valve core;

[0011] Detection module, used to detect the assembled valve core assembly;

[0012] The transfer unloading module is used to transport the valve core components that have been inspected from the inspection module to the unloading position.

[0013] Preferably, the turntable module includes a cam divider fixed on a frame, a first motor for driving the cam divider, a moving plate connected to an output shaft of the cam divider, a stationary plate connected to the cam divider, a carrier evenly arranged on an upper end surface of the moving plate, a support pad arranged on a lower end surface of the moving plate and corresponding to a position of the carrier, a first photoelectric sensor evenly arranged on an upper end surface of the stationary plate and corresponding to a position of the carrier, a receiving hole for accommodating a valve core and an elastic mechanism for resisting one side of a valve core assembly accommodated in the receiving hole are provided on the carrier, the elastic mechanism includes a stopper fixed in the carrier, a tongue piece slidably connected in the carrier and used to resist one side of the valve core assembly accommodated in the receiving hole, and a first elastic member having one end resisting the stopper and the other end resisting the tongue piece, and a V-shaped abutting surface for resisting the other side of the valve core assembly is also provided in the receiving hole.

[0014] Preferably, the loading and unloading module includes a support frame, a carrier frame sliding vertically on the support frame, a second motor for driving the carrier frame to move vertically, a carrier placed on the carrier frame, a pulling-out mechanism for pulling the carrier frame horizontally out of the carrier frame, a first manipulator assembly for taking out a valve core placed on the carrier, a second manipulator assembly for taking out the valve core assembly assembled on the transfer unloading module, a first moving mechanism arranged on the frame for driving the first manipulator assembly and the second manipulator assembly to move horizontally and vertically, the carrier frame is provided with a limiting mechanism for limiting arbitrary movement of the carrier, the limiting mechanism includes a blocking member for blocking the carrier, a blocking member for driving the blocking member to move and then release The pull rod of the carrier and the second elastic member for driving the pull rod to reset, the pulling-out mechanism includes a slide for the carrier to slide horizontally, a locking assembly for locking the carrier and a third motor for driving the locking assembly to move horizontally, and embedding grooves are respectively provided on both sides of the front of the carrier, the locking assembly includes a limit block for extending into the embedding groove to limit the carrier and a locking plate for resisting the carrier to lock the carrier, one side of the slide is also provided with a supporting mechanism for resisting the carrier sliding on the slide, the supporting mechanism includes a pressure plate fixed on the slide, a pressure block for resisting the carrier and a third elastic member with one end resisting the pressure plate and the other end resisting the pressure block, and the pressure block is used to resist the side of the carrier as an arc surface.

[0015] Preferably, the lower sealing gasket assembly module includes a first vibration plate, a first assembly seat for receiving the lower sealing gasket delivered by the first vibration plate, a first vacuum adsorption component for adsorbing the lower sealing gasket, a second moving mechanism for driving the first vacuum adsorption component to move horizontally and vertically, and a first detection mechanism for detecting whether the lower sealing gasket is placed in the valve core. The first assembly seat includes a first seat body, a first receiving groove arranged in the first seat body for receiving the lower sealing gasket delivered from the first vibration plate, a second receiving groove arranged on one side of the first receiving groove and connected to the first receiving groove, and a first pushing mechanism for pushing the lower sealing gasket in the first receiving groove into the second receiving groove. A detection hole is arranged at the bottom of the carrier. The first detection mechanism includes a detection seat, a slider slidably connected to the detection seat, a detection rod arranged on the top of the slider for passing through the detection hole and extending into the valve core placed in the carrier, and a second photoelectric sensor arranged on the detection seat for detecting the position of the slider.

[0016] Preferably, the spring conveying module includes a second vibration disk, a material receiving head for receiving the spring conveyed by the second vibration disk, a material blocking mechanism for extending into the material receiving head and then blocking or releasing the material receiving head, a blanking head fixed on the static disk for guiding the spring into the valve core placed on the carrier, a material guide pipe connecting the material receiving head and the blanking head, and a second detection mechanism for detecting whether the spring falls from the material guide pipe into the blanking head, the material blocking mechanism includes a first material blocking shaft for extending into the material receiving head and then blocking the spring and a second material blocking shaft for extending into the material receiving head and then blocking the spring, and the distance between the first material blocking shaft and the second material blocking shaft is the length of a spring, and the second detection mechanism is a proximity switch arranged on the material receiving pipe.

[0017] Preferably, the upper sealing gasket assembly pre-pressing module includes a third vibration disk, a second assembly seat for receiving the upper sealing gasket delivered by the third vibration disk, a second vacuum adsorption component for adsorbing the upper sealing gasket, a pre-pressing head for pre-pressing the upper sealing gasket placed on the valve core into the valve core, and a third moving mechanism for driving the second vacuum adsorption component and the pre-pressing head to move horizontally and vertically, the second assembly seat includes a second seat body, a third accommodating groove arranged in the second seat body for receiving the upper sealing gasket delivered from the third vibration disk, a fourth accommodating groove arranged on one side of the third accommodating groove and connected to the third accommodating groove, a second pushing mechanism for pushing the upper sealing gasket in the third accommodating groove into the fourth accommodating groove, and the static plate is also provided with a through hole for the pre-pressing head to extend into.

[0018] Preferably, the upper sealing gasket pressure replenishing module includes a support seat, a pressure replenishing mechanism arranged on the support seat for replenishing the pressure of the upper sealing gasket into the valve core, and a follower arranged on the frame for resisting the support pad.

[0019] Preferably, the detection module includes a fixed seat fixed on the frame, a rotating carrier rotatably connected to the side of the fixed seat away from the turntable membrane group for placing the assembled valve core assembly, a rotating seat rotatably connected to the upper end surface of the fixed seat, a rotating connecting plate that vertically slides on the rotating seat through a connecting piece, a third manipulator assembly arranged on one side of the rotating connecting plate, a fourth manipulator assembly arranged on the other side of the rotating connecting plate, a first camera for detecting whether the upper sealing gasket in the valve core assembly placed on the rotating carrier is completely pressed in, and a second camera for detecting whether there are burrs on the valve core in the valve core assembly placed on the rotating carrier.

[0020] Preferably, the transfer unloading module includes a fifth manipulator assembly for grabbing the valve core assembly placed on the carrier for inspection, a fourth moving mechanism for driving the fifth manipulator assembly to move vertically and horizontally, a sliding table arranged on the frame, and a moving carrier sliding on the sliding table.

[0021] A control method for an assembly device of a solenoid valve core assembly comprises the following steps:

[0022] S1. Place the carrier plate with the valve core on the carrier plate rack, control the limit mechanism to release the carrier plate, and control the pull-out mechanism to move the carrier plate to the loading position;

[0023] S2, controlling the first moving mechanism and the first manipulator assembly to place the valve core on the carrier plate onto the carrier of the turntable module;

[0024] S3, controlling the first motor to drive the moving disk to rotate one station;

[0025] S4, controlling the first vacuum adsorption assembly and the second moving mechanism to place the lower sealing gasket into the valve core placed on the carrier, and after the placement is completed, the first detection mechanism will detect whether the lower sealing gasket is placed in the valve core. If the first detection mechanism detects that the lower sealing gasket is not placed in the valve core, an alarm is issued; if the first detection mechanism detects that the lower sealing gasket is placed in the valve core, jump to the next step;

[0026] S5, controlling the first motor to drive the moving disk to rotate one station;

[0027] S6, control the material blocking mechanism to place the springs one by one into the valve core placed on the carrier and with the lower sealing gasket, and when placing the springs, the second detection mechanism will detect whether the springs are placed. If the second detection mechanism detects that the springs are not placed, an alarm is sounded; if the second detection mechanism detects that the springs are placed, jump to the next step;

[0028] S7, controlling the first motor to drive the moving disk to rotate one station;

[0029] S8, controlling the second vacuum adsorption assembly and the third moving mechanism to place the upper sealing gasket into the valve core placed on the carrier and containing the lower sealing gasket and the spring, and then controlling the third moving mechanism to pre-press the upper sealing gasket into the valve core through the pre-pressing head;

[0030] S9, controlling the first motor to drive the moving disk to rotate one station;

[0031] S10, control the pressure compensation mechanism to press down twice to completely press the upper sealing gasket into the valve core;

[0032] S11, controlling the first motor to drive the moving disk to rotate one station;

[0033] S12, control the third manipulator assembly and the fourth manipulator assembly to work, respectively grasp the valve core assembly that has been pressure-compensated and placed on the carrier, and the valve core assembly that has been tested and placed on the rotating carrier, control the rotating connecting plate to rise, move, and then control the rotating seat to rotate 180°, and then control the rotating connecting plate to descend, and then control the third manipulator assembly and the fourth manipulator assembly to work, loosen the valve core assembly that has been pressure-compensated and the valve core assembly that has been tested, and interchange the positions of the valve core assembly that has been pressure-compensated and the valve core assembly that has been tested, and then control the rotating carrier to rotate, and at the same time control the first camera and the second camera to work, and test the valve core assembly that has been pressure-compensated and placed on the rotating carrier, and when the first camera and the second camera detect that the valve core assembly that has been pressure-compensated has a problem, an alarm is triggered, and when the first camera and the second camera do not detect that the valve core assembly that has been pressure-compensated has no problem, jump to the next step;

[0034] S13, controlling the first motor to drive the moving disk to rotate one station;

[0035] S14, controlling the fifth manipulator and the fourth moving mechanism to place the valve core assembly after inspection onto the moving carrier, and then controlling the moving carrier to move to the unloading position;

[0036] S15, controlling the first motor to drive the moving disk to rotate one station;

[0037] S16, controlling the first moving mechanism and the second manipulator assembly to take out the valve core assembly on the movable carrier and place it on the carrier plate.

[0038] Compared with the prior art, the present invention has the following advantages: the valve core assembly is processed by a complete set of equipment, so that no workers are required, which greatly reduces labor costs, and all processes are completed here, with high processing efficiency, and because there are multiple inspections, the defective rate of processed products is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure of an assembly device for a solenoid valve core assembly of the present invention.

[0040] Figure 2 It is a structural schematic diagram of a turntable module in an assembly device of a solenoid valve core assembly of the present invention.

[0041] Figure 3 This is a schematic diagram of the structure of the vehicle in the turntable module.

[0042] Figure 4 This is a cross-sectional view of the vehicle in the turntable module.

[0043] Figure 5 It is a structural schematic diagram of a loading and unloading module in an assembly device of a solenoid valve core component of the present invention.

[0044] Figure 6 yes Figure 5 A magnified schematic diagram of center A.

[0045] Figure 7 yes Figure 5 A magnified schematic diagram of point B in the middle.

[0046] Figure 8 It is a structural schematic diagram of a lower sealing gasket assembly module in an assembly device for a solenoid valve core assembly of the present invention.

[0047] Fig. 9 It is a top view of the first assembly seat in the lower sealing gasket assembly module.

[0048] Fig.10 It is a structural schematic diagram of the first detection mechanism in the lower sealing gasket assembly module.

[0049] Fig.11 It is a structural schematic diagram of a spring conveying module in an assembly device of a solenoid valve core assembly of the present invention.

[0050] Fig.12 It is a structural schematic diagram of an upper sealing gasket assembly pre-compression module in an assembly device for a solenoid valve core assembly of the present invention.

[0051] Fig.13 It is a structural schematic diagram of the second assembly seat in the upper sealing gasket assembly pre-compression module.

[0052] Fig.14 It is a structural schematic diagram of an upper sealing gasket pressure-compensating module in an assembly device for a solenoid valve core assembly of the present invention.

[0053] Fig.15 It is a structural schematic diagram of a detection module in an assembly device of a solenoid valve core component of the present invention.

[0054] Fig.16 It is a structural schematic diagram of a transfer unloading module in an assembly device of a solenoid valve core component of the present invention.

[0055] As shown in the figure: 1. frame; 2. turntable module; 3. loading and unloading module; 4. lower sealing gasket assembly module; 5. spring conveying module; 6. upper sealing gasket assembly pre-compression module; 7. upper sealing gasket supplementary pressure module; 8. detection module; 9. transfer unloading module; 10. cam divider; 11. first motor; 12. moving plate; 13. static plate; 14. carrier; 15. support pad; 16. first photoelectric sensor; 17. accommodating hole; 18. stopper; 19. tongue; 20. first elastic member; 21. V-shaped abutment surface; 2 2. Support frame; 23. Plate carrier; 24. Second motor; 25. Plate carrier; 26. First manipulator assembly; 27. Second manipulator assembly; 28. First moving mechanism; 29. ​​Stopper; 30. Pull rod; 31. Second elastic member; 32. Slide; 33. Third motor; 34. Embedding slot; 35. Limit block; 36. Locking plate; 37. Press plate; 38. Press block; 39. Third elastic member; 40. First vibration plate; 41. First assembly seat; 42. First vacuum adsorption assembly; 43. Second moving mechanism; 44. 4. First detection mechanism; 45. First seat; 46. First accommodating groove; 47. Second accommodating groove; 48. First push-in mechanism; 49. Detection hole; 50. Detection seat; 51. Sliding block; 52. Detection rod; 53. Second photoelectric sensor; 54. Second vibration plate; 55. Material receiving head; 56. Material blanking head; 57. Material guide tube; 58. Second detection mechanism; 59. First material blocking shaft; 60. Second material blocking shaft; 61. Third vibration plate; 62. Second assembly seat; 63. Second vacuum adsorption component; 64. Pre-pressing head; 65. Third moving mechanism; 66. Second seat; 67. Third accommodating groove; 68. Fourth accommodating groove; 69. Second pushing mechanism; 70. Through hole; 71. Support seat; 72. Compensating pressure mechanism; 73. Follower; 74. Fixed seat; 75. Rotating carrier; 76. Rotating seat; 77. Rotating connecting plate; 78. Third manipulator assembly; 79. Fourth manipulator assembly; 80. First camera; 81. Second camera; 82. Fifth manipulator assembly; 83. Fourth moving mechanism; 84. Sliding table; 85. Moving carrier. DETAILED DESCRIPTION

[0056] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0057] Embodiment 1:

[0058] A solenoid valve core assembly assembly device, wherein the valve core assembly includes a valve core, a lower sealing gasket, a spring and an upper sealing gasket. The assembly is to sequentially install the lower sealing gasket, the spring and the upper sealing gasket into the valve core and then press them tightly.

[0059] The assembly device includes a frame 1, a controller, a turntable module 2, a loading and unloading module 3, a lower sealing gasket assembly module 4, a spring conveying module 5, an upper sealing gasket assembly pre-pressing module 6, an upper sealing gasket compensating module 7, a detection module 8 and a transfer unloading module 9, wherein:

[0060] Rack 1, for installation of each module;

[0061] Turntable module 2, such as Figure 2 As shown, it mainly includes a cam divider 10, a first motor 11, a moving disc 12 and a static disc 13. The cam divider 10 is installed on the frame 1. The first motor 11 is fixed to the cam divider 10 through a motor mounting plate to drive the cam divider 10 to work. The moving disc 12 is connected to the output shaft of the cam divider 10. The static disc 13 is fixed to the housing of the cam divider 10, so that the moving disc 12 will rotate when the first motor 11 is working, while the static disc 13 always remains stationary. In addition, eight carriers 14 are evenly arranged on the upper end surface of the circumference of the moving disc 12, and a support pad 15 is arranged on the lower end surface of the circumference of the moving disc 12 at a position corresponding to the carrier 14. The support pad 15 is mainly matched with the follower 73. First photoelectric sensors 16 are arranged at three positions on the static disc 13 corresponding to the detection module 8, the transfer unloading module 9 and the loading and unloading module 3 to detect whether a valve core is placed on the carriers 14 corresponding to the three modules.

[0062] Vehicle 14, such as Figure 3 and Figure 4 As shown, a receiving hole 17 is provided thereon for placing the valve core, and the cross-sectional shape of the receiving hole 17 is a rectangle plus a triangle. One side of the valve core placed in the receiving hole 17 is in contact with and abuts against the triangular part, that is, one side of the valve core is in contact with and abuts against the V-shaped abutting surface 21, and the other side is in contact with and abuts against the rectangular part, and an elastic mechanism is also provided at the rectangular part, the elastic mechanism mainly includes a tongue 19, a first elastic member 20 and a stopper 18, the tongue 19 can slide in the carrier 14 and be limited by the carrier 14, so that the other side of the valve core can be abutted by the tongue 19 to achieve better positioning of the valve core, and a through hole 70 is provided at the bottom of the receiving hole 17 for the detection rod 52 of the first detection mechanism 44 to extend into, the size of the through hole 70 is smaller than the size of the valve core, so that the valve core will not fall from the through hole 70, and an inspection hole is also provided on the outer side of the carrier 14 corresponding to the tongue 19, so that the tongue 19 is convenient to extend out of the carrier 14 for inspection, replacement and maintenance;

[0063] Loading and unloading module 3, such as Figure 5As shown, it mainly includes a support frame 22, a plate carrier frame 23, a second motor 24, a plate carrier 25, a pull-out mechanism, a first manipulator assembly 26, a second manipulator assembly 27 and a first moving mechanism 28, wherein: the support frame 22 is fixed on the frame 1, and the plate carrier frame 23 vertically slides on the support frame 22, that is, a guide rail is installed on the plate carrier frame 23, and a slider 51 is installed on the support frame 22, and slides on the guide rail through the slider 51;

[0064] The carrier frame 23 is provided with a plurality of slide grooves in the vertical direction for the carrier 25 to slide, and one end of each slide groove is provided with a whole piece of rotatable and lockable pressing plate, which can be used to support one end of the carrier 25, and the other end of each slide groove is provided with a limiting mechanism, such as Figure 6 As shown, it includes a blocking member 29, a pull rod 30 and a second elastic member 31. The blocking member 29 is used to block the other end of the carrier 25 placed in the slide groove. A protrusion is provided on the side of the blocking member 29 away from the slide groove. Two retaining rings for limiting the protrusions are provided on the pull rod 30, so that the blocking member 29 can be pulled by pulling the pull rod 30, and the pull rod 30 will not limit the vertical movement of the blocking member 29. The second elastic member 31 connects the carrier frame 23 and the protrusion. In this way, when the pull rod 30 does not pull the blocking member 29, the blocking member 29 will automatically reset and be in a state of blocking the carrier 25. There is also a cylinder at the rear end of the pull rod 30 to provide pulling force to the pull rod 30;

[0065] A carrier plate 25 is provided with a plurality of placement holes for placing the valve core or the assembled valve core assembly, and a T-shaped embedding groove 34 is provided at the front end of the carrier plate 25;

[0066] The second motor 24 is fixed on the frame 1, and a gear is arranged on its output shaft, and a rack is arranged on the plate carrier 23, so that the plate carrier 23 can be driven to move in the vertical direction through the cooperation of the gear and the rack;

[0067] The pulling mechanism includes a slide 32, a locking assembly and a third motor 33. The slide 32 is also provided with a slide groove, which matches the position of the slide groove on the carrier frame 23. That is, each time the carrier frame 23 descends or rises a gear, the slide groove on it is connected with the slide groove on the slide 32, and the carrier 25 can move along the slide groove to the slide 32. The locking assembly includes a T-shaped limit block 35 and a locking plate 36. The T-shaped limit block 35 can extend from the bottom into the T-shaped embedded groove 34 to limit the carrier 25. The locking plate 36 can move toward the carrier 25 to lock the carrier 25. The limit block 35 and the locking plate 36 are both driven by the cylinder to perform the action, and the third motor 33 can drive the locking assembly to move horizontally;

[0068] And abutment mechanism is also provided on one side of the slide 32, such as Figure 7As shown, the abutting mechanism includes a pressing plate 37, a pressing block 38 and a third elastic member 39. The pressing plate 37 is fixed on the slide 32, and the pressing block 38 is movable, one end of which extends out of the slide 32 and into the slide slot. When there is a carrier 25 in the slide slot, the pressing block 38 will abut the carrier 25 to prevent the carrier 25 from shaking left and right. The third elastic member 39 is arranged between the pressing plate 37 and the pressing block 38 to provide elastic force to the pressing block 38. Because the overall size of the slide slot is definitely larger than the carrier 25, an abutting mechanism is provided to prevent the carrier 25 from shaking when moving, so that the movement of the carrier 25 is more stable and the position is more accurate.

[0069] The first manipulator assembly 26 and the second manipulator assembly 27 are arranged on the first moving mechanism 28, and the two are arranged side by side, that is, the movement of the two is synchronous, the first manipulator assembly 26 can clamp the valve core, and the second manipulator assembly 27 can clamp the assembled valve core assembly, that is, they are synchronous when working, and then the valve core is placed on the carrier 14, and the assembled valve core assembly is placed on the carrier plate 25. The first moving mechanism 28 can drive the first manipulator assembly 26 and the second manipulator assembly 27 to move horizontally and vertically. This is a conventional product in the prior art, and the first manipulator assembly 26 and the second manipulator assembly 27 themselves are also conventional products, so the first moving mechanism 28, the first manipulator assembly 26 and the second manipulator assembly 27 are not described in detail here;

[0070] Lower sealing gasket assembly module 4, such as Figure 8 As shown, it includes a first vibration plate 40, a first assembly seat 41, a first vacuum adsorption component 42, a second moving mechanism 43 and a first detection mechanism 44, wherein:

[0071] The first vibration plate 40 is used to transport the lower sealing pad. It is a conventional product in the prior art, so it is not described in detail here. The first assembly seat 41, such as Fig. 9 As shown, it includes a first seat body 45 and a first pushing mechanism 48, a first slide groove is arranged in the first seat body 45, a sliding block is slidably connected in the first slide groove, a second slide groove perpendicular to the first slide groove and a third slide groove parallel to the first slide groove are arranged on the sliding block, a baffle is arranged in the third slide groove, a first receiving groove 46 is formed by the baffle plate, the first slide groove and the second slide groove, that is, the first receiving groove 46 is entered by the lower sealing gasket when it is conveyed from the first vibration plate 40; the first pushing mechanism 48 can push the sliding block to slide in the first slide groove, and when a lower sealing gasket is embedded in the first receiving groove 46, the first pushing mechanism 48 pushes the sliding block to make the sliding block move as a whole, and then a lower sealing gasket accommodated in the first receiving groove 46 moves to the second receiving groove 47 position together with the sliding block, that is, the position of the second receiving groove 47 is also in the first slide groove, and the position of the second receiving groove 47 is equivalent to the loading position;

[0072] The first vacuum adsorption assembly 42 is mainly used for vacuum adsorption or lowering the lower sealing pad, and is a conventional product of the prior art, so it is not elaborated in detail here;

[0073] The second moving mechanism 43, similar to the first moving mechanism 28, can drive the first vacuum adsorption assembly 42 to move horizontally and vertically, and is also a conventional product, so it is not elaborated in detail here;

[0074] The first detection mechanism 44, such as Fig.10 As shown, it includes a detection seat 50, a slider 51, a detection rod 52 and a second photoelectric sensor 53. The detection seat 50 is fixed on the frame 1, and the slider 51 is vertically slidably connected to the detection seat 50. The detection rod 52 is fixed on the top of the slider 51 and can rise vertically with the slider 51. The second photoelectric sensor 53 is fixed on the detection seat 50 to detect the position of the slider 51. When the lower sealing gasket is installed in the valve core, because the first vacuum adsorption component will resist the lower sealing gasket at this time, the detection rod 52 will hit the lower sealing gasket at this time, and the second photoelectric sensor 53 will detect the slider 51. When the lower sealing gasket is not installed in the valve core, the detection rod 52 will extend into the valve core, that is, the rising distance of the slider 51 becomes longer. At this time, the second photoelectric sensor 53 will not detect the slider 51, and it is judged that an abnormality occurs and an alarm is issued;

[0075] Spring conveying module 5, such as Fig.11 , including a second vibration plate 54, a material receiving head 55, a material blocking mechanism, a material blanking head 56, a material guide pipe 57 and a second detection mechanism 58, wherein:

[0076] The second vibration plate 54 is used for conveying springs and is a conventional product in the prior art, so it is not described in detail here;

[0077] The receiving head 55 is used to receive the spring delivered from the second vibrating plate 54, and a material blocking mechanism is arranged on the receiving head 55, which mainly includes a first material blocking shaft 59 and a second material blocking shaft 60. Both the first material blocking shaft 59 and the second material blocking shaft 60 can be extended into the receiving head 55 to block the spring, and the difference between the two is a spring distance, so that when working, the first material blocking shaft 59 is extended first, so that the spring falls and is then blocked by the second material blocking shaft 60, and then the first material blocking shaft 59 is extended again, at this time a spring is caught between the first material blocking shaft 59 and the second material blocking shaft 60, and then the second material blocking shaft 60 is extended, and at this time a spring will fall;

[0078] The blanking head 56 is arranged on the static plate 13 and is connected with the receiving head 55 through the guide pipe 57, so that the spring can slide along the guide pipe 57 to the blanking head 56 and finally fall from the blanking head 56 into the valve core where the lower sealing gasket is placed;

[0079] The second detection mechanism 58 is a proximity switch installed on the material guide tube 57 and can detect whether a spring has slipped off the material guide tube 57;

[0080] The upper sealing gasket is assembled into a pre-pressing die set 6, such as Fig.12 , including a third vibration plate 61, a second assembly seat 62, a second vacuum adsorption assembly 63, a pre-pressing head 64 and a third moving mechanism 65, wherein:

[0081] The third vibration plate 61 is used to transport the upper sealing pad and is a conventional product in the prior art, so it is not described in detail here;

[0082] The second assembly seat 62, such as Fig.13 As shown, like the first assembly seat 41, it includes a second seat body 66 and a second pushing mechanism 69, a fourth slide groove is arranged in the second seat body 66, a sliding block is slidably connected in the fourth slide groove, a fifth slide groove perpendicular to the fourth slide groove and a sixth slide groove parallel to the fourth slide groove are arranged on the sliding block, a baffle is arranged in the sixth slide groove, a third accommodating groove 67 is formed by the baffle plate, the fourth slide groove and the fifth slide groove, that is, the upper sealing gasket first enters the third accommodating groove 67 when it is conveyed from the third vibration plate 61; the second pushing mechanism 69 can push the sliding block to slide in the fourth slide groove, and when an upper sealing gasket is embedded in the third accommodating groove 67, the second pushing mechanism 69 pushes the sliding block so that the sliding block moves as a whole, and then an upper sealing gasket accommodated in the third accommodating groove 67 moves to the fourth accommodating groove 68 position together with the sliding block, that is, the fourth accommodating groove 68 position is in the fourth slide groove, and the fourth accommodating groove 68 position is equivalent to the loading position;

[0083] The second vacuum adsorption assembly 63 is mainly used for vacuum adsorption or lowering the upper sealing pad, and is a conventional product of the prior art, so it is not elaborated in detail here;

[0084] The pre-pressing head 64 and the second vacuum adsorption assembly 63 are fixed on the third moving mechanism 65, which is made of eutectic material;

[0085] The third moving mechanism 65 is similar to the second moving mechanism 43 and can drive the second vacuum adsorption assembly 63 and the pre-pressing head 64 to move horizontally and vertically. It is also a conventional product, so it is not elaborated in detail here;

[0086] Because the second vacuum adsorption assembly 63 and the pre-pressing head 64 work synchronously, that is, when the second vacuum adsorption assembly 63 adsorbs the upper sealing gasket on the second assembly seat 62, the pre-pressing head 64 will pre-press the valve core installed with the upper sealing gasket; when the second vacuum adsorption assembly 63 puts the upper sealing gasket into the valve core, the pre-pressing head 64 will extend into the through hole 70 of the static plate 13;

[0087] Upper sealing pad pressure compensation module 7, such as Fig.14As shown, it includes a support seat 71, a pressure compensation mechanism 72 and a follower 73. The support seat 71 is fixed on the frame 1. The pressure compensation mechanism 72 is a press and the pressure head of the press is made of eucalyptus material. The follower 73 is fixed on the frame 1, and mainly includes a support block fixed on the frame 1, a fixed block fixed on the support block, and a rotating circle rotatably connected to the fixed block. The position of the rotating circle will match the supporting pad 15, so that when compensating the pressure, the rotating circle on the follower 73 will resist the supporting pad 15, play a certain supporting role, and the rotating circle of the moving plate 12 will also be driven to rotate by the supporting pad 15 when the moving plate 12 rotates, which will not affect the rotation of the moving plate 12;

[0088] Detection module 8, such as Fig.15 As shown, it includes a fixed seat 74, a rotating seat 75, a rotating seat 76, a rotating connecting plate 77, a third robot assembly 78, a fourth robot assembly 79, a first camera 80 and a second camera 81, wherein:

[0089] A fixing seat 74, fixed on the frame 1;

[0090] The rotating carrier 75 is horizontally connected to the fixed seat 74 on the side away from the turntable module 2, and is mainly used for placing and testing the assembled valve core assembly;

[0091] The rotating seat 76 is rotatably connected to the upper end surface of the fixed seat 74;

[0092] The rotating connecting plate 77 slides vertically on the rotating seat 76 through the connecting piece, that is, the rotating connecting plate 77 can rotate horizontally with the rotating seat 76 and can also move vertically on the rotating seat 76;

[0093] The third manipulator assembly 78 and the fourth manipulator assembly 79 are respectively connected to both sides of the rotating connecting plate 77, and are used to grasp the valve core assembly assembled on the carrier 14 and the valve core assembly inspected on the rotating carrier 75. Since the third manipulator assembly 78 and the fourth manipulator assembly 79 are conventional products of the prior art, their specific structures are not described in detail herein.

[0094] The first camera 80 is fixed on the frame 1 through a camera bracket, facing the valve core assembly placed on the rotating carrier 75, and is used to detect whether the upper sealing gasket on the valve core assembly is installed. This is mainly achieved through image recognition technology, that is, the first camera 80 takes a photo of the valve core assembly and then transmits it to the computer, and recognizes it through the existing computer image recognition algorithm. Because this image recognition algorithm is a relatively conventional technology in the prior art, it is not elaborated in detail here;

[0095] The second camera 81 is fixed on the frame 1 through another camera bracket, facing the valve core assembly placed on the rotating carrier 75, and is used to detect whether there are burrs on the valve core assembly when it is installed. This is mainly achieved through image recognition technology, that is, the second camera 81 takes a photo of the valve core assembly and then transmits it to the computer, and recognizes it through the existing computer image recognition algorithm. Because this image recognition algorithm is a relatively conventional technology in the prior art, it is not elaborated in detail here;

[0096] The transfer unloading module 9 includes a fifth manipulator assembly 82, a fourth moving mechanism 83, a sliding platform 84 and a moving carrier 85, wherein:

[0097] A triangular support plate is fixed on the frame 1, the fourth moving mechanism 83 is installed on the triangular support plate, and then the fifth manipulator assembly 82 is installed on the fourth moving mechanism 83, so that the fifth manipulator assembly 82 can be driven by the fourth moving mechanism 83 to move and grasp the valve core assembly that has been tested and placed on the carrier 14, and the fifth manipulator assembly 82 and the fourth moving mechanism 83 are both conventional products of the prior art, so they are not elaborated in detail here;

[0098] The sliding platform 84 is fixed on the frame 1 for the movable carrier 85 to slide;

[0099] The movable carrier 85 slides horizontally on the sliding platform 84, and the sliding of the movable carrier 85 on the sliding platform 84 is driven by a cylinder. A placement position for placing the valve core assembly is provided on the movable carrier 85, which is used to transport the valve core assembly after inspection to the unloading position, and the unloading position is located next to the carrier 14 corresponding to the position of the loading and unloading module 3, so that the first manipulator assembly 26 and the second manipulator assembly 27 on the loading and unloading module 3 can simultaneously place the valve core into the carrier 14 and grab the valve core assembly on the movable carrier 85;

[0100] The controller mainly includes two parts: one is a PLC controller, which is used to control each module, mainly to control the cylinder, motor, moving mechanism, manipulator assembly, vacuum adsorption assembly and each sensor; the other is a computer, which is mainly used to receive the images transmitted by the first camera 80 and the second camera 81 and then detect whether the valve core assembly meets the requirements according to the images;

[0101] A control method for an assembly device of a solenoid valve core assembly comprises the following steps:

[0102] S1. The user places the carrier plate 25 with the valve core placed on it into the slide groove of the carrier plate rack 23, controls the second motor 24 to drive the carrier plate rack 23 to move vertically, aligns the slide groove with the carrier plate 25 with the slide groove on the slide 32, and then controls the limit mechanism to release the carrier plate 25 (mainly by pulling the pull rod 30 by the cylinder to drive the blocking member 29, at this time there is no obstruction between the carrier plate 25 and the slide 32), and then controls the pulling mechanism to lock the carrier plate 25 (mainly by driving the limit block 35 to rise and embed into the carrier plate 25). The locking plate 36 is then driven to move toward the carrier plate 25 to press the carrier plate 25), and then the carrier plate 25 is pulled to the loading position on the slide 32 (mainly driven by the third motor 33 to move the carrier plate 25 to the loading position on the slide 32, and when the carrier plate 25 moves to the slide 32, the pressing block 38 on the slide 32 will press against the carrier plate 25 under the elastic force of the first elastic member 20, so that the movement of the carrier plate 25 remains stable);

[0103] S2, control the first moving mechanism 28 to move the first manipulator assembly 26 to the top of the carrier 25 and control the first manipulator assembly 26 to grab the valve core on the carrier 25, then control the first moving mechanism 28 to drive the first manipulator assembly 26 to move to the loading position (that is, at this time, the first manipulator assembly 26 is above the carrier 14 corresponding to the loading and unloading module 3 in the turntable assembly), and at the same time, the second manipulator assembly 27 will also follow the first moving mechanism 28 to move to the unloading position (that is, at this time, the second manipulator assembly 27 is above the mobile carrier 85 in the transfer unloading module 9 that is in the unloading position), control the first manipulator assembly 26 to put the grabbed valve core into the carrier 14 (at this time, one side of the valve core will be abutted by the V-shaped abutment surface 21, and the other side will be abutted by the tongue 19), and at the same time control the second manipulator assembly 27 to grab the valve core assembly that has been inspected on the mobile carrier 85, and then control the first moving mechanism 28 and the second manipulator assembly 27 to put the valve core assembly on the second manipulator assembly 27 onto the carrier 25;

[0104] S3, controlling the movable disk 12 to rotate one station (mainly by controlling the first motor 11 to drive the cam divider 10, and then driving the movable disk 12 to accurately rotate one station through the cam divider 10);

[0105] S4, the lower sealing gasket will be input into the first receiving groove 46 of the first assembly seat 41 under the action of the first vibration plate 40, and then the first pushing mechanism 48 will push the lower sealing gasket into the second receiving groove 47, and then the first vacuum adsorption component 42 will be driven by the second moving mechanism 43 to move to the upper part of the second receiving groove 47 to adsorb the lower sealing gasket, and then driven by the second moving mechanism 43 to move to the carrier 14 that has rotated one station and put the adsorbed lower sealing gasket into the valve core placed on the carrier 14, and then the first detection mechanism 44 will detect whether the lower sealing gasket is placed in the valve core (the detection principle is that the first vacuum adsorption component 42 The lower sealing gasket will be placed in the valve core and pressed against the lower sealing gasket, and then the detection rod 52 of the first detection mechanism 44 will rise. When the lower sealing gasket is placed in the valve core, the detection rod 52 will press against the lower sealing gasket. At this time, the detection rod 52 rises by a distance A, and the second photoelectric sensor 53 does not sense it. It is judged that the lower sealing gasket is placed in the valve core at this time. When the lower sealing gasket is not placed in the valve core, the detection rod 52 will extend into the interior of the valve core. At this time, the detection rod 52 rises by a distance B, and B is greater than A. The second photoelectric sensor 53 senses it, and it is judged that the lower sealing gasket is not placed in the valve core at this time). If it is placed in, continue to run the next step. If not, an alarm is triggered;

[0106] S5, control the movable plate 12 to rotate one station;

[0107] S6, the spring will be input into the material receiving head 55 under the action of the second vibration plate 54, and then the first material blocking shaft 59 and the second material blocking shaft 60 will work to make only one spring slide from the material guide tube 57 into the material dropping head 56 in sequence (that is, firstly, the first material blocking shaft 59 and the second material blocking shaft 60 are both in the state of being inserted into the material receiving head 55, first the first material blocking shaft 59 extends out of the material receiving head 55, at this time one spring falls into and is blocked by the second material blocking shaft 60, and then the first material blocking shaft 59 is inserted into the material receiving head 55 again, at this time the spring is in the state of the first material blocking shaft 5 9 and the second material-blocking shaft 60, and the other springs are blocked by the first material-blocking shaft 59. At this time, the second material-blocking shaft 60 is controlled to extend out of the material-connecting head 55, and the spring located between the first material-blocking shaft 59 and the second material-blocking shaft 60 will fall into the guide tube 57), and finally fall from the blanking head 56 into the valve core equipped with the lower sealing gasket, and at the same time, the second detection mechanism 58 (i.e., the proximity switch) will detect whether there is a spring falling from the guide tube 57 into the blanking head 56. If there is a spring falling into the blanking head 56, the next step will be continued, and if not, an alarm will be issued;

[0108] S7, control the movable plate 12 to rotate one station;

[0109] S8, the upper sealing gasket will be input into the third receiving groove 67 of the second assembly seat 62 under the action of the third vibration plate 61, and then the second pushing mechanism 69 will push the upper sealing gasket into the fourth receiving groove 68, and then the second vacuum adsorption component 63 will be driven by the third moving mechanism 65 to move to the top of the fourth receiving groove 68 to adsorb the upper sealing gasket, and then driven by the third moving mechanism 65 to move to the carrier 14 that has rotated one station and put the adsorbed upper sealing gasket into the valve core placed on the carrier 14, and then the third moving mechanism 65 will continue to drive the second vacuum adsorption component 63 to go back to adsorb the upper sealing gasket, and at the same time the third moving mechanism 65 will drive the pre-pressing head 64 to pre-press the upper sealing gasket into the valve core;

[0110] S9, control the movable plate 12 to rotate one station;

[0111] S10, control the press to press down twice to completely press the upper sealing gasket into the valve core, at this time the follower 73 will always press against the support pad 15;

[0112] S11, controlling the movable plate 12 to rotate one station;

[0113] S12, control the third manipulator assembly 78 and the fourth manipulator assembly 79 to work, respectively grasp the valve core assembly that has been pressure-compensated and placed on the carrier 14 and the valve core assembly that has been tested and placed on the rotating carrier 75, control the rotating connecting plate 77 to rise, rotate 180° and fall in sequence, then control the third manipulator assembly 78 and the fourth manipulator assembly 79 to work, loosen the valve core assembly that has been pressure-compensated and the valve core assembly that has been tested, and interchange the positions of the valve core assembly that has been pressure-compensated and the valve core assembly that has been tested, then control the rotating carrier 75 to rotate, and at the same time control the first camera 80 and the second camera 81 to work, take photos of the valve core assembly at multiple angles, and then transmit them to the computer for image recognition detection, detect the valve core assembly that has been pressure-compensated and placed on the rotating carrier 75, when the first camera 80 and the second camera 81 detect that there is a problem with the valve core assembly that has been pressure-compensated, an alarm is triggered, and when the first camera 80 and the second camera 81 do not detect that there is no problem with the valve core assembly that has been pressure-compensated, continue to run the next step;

[0114] S13, controlling the movable plate 12 to rotate one station;

[0115] S14, control the fifth manipulator and the fourth moving mechanism 83 to place the valve core assembly after inspection onto the moving carrier 85, and then control the cylinder to drive the moving carrier 85 to slide on the sliding table 84 to the unloading position;

[0116] S15, controlling the movable plate 12 to rotate one station;

[0117] S16, control the first moving mechanism 28 and the second manipulator assembly 27 to take out the valve core assembly on the movable carrier 85, and at the same time, the first manipulator assembly 26 will also place the valve core into the carrier 14, and finally control the first moving mechanism 28 and the second manipulator assembly 27 to place the valve core assembly onto the carrier plate 25.

[0118] Embodiment 2:

[0119] The difference from the first embodiment is that a waste collection bucket is further provided in the second embodiment, which is arranged on the frame 1 and located between the loading and unloading module 3 and the turntable module 2, and there are also some differences in the control method, that is, when the S4 first detection mechanism 44, the S6 second detection mechanism 58 and the S12 detection module 8 detect a problem, the carrier 14 with the problematic valve core assembly will be rotated to the position of the loading and unloading module 3, and then the first moving mechanism 28 and the first manipulator assembly 26 will be controlled to put the problematic valve core assembly into the waste collection bucket.

[0120] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0121] For those skilled in the art, various changes and modifications will undoubtedly be obvious after reading the above description. Therefore, the attached claims should be regarded as covering all changes and modifications of the true intent and scope of the present invention. Any and all equivalent ranges and contents within the scope of the claims should be considered to still be within the intent and scope of the present invention.

Claims

1. A solenoid valve core assembly device, characterized in that: It comprises a frame (1) and a controller, wherein the frame (1) is provided with a turntable module (2), a loading and unloading module (3), a lower sealing gasket assembly module (4), a spring conveying module (5), an upper sealing gasket assembly pre-pressing module (6), an upper sealing gasket pressure-replenishing module (7), a detection module (8) and a transfer unloading module (9), wherein the turntable module (2), the loading and unloading module (3), the lower sealing gasket assembly module (4), the spring conveying module (5), the upper sealing gasket assembly pre-pressing module (6), the upper sealing gasket pressure-replenishing module (7), the detection module (8) and the transfer unloading module (9) are all electrically connected to the controller, and the loading and unloading module (3), the lower sealing gasket assembly module (4), the spring conveying module (5), the upper sealing gasket assembly pre-pressing module (6), the upper sealing gasket pressure-replenishing module (7), the detection module (8) and the transfer unloading module (9) are sequentially arranged on the circumference of the turntable module (2), wherein: A turntable module (2) is used to transport valve core components in different states to corresponding module positions; A loading and unloading module (3) is used to transport the valve core to the turntable module (2) and to remove the assembled valve core assembly from the transfer unloading module (9); A lower sealing gasket assembly module (4) is used to install the lower sealing gasket into the valve core; A spring delivery module (5) is used to deliver the spring into the valve core equipped with a lower sealing gasket; An upper sealing gasket assembly pre-pressing module (6) is used to convey the upper sealing gasket into the valve core equipped with the lower sealing gasket and the spring, and to pre-press the upper sealing gasket into the valve core; An upper sealing gasket pressure-compensating module (7) is used to completely press the upper sealing gasket into the valve core; A detection module (8), used for detecting the assembled valve core assembly; The transfer unloading module (9) is used to transport the valve core component that has been inspected from the inspection module (8) to the unloading position.

2. The solenoid valve core assembly assembly device according to claim 1, characterized in that: The turntable module (2) comprises a cam divider (10) fixed on a frame (1), a first motor (11) for driving the cam divider (10) to work, a moving plate (12) connected to an output shaft of the cam divider (10), a stationary plate (13) connected to the cam divider (10), a carrier (14) evenly arranged on the circumferential upper end surface of the moving plate (12), a support pad (15) arranged on the circumferential lower end surface of the moving plate (12) and corresponding to the position of the carrier (14), and a first photoelectric sensor (15) evenly arranged on the circumferential upper end surface of the stationary plate (13) and corresponding to the position of the carrier (14). 6), the carrier (14) is provided with a receiving hole (17) for receiving the valve core and an elastic mechanism for abutting one side of the valve core assembly accommodated in the receiving hole (17), the elastic mechanism comprising a stopper (18) fixed in the carrier (14), a tongue (19) slidably connected in the carrier (14) and used to abut one side of the valve core assembly accommodated in the receiving hole (17), and a first elastic member (20) having one end abutting against the stopper (18) and the other end abutting against the tongue (19), and the receiving hole (17) is also provided with a V-shaped abutting surface (21) for abutting against the other side of the valve core assembly.

3. The solenoid valve core assembly assembly device according to claim 2, characterized in that: The loading and unloading module (3) comprises a support frame (22), a plate carrier (23) vertically sliding on the support frame (22), a second motor (24) for driving the plate carrier (23) to move vertically, a carrier (25) placed on the plate carrier (23), a pulling mechanism for pulling the carrier (25) horizontally out of the plate carrier (23), a first manipulator assembly (26) for taking out a valve core placed on the carrier (25), and a second manipulator assembly (26) for taking out a valve core placed on the transfer unloading module (9). A second manipulator assembly (27) for taking out the core assembly, a first moving mechanism (28) arranged on the frame (1) for driving the first manipulator assembly (26) and the second manipulator assembly (27) to move horizontally and vertically, a limiting mechanism for limiting the arbitrary movement of the carrier (25) is arranged on the carrier frame (23), and the limiting mechanism includes a blocking member (29) for blocking the carrier (25), a pull rod (30) for driving the blocking member (29) to move and thereby release the carrier (25), and and a second elastic member (31) for driving the pull rod (30) to reset, the pulling mechanism comprising a slide frame (32) for the carrier plate (25) to slide horizontally, a locking assembly for locking the carrier plate (25) and a third motor (33) for driving the locking assembly to move horizontally, the front two sides of the carrier plate (25) are respectively provided with embedding grooves (34), the locking assembly comprises a limiting block (35) for extending into the embedding groove (34) to limit the carrier plate (25) and a locking block (35) for resisting the carrier plate (25) to move horizontally. A locking plate (36) is used to lock the carrier (25), and one side of the slide (32) is also provided with a supporting mechanism for supporting the carrier (14) sliding on the slide (32), and the supporting mechanism includes a pressing plate (37) fixed on the slide (32), a pressing block (38) for supporting the carrier (25), and a third elastic member (39) with one end abutting against the pressing plate (37) and the other end abutting against the pressing block (38), and the pressing block (38) is used to support the carrier (25) and has an arc surface.

4. The solenoid valve core assembly assembly device according to claim 3, characterized in that: The lower sealing pad assembly module (4) comprises a first vibration plate (40), a first assembly seat (41) for receiving the lower sealing pad delivered by the first vibration plate (40), a first vacuum adsorption component (42) for adsorbing the lower sealing pad, a second moving mechanism (43) for driving the first vacuum adsorption component (42) to move horizontally and vertically, and a first detection mechanism (44) for detecting whether the lower sealing pad is placed in the valve core, the first assembly seat (41) comprises a first seat body (45), a first receiving groove (46) arranged in the first seat body (45) for receiving the lower sealing pad delivered from the first vibration plate (40), and a second moving mechanism (43) for driving the first vacuum adsorption component (42) to move horizontally and vertically, and a first detection mechanism (44) for detecting whether the lower sealing pad is placed in the valve core. A second accommodating groove (47) is disposed on one side of the accommodating groove (46) and is connected to the first accommodating groove (46); a first pushing mechanism (48) is used to push the lower sealing gasket in the first accommodating groove (46) into the second accommodating groove (47); a detection hole (49) is disposed at the bottom of the carrier (14); the first detection mechanism (44) comprises a detection seat (50), a slider (51) slidably connected to the detection seat (50), a detection rod (52) disposed on the top of the slider (51) and used to pass through the detection hole (49) and extend into the valve core placed in the carrier (14); and a second photoelectric sensor (53) is disposed on the detection seat (50) and used to detect the position of the slider (51).

5. The solenoid valve core assembly assembly device according to claim 4, characterized in that: The spring conveying module (5) comprises a second vibrating plate (54), a receiving head (55) for receiving the spring conveyed by the second vibrating plate (54), a blocking mechanism for extending into the receiving head (55) and then blocking or releasing the receiving head (55), a blanking head (56) fixed on the stationary plate (13) for guiding the spring into the valve core placed on the carrier (14), a guide pipe (57) connecting the receiving head (55) and the blanking head (56), and a material detecting mechanism for detecting whether the spring is A second detecting mechanism (58) is provided to detect whether the material falls from the material guide tube (57) into the material drop head (56), wherein the material stopping mechanism comprises a first material stopping shaft (59) for extending into the material receiving head (55) and thereby stopping the spring, and a second material stopping shaft (60) for extending into the material receiving head (55) and thereby stopping the spring, and the distance between the first material stopping shaft (59) and the second material stopping shaft (60) is the length of a spring, and the second detecting mechanism (58) is a proximity switch arranged on the material receiving tube.

6. The solenoid valve core assembly assembly device according to claim 5, characterized in that: The upper sealing gasket assembly pre-pressing module (6) comprises a third vibration plate (61), a second assembly seat (62) for receiving the upper sealing gasket delivered by the third vibration plate (61), a second vacuum adsorption component (63) for adsorbing the upper sealing gasket, a pre-pressing head (64) for pre-pressing the upper sealing gasket placed on the valve core into the valve core, and a third moving mechanism (65) for driving the second vacuum adsorption component (63) and the pre-pressing head (64) to move horizontally and vertically, wherein the second assembly seat (62) comprises The invention comprises a second seat body (66), a third receiving groove (67) arranged in the second seat body (66) for receiving the upper sealing gasket delivered from the third vibrating plate (61), a fourth receiving groove (68) arranged on one side of the third receiving groove (67) and connected to the third receiving groove (67), and a second pushing mechanism (69) for pushing the upper sealing gasket in the third receiving groove (67) into the fourth receiving groove (68), and the static plate (13) is also provided with a through hole (70) for the pre-pressing head (64) to extend into.

7. The solenoid valve core assembly assembly device according to claim 6, characterized in that: The upper sealing gasket pressure replenishing module (7) comprises a support seat (71), a pressure replenishing mechanism (72) arranged on the support seat (71) for replenishing the pressure of the upper sealing gasket into the valve core, and a follower (73) arranged on the frame (1) for resisting the support pad (15).

8. The solenoid valve core assembly assembly device according to claim 7, characterized in that: The detection module (8) comprises a fixed seat (74) fixed on the frame (1), a rotating carrier (75) rotatably connected to the side of the fixed seat (74) away from the turntable membrane group for placing the assembled valve core assembly, a rotating seat (76) rotatably connected to the upper end surface of the fixed seat (74), a rotating connecting plate (77) vertically sliding on the rotating seat (76) through a connecting piece, a third manipulator assembly (78) arranged on one side of the rotating connecting plate (77), a fourth manipulator assembly (79) arranged on the other side of the rotating connecting plate (77), a first camera (80) for detecting whether the upper sealing gasket in the valve core assembly placed on the rotating carrier (75) is completely pressed in, and a second camera (81) for detecting whether there are burrs on the valve core in the valve core assembly placed on the rotating carrier (75).

9. The solenoid valve core assembly assembly device according to claim 8, characterized in that: The transfer unloading module (9) comprises a fifth manipulator assembly (82) for grabbing the valve core assembly placed on the carrier (14) for inspection, a fourth moving mechanism (83) for driving the fifth manipulator assembly (82) to move vertically and horizontally, a sliding platform (84) arranged on the frame (1), and a moving carrier (85) sliding on the sliding platform (84).

10. A control method for assembling a solenoid valve core assembly, characterized in that: It includes the following steps: S1, placing the carrier plate (25) with the valve core placed on it into the carrier plate rack (23), controlling the limit mechanism to release the carrier plate (25), and controlling the pull-out mechanism to move the carrier plate (25) to the loading position; S2, controlling the first moving mechanism (28) and the first manipulator assembly (26) to place the valve core on the carrier plate (25) onto the carrier (14) of the turntable module (2); S3, controlling the first motor (11) to drive the moving plate (12) to rotate one station; S4, controlling the first vacuum adsorption component (42) and the second moving mechanism (43) to place the lower sealing gasket into the valve core placed on the carrier (14), and after the placement is completed, the first detection mechanism (44) will detect whether the lower sealing gasket is placed in the valve core, if the first detection mechanism (44) detects that the lower sealing gasket is not placed in the valve core, an alarm is issued, if the first detection mechanism (44) detects that the lower sealing gasket is placed in the valve core, jump to the next step; S5, controlling the first motor (11) to drive the moving plate (12) to rotate one station; S6, controlling the material blocking mechanism to place the springs one by one into the valve core placed on the carrier (14) and into the lower sealing gasket, and during the placement, the second detection mechanism (58) will detect whether the spring is placed in, and if the second detection mechanism (58) detects that the spring is not placed in, an alarm is sounded; if the second detection mechanism (58) detects that the spring is placed in, jump to the next step; S7, controlling the first motor (11) to drive the moving plate (12) to rotate one station; S8, controlling the second vacuum adsorption assembly (63) and the third moving mechanism (65) to place the upper sealing gasket into the valve core placed on the carrier (14) and containing the lower sealing gasket and the spring, and then controlling the third moving mechanism (65) to pre-press the upper sealing gasket into the valve core through the pre-pressing head (64); S9, controlling the first motor (11) to drive the moving plate (12) to rotate one station; S10, controlling the pressure-compensating mechanism (72) to press down twice to completely press the upper sealing gasket into the valve core; S11, controlling the first motor (11) to drive the moving plate (12) to rotate one station; S12, control the third manipulator assembly (78) and the fourth manipulator assembly (79) to work, respectively grab the valve core assembly that has been pressurized and placed on the carrier (14) and the valve core assembly that has been tested and placed on the rotating carrier (75), control the rotating connecting plate (77) to rise, move, and then control the rotating seat (76) to rotate 180 degrees, then control the rotating connecting plate (77) to descend, and then control the third manipulator assembly (78) and the fourth manipulator assembly (79) to work, and grab the valve core assembly that has been pressurized and placed on the carrier (14) and the valve core assembly that has been tested and placed on the rotating carrier (75). All parts are loosened to interchange the positions of the valve core assembly that has completed pressure replenishment and the valve core assembly that has completed detection, and then the rotating carrier (75) is controlled to rotate, and the first camera (80) and the second camera (81) are controlled to work at the same time to detect the valve core assembly that has completed pressure replenishment and is placed on the rotating carrier (75). When the first camera (80) and the second camera (81) detect that the valve core assembly that has completed pressure replenishment has a problem, an alarm is sounded; when the first camera (80) and the second camera (81) do not detect that the valve core assembly that has completed pressure replenishment has no problem, jump to the next step; S13, controlling the first motor (11) to drive the moving plate (12) to rotate one station; S14, controlling the fifth manipulator and the fourth moving mechanism (83) to place the valve core assembly after inspection onto the moving carrier (85), and then controlling the moving carrier (85) to move to the unloading position; S15, controlling the first motor (11) to drive the moving plate (12) to rotate one station; S16, controlling the first moving mechanism (28) and the second manipulator assembly (27) to remove the valve core assembly on the movable carrier (85) and place it on the carrier plate (25).

Images