A pilot valve automatic assembly device

Abstract

The present application relates to the technical field of pilot valve assembly, in particular to a kind of pilot valve automatic assembly equipment, including conveying mechanism, the conveying mechanism includes conveying unit and carrier, the conveying unit is used to convey the carrier through coil feeding mechanism, valve seat feeding mechanism, sealing ring feeding mechanism, iron core feeding mechanism, spring feeding mechanism, buckle feeding and assembly mechanism, coil, valve seat, sealing ring, iron core and spring are placed on carrier by coil feeding mechanism, valve seat feeding mechanism, sealing ring feeding mechanism, iron core feeding mechanism, spring feeding mechanism, and the assembly of coil, valve seat and iron core spring component is carried out by buckle feeding and assembly mechanism, and the whole product of pilot valve is formed by being assembled together by two buckles.The pilot valve automatic assembly equipment provided in the present application can realize the automatic assembly of pilot valve, and has the characteristics of reliable assembly, high assembly efficiency and the like.

Description

Technical Field

[0001] This invention relates to the field of pilot valve assembly technology, and more specifically to an automatic pilot valve assembly device. Background Technology

[0002] A pilot valve is an auxiliary valve that controls the opening and closing of a large-diameter valve with relatively low energy. It is widely used in various systems requiring precise control, such as fluid control systems and safety valve systems. A pilot solenoid valve consists of a coil and a valve seat, a sealing ring, an iron core, and a spring located between the coil and the valve seat, as well as a latch for engaging the coil and the valve seat. When the coil is energized, an electromagnetic force lifts the iron core, initiating operation; when the coil is de-energized, the iron core returns to its original position under the force of the spring.

[0003] In existing technologies, the assembly of pilot valves is generally done manually. For example, the sealing ring is first placed on the valve seat, then the spring is placed into the groove at the top of the iron core to form an iron core spring assembly. Next, the iron core spring assembly is placed into the valve seat, and finally the coil is closed. The coil and valve seat are then engaged by two clips that engage with the corresponding slots on the valve seat. Manual assembly suffers from low work efficiency and high labor costs. Therefore, there is an urgent need for equipment that can automate the assembly of pilot valves. Summary of the Invention

[0004] To address the technical problems of low efficiency and high cost associated with manual assembly of pilot valves in the prior art, this invention proposes an automatic pilot valve assembly device that enables automated assembly of pilot valves with high efficiency.

[0005] The technical solution of the present invention:

[0006] An automated pilot valve assembly device includes a conveying mechanism, which comprises a conveying unit and a carrier.

[0007] The conveying unit is used to convey the carrier through the coil feeding mechanism, valve seat feeding mechanism, sealing ring feeding mechanism, iron core feeding mechanism, spring feeding mechanism, and buckle feeding and assembly mechanism;

[0008] The carrier is provided with a first placement position, a second placement position, and a third placement position. The coil feeding mechanism is used to feed the coil and place it vertically in the first placement position. The valve seat feeding mechanism is used to feed the valve seat and place it vertically in the second placement position. The sealing ring feeding mechanism is used to feed the sealing ring and place it in the valve seat in the second placement position. The iron core feeding mechanism is used to feed the iron core and place it vertically in the third placement position. The spring feeding mechanism is used to feed the spring and place it vertically in the groove at the top of the iron core in the third placement position to form an iron core spring assembly. The snap-fit ​​feeding and assembly mechanism is used to place the iron core spring assembly into the valve seat, and to place the coil onto the valve seat on which the iron core spring assembly has been placed, and to feed the snap-fit ​​and snap the two snap-fits into the corresponding slots on both sides of the coil and the valve seat respectively.

[0009] Furthermore, the conveying mechanism is located on one side of the coil feeding mechanism, valve seat feeding mechanism, sealing ring feeding mechanism, iron core feeding mechanism, spring feeding mechanism, and buckle feeding and assembly mechanism;

[0010] The conveying unit is a circulating conveyor line, including a first conveyor line, a second conveyor line, a first transfer line, and a second transfer line. The first conveyor line includes a first conveying guide rail and a first conveying module. The first conveying guide rail is slidably engaged with a slider at the bottom of the carrier. The first conveying module is used to drive one or more carriers to move to the next workstation. The second conveyor line includes a second conveying guide rail and a second conveying module. The second conveying guide rail is slidably engaged with a slider at the bottom of the carrier. The second conveying module is used to drive one or more carriers to move in the opposite direction to the conveying direction of the first conveying module. The first transfer line is located at one end of the first and second conveyor lines and includes a first transfer guide rail and a first transfer module. The first transfer guide rail can be aligned with the first or second conveyor guide rail under the drive of the first transfer module. The second transfer line is located at the other end of the first and second conveyor lines and includes a second transfer guide rail and a second transfer module. The second transfer guide rail can be aligned with the second or first conveyor guide rail under the drive of the second transfer module.

[0011] Furthermore, the coil feeding mechanism includes a full coil tray unit, an empty coil tray unit, a coil transfer unit, and a coil pick-and-place unit. The coil transfer unit is used to receive a full coil material tray from the full coil tray unit and move it to the coil pick-and-place unit. The coil pick-and-place unit includes a coil pick-and-place gripper and a coil moving module. The coil pick-and-place gripper grips the coil and, driven by the coil moving module, places the coil at a first placement position on the carrier. The coil transfer unit is also used to transfer an empty coil material tray to the empty coil tray unit for reception.

[0012] The valve seat feeding mechanism includes a full valve seat tray unit, an empty valve seat tray unit, a valve seat transfer unit, and a valve seat pick-and-place unit. The valve seat transfer unit is used to receive a full valve seat material tray from the full valve seat tray unit and move it to the valve seat pick-and-place unit. The valve seat pick-and-place unit includes a valve seat pick-and-place gripper and a valve seat moving module. The valve seat pick-and-place gripper grips the valve seat and, driven by the valve seat moving module, places the valve seat in a second placement position on the carrier. The valve seat transfer unit is also used to transfer an empty valve seat material tray to the empty valve seat tray unit for reception.

[0013] Furthermore, the sealing ring feeding mechanism includes a sealing ring vibration feeding unit, a receiving seat, and a sealing ring picking and placing unit. The sealing ring vibration feeding unit sequentially feeds the sealing rings to the receiving seat. The receiving seat is provided with a receiving groove to receive the sealing rings, and a receiving hole is also formed in the receiving groove. The sealing ring picking and placing unit includes a sealing ring moving module, a sealing ring sleeve module, and a sealing ring lowering module. The sealing ring sleeve module includes a receiving rod that can be inserted into the receiving hole so that the sealing ring is sleeved on the receiving rod. The sealing ring moving module can drive the sealing ring to move above the valve seat on the carrier. The sealing ring lowering module includes a sleeve that is sleeved on the upper end of the receiving rod and can push the sealing ring on the receiving rod downwards into the carrier.

[0014] Furthermore, the iron core feeding mechanism includes an iron core vibration feeding unit, an iron core tilting disk, and an iron core picking and placing unit. The iron core vibration feeding unit sequentially and horizontally conveys the iron cores to the iron core tilting disk. The iron core tilting disk is provided with an iron core receiving slot. A part of the iron core is placed in the iron core receiving slot, and another part protrudes from the iron core receiving slot. The iron core tilting disk flips the iron core to a vertical state. The iron core picking and placing unit includes an iron core moving module and an iron core gripper. The iron core gripper grips the vertical iron core and, driven by the iron core moving module, places the iron core in the third placement position on the carrier.

[0015] Furthermore, the spring feeding mechanism includes a spring vibration feeding unit, a spring flipping disk, and a spring picking and placing unit. The spring vibration feeding unit sequentially and horizontally feeds the springs to the spring flipping disk. The spring flipping disk is provided with a spring receiving groove. A portion of the spring is placed in the spring receiving groove, and another portion protrudes from the spring receiving groove. The spring flipping disk flips the spring to a vertical position. The spring picking and placing unit includes a spring moving module and a spring gripper. The spring gripper grips the vertical spring and, driven by the spring moving module, places the spring in the groove at the top of the iron core in the third placement position on the carrier to form an iron core spring assembly.

[0016] Furthermore, the buckle feeding and assembly mechanism includes an assembly unit, which is used to place the iron core spring assembly on the carrier into the valve seat, and to place the coil onto the valve seat on which the iron core spring assembly has already been placed; the assembly unit includes a first assembly moving module, a first assembly gripper, a second assembly moving module, and a second assembly gripper, the first assembly gripper being used to grip the iron core spring assembly on the carrier and place it into the valve seat under the action of the first assembly moving module, and the second assembly gripper gripping the coil and placing it onto the valve seat on which the iron core spring assembly has already been placed under the action of the second assembly moving module.

[0017] Furthermore, the buckle feeding and assembly mechanism also includes a transfer unit, a rotary table, a buckle vibration feeding unit, a pushing unit, and a limiting unit. The transfer unit is used to place the assembled coil, valve seat, sealing ring, and iron core spring assembly onto the rotary table. The buckle vibration feeding unit is used to transport the buckles to the pushing unit. The pushing unit is used to push the received buckles into the corresponding slots on the first side of the coil and valve seat on the rotary table. The rotary table can rotate 180 degrees horizontally. The pushing unit can push the next buckle into the corresponding slots on the second side of the coil and valve seat on the rotary table. The limiting unit is used to limit the coil and valve seat when the buckle is pushed in.

[0018] Furthermore, the pilot valve automatic assembly equipment also includes a detection mechanism, which is located at the conveying mechanism and includes a sealing ring detection module located downstream of the sealing ring feeding mechanism and a spring detection module located downstream of the spring feeding mechanism.

[0019] Furthermore, the automatic pilot valve assembly equipment also includes a feeding mechanism, which is used to feed the assembled pilot valve.

[0020] The feeding mechanism includes a full pilot valve tray unit, an empty pilot valve tray unit, a pilot valve transfer unit, and a pilot valve pick-and-place unit. The pilot valve transfer unit is used to receive an empty pilot valve material tray from the empty pilot valve tray unit and move it to the pilot valve pick-and-place unit. The pilot valve pick-and-place unit includes a pilot valve pick-and-place gripper and a pilot valve moving module. The pilot valve pick-and-place gripper grips the assembled pilot valve and, driven by the pilot valve moving module, places the pilot valve on the pilot valve material tray. The pilot valve transfer unit is also used to transfer a full pilot valve material tray to the full pilot valve tray unit for reception.

[0021] After adopting the above technical solution, the automatic assembly equipment for pilot valves provided by the present invention has the following beneficial effects compared with the prior art: The automatic assembly equipment for pilot valves provided by the present invention can realize the automatic feeding, assembly and assembly of various components of the pilot valve, the assembly structure is stable and reliable, and the assembly efficiency is high. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the pilot valve automatic assembly equipment from a first-person perspective.

[0023] Figure 2 This is a structural diagram of the conveying mechanism and the detection mechanism;

[0024] Figure 3 for Figure 2 Enlarged view of point A in the image;

[0025] Figure 4 for Figure 2 Enlarged view of point B in the image;

[0026] Figure 5 for Figure 2 Enlarged view of point C in the image;

[0027] Figure 6 This is a structural schematic diagram of the vehicle;

[0028] Figure 7 This is a schematic diagram of the pilot valve (excluding the clip) from a first-view perspective.

[0029] Figure 8 This is a schematic diagram of the pilot valve (excluding the clip) from a second-view perspective.

[0030] Figure 9 This is a schematic diagram of the pilot valve from a first-view perspective.

[0031] Figure 10 This is a schematic diagram of the pilot valve from a second perspective.

[0032] Figure 11 Schematic diagrams of the coil feeding mechanism and the valve seat feeding mechanism;

[0033] Figure 12 This is a schematic diagram of the sealing ring feeding mechanism;

[0034] Figure 13 for Figure 12 Enlarged view of point D in the image;

[0035] Figure 14 This is a structural schematic diagram of the receiving groove and receiving hole;

[0036] Figure 15 This is a schematic diagram of the iron core feeding mechanism;

[0037] Figure 16 for Figure 15 Enlarged view of point E in the image;

[0038] Figure 17 This is a structural diagram of an iron core flip disk / spring flip disk;

[0039] Figure 18 This is a schematic diagram of the spring feeding mechanism;

[0040] Figure 19 for Figure 18 Enlarged view of point F (one side with the spring gripper and auxiliary gripper hidden);

[0041] Figure 20 This is a structural diagram of the insertion rod and auxiliary module;

[0042] Figure 21 A schematic diagram of the snap-fit ​​feeding and assembly mechanism;

[0043] Figure 22 This is a schematic diagram of the assembly unit.

[0044] Figure 23 This is a schematic diagram of the transfer unit.

[0045] Figure 24 for Figure 23 Enlarged view of point G in the image;

[0046] Figure 25 This is a structural schematic diagram of the rotary table, the snap-fit ​​vibration feeding unit, the pushing unit, and the limiting unit from a first-view perspective.

[0047] Figure 26 for Figure 25 Enlarged view of point H in the image;

[0048] Figure 27 for Figure 25 Enlarged view of point I in the image;

[0049] Figure 28This is a structural schematic diagram of the rotary table, the snap-fit ​​vibration feeding unit, the pushing unit, and the limiting unit from a second perspective.

[0050] Figure 29 for Figure 28 Enlarged view of point J in the image;

[0051] Figure 30 This is a schematic diagram of the feeding mechanism.

[0052] in,

[0053] Conveying mechanism 1, conveying unit 11, first conveying line 111, first conveying guide rail 1111, first conveying module 1112, drive plate 1113, drive block 1114, second conveying line 112, second conveying guide rail 1121, second conveying module 1122, first transfer line 113, first transfer guide rail 1131, first transfer module 1132, second transfer line 114, second transfer guide rail 1141, second transfer module 1142; carrier 12, first placement position 121, second placement position 122, third placement position 123, slider 124, drive groove 125, toothed groove 126;

[0054] Coil feeding mechanism 2, coil full tray unit 21, coil material tray 211, coil empty tray unit 22; coil transfer unit 23; coil picking and placing unit 24, coil picking and placing gripper 241, coil moving module 242;

[0055] Valve seat feeding mechanism 3, valve seat full plate unit 31, valve seat material plate 311; valve seat empty plate unit 32; valve seat transfer unit 33; valve seat pick-and-place unit 34; valve seat pick-and-place gripper 341; valve seat moving module 342.

[0056] The sealing ring feeding mechanism 4, the sealing ring vibrating feeding unit 41, the sealing ring vibrating plate 411, the sealing ring feeding line 412; the receiving seat 42, the receiving groove 421, the receiving hole 422; the sealing ring picking and placing unit 43, the sealing ring moving module 431, the sealing ring picking module 432, the receiving rod 4321, the sealing ring lowering module 433, the sleeve 4331, the blocking module 434, and the blocking plate 4341;

[0057] Iron core feeding mechanism 5, iron core vibrating feeding unit 51, iron core vibrating plate 511, iron core feeding line 512; iron core flipping plate 52, iron core receiving groove 521; iron core picking and placing unit 53, iron core moving module 531, iron core gripper 532; clearance groove 54; detection hole 55; first detection sensor 56; second detection sensor 57;

[0058] Spring feeding mechanism 6, spring vibration feeding unit 61, spring vibration plate 611, spring feeding line 612; spring flip plate 62, spring receiving groove 621; spring picking and placing unit 63, spring moving module 631, spring gripper 632; insertion rod 64; auxiliary module 65, auxiliary gripper 651, guide groove 652.

[0059] The assembly unit 71 comprises a snap-fit ​​feeding and assembly mechanism, an assembly unit 71, a first assembly moving module 711, a first vertical moving module 7111, a first horizontal moving module 7112, a first assembly gripper 712, a second assembly moving module 713, a second vertical moving module 7131, a second horizontal moving module 7132, and a second assembly gripper 714; a transfer unit 72 comprises a first transfer module 721, a transfer gripper 7211, a top elastic clamping element 7212, a second transfer module 722, and an intermediate module 7. 23, intermediate gripper 7231; rotary disk 73; snap-fit ​​vibration feeding unit 74, snap-fit ​​vibration disk 741, snap-fit ​​feeding line 742, L-shaped groove 7421; pushing unit 75, first pushing module 751, second pushing module 752, snap-fit ​​detection sensor 753; limiting unit 76, rear limiting module 761, top limiting module 762, top limiting piece 7621, vertical translation module 7622, ​​horizontal translation module 7623; sliding module 77;

[0060] Testing unit 8; sealing ring testing module 81; spring testing module 82;

[0061] The unloading mechanism 9, the pilot valve full plate unit 91, the pilot valve material plate 911, the pilot valve empty plate unit 92, the pilot valve transfer unit 93, the pilot valve pick-and-place unit 94, the pilot valve pick-and-place gripper 941, and the pilot valve moving module 942.

[0062] Pilot valve 10, coil 101, slot 1011; valve seat 102, O-ring 1021, placement slot 1022; sealing ring 103; iron core 104, groove 1041; spring 105; buckle 106. Detailed Implementation

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] like Figure 1-30As shown, this embodiment provides an automatic pilot valve assembly device, including a conveying mechanism 1, a coil feeding mechanism 2, a valve seat feeding mechanism 3, a sealing ring feeding mechanism 4, an iron core feeding mechanism 5, a spring feeding mechanism 6, and a snap-on feeding and assembly mechanism 7 located on a workbench. The conveying mechanism 1 is located on one side of the coil feeding mechanism 2, the valve seat feeding mechanism 3, the sealing ring feeding mechanism 4, the iron core feeding mechanism 5, the spring feeding mechanism 6, and the snap-on feeding and assembly mechanism 7. The conveying mechanism 1 includes a conveying unit 11 and carriers 12. The number of carriers 12 on the conveying mechanism 1 can be set according to the processing cycle. The carriers 12 can pass through the coil feeding mechanism 2, the valve seat feeding mechanism 3, the sealing ring feeding mechanism 4, the iron core feeding mechanism 5, the spring feeding mechanism 6, and the snap-on feeding and assembly mechanism 7 under the drive of the conveying unit 11.

[0065] like Figure 6 As shown, the carrier 12 is provided with a first placement position 121, a second placement position 122, and a third placement position 123. These three placement positions are contoured grooves with a certain depth adapted to the corresponding parts. For example, the third placement position 123 corresponding to the iron core 104 is a cylindrical groove. First, the carrier 12 moves to the target position / processing position of the coil feeding mechanism 2. The coil feeding mechanism 2 is used to feed several coils 101 sequentially and place them vertically in the first placement position 121 of the carrier 12. The valve seat feeding mechanism 3 is used to feed several valve seats 102 and place them vertically in the second placement position 122 of the carrier 12. The carrier 12 continues to move downstream to the target position of the sealing ring feeding mechanism 4. The sealing ring feeding mechanism 4 is used to feed several sealing rings 103 sequentially and place them in the valve seats 102 on the second placement position 122 of the carrier 12. The carrier 12 continues to move downstream to the target position of the iron core feeding mechanism 5. The core feeding mechanism 5 is used to feed the core 104 and place it vertically in the third placement position 123 of the carrier 12; the carrier 12 continues to move downstream to the target position of the spring feeding mechanism 6, which is used to feed the spring 105 and place it vertically in the groove 1041 on the top of the core 104 in the third placement position 123 to form a core spring assembly; the carrier 12 continues to move downstream to the target position of the snap-fit ​​feeding and assembly mechanism 7, which is used to place the core spring assembly into the valve seat 102 and to place the coil 101 onto the valve seat 102 on which the core spring assembly has already been placed, forming as follows. Figure 7-8 In the state shown, the buckle feeding and assembly mechanism 7 can also sequentially feed several buckles 106 and snap two buckles 106 into the corresponding slots 1011 on both sides of the coil 101 and the valve seat 102, forming as shown. Figure 9-10 The state shown.

[0066] Thus, the pilot valve automatic assembly equipment provided in this embodiment, compared with the prior art, can realize the automatic feeding, assembly and assembly of the 10 components of the pilot valve, thereby improving production efficiency.

[0067] like Figure 2-6 As shown, the conveying unit 11 in the conveying mechanism 1 includes a first conveying line 111, a second conveying line 112, a first transfer line 113, and a second transfer line 114. The first conveying line 111, the second conveying line 112, the first transfer line 113, and the second transfer line 114 form a square circular conveying line, and the carrier 12 flows on the circular conveying line.

[0068] The first conveyor line 111 includes a first conveyor rail 1111 and a first conveyor module 1112. The first conveyor rail 1111 is slidably engaged with a slider 124 at the bottom of the carrier 12. The first conveyor module 1112 is used to drive one or more carriers 12 to move to the next station along the first conveyor rail 1111. Specifically, the driving end of the first conveyor module 1112 is provided with a driving plate 1113, and the driving plate 1113 is provided with a driving block 1114. Each carrier 12 is provided with a corresponding driving groove 125. The driving plate 1113 and the driving block 1114 can be driven by the first conveyor module 1112 to move toward the carrier 12 so that the driving block 1114 is engaged in the driving groove 125. The driving plate 1113 and the driving block 1114 can also be driven by the first conveyor module 1112 to move along the direction of the first conveyor rail 1111, thereby conveying the carrier 12 downstream. In a preferred embodiment of this invention, there are two first conveying modules 1112. Each first conveying module 1112 has three driving blocks 1114 on its drive plate 1113. One first conveying module 1112 is used to receive three carriers 12 at the initial position, the target position of the coil feeding mechanism 2 / valve seat feeding mechanism 3, and the target position of the sealing ring feeding mechanism 4, and drives these three carriers 12 to move together, so that each carrier 12 moves downstream by one station. The other first conveying module 1112 is used to receive three carriers 12 at the target positions of the iron core feeding mechanism 5, the spring feeding mechanism 6, and the buckle feeding and assembly mechanism 7, and drives these three carriers 12 to move together, so that each carrier 12 moves downstream by one station.

[0069] When each carrier 12 reaches the target position of its corresponding workstation, it can be locked onto the first conveying guide rail 1111 by an elastic structure to ensure stability during operation. For example, an elastic element is provided at the bottom of the carrier 12. One end of the elastic element is connected to the bottom of the carrier 12, and the other end is provided with a butt that can press against the first conveying guide rail 1111 to provide a clamping and limiting force during operation. The butt and the drive block 1114 on the first conveying module 1112 have a certain magnetism. When the drive block 1114 is engaged in the drive groove 125 on the carrier 12, it simultaneously attracts the butt to release the clamping and limiting force, and the drive block 1114 can move together with the carrier 12. Alternatively, a lever can be installed on the carrier 12, with the middle of the lever hinged to the carrier 12. One end of the lever is connected to the carrier 12 via a compression spring. Under the action of the compression spring, the other end of the lever cooperates with the blocking groove provided on the first conveying guide rail 1111 to block and limit the movement. When the drive block 1114 is engaged in the drive groove 125 of the carrier 12, it pushes the first end of the lever, compresses the compression spring, and the other end of the lever disengages from the blocking groove on the first conveying guide rail 1111. The drive block 1114 can then move together with the carrier 12.

[0070] Furthermore, the second conveyor line 112 includes a second conveyor rail 1121 and a second conveyor module 1122. The second conveyor rail 1121 is slidably engaged with the slider 124 at the bottom of the carrier 12. The second conveyor module 1122 is used to drive one or more carriers 12 to move in the opposite direction to the conveying direction of the first conveyor module 1112. The second conveyor module 1122 is preferably a conveyor belt.

[0071] Furthermore, the first transfer line 113 is disposed at one end of the first conveyor line 111 and the second conveyor line 112, and includes a first transfer guide rail 1131 and a first transfer module 1132. The first transfer guide rail 1131 can be aligned with the first conveyor guide rail 1111 under the drive of the first transfer module 1132. The first conveyor module 1112 can transport the carrier 12 at the target position of the snap-on loading and assembly mechanism 7 to the first transfer guide rail 1131. The first transfer guide rail 1131 can carry... The carrier 12 moves under the drive of the first transfer module 1132 and aligns with the second conveyor rail 1121. The carrier 12 can be received by the second conveyor line 112 and driven by the second conveyor line 112. The second conveyor module 1122 is a conveyor belt, which is a toothed conveyor belt. The bottom of the carrier 12 is also provided with a toothed groove 126. When the carrier 12 moves toward the second conveyor line 112, the toothed groove 126 engages with the teeth on the conveyor belt, thereby being received by the second conveyor line 112.

[0072] Furthermore, the second transfer line 114 is disposed at the other end of the first conveyor line 111 and the second conveyor line 112, and includes a second transfer guide rail 1141 and a second transfer module 1142. The second transfer guide rail 1141 can be aligned with the second conveyor guide rail 1121 under the drive of the second transfer module 1142. The second transfer module 1122 can transport the carrier 12 on the second conveyor guide rail 1121 to the second transfer guide rail 1141. The second transfer guide rail 1141 can move with the carrier 12 under the drive of the second transfer module 1142 to align with the first conveyor guide rail 1111. The carrier 12 can be received by the first conveyor line 111 and driven to move by the first transfer module 1112 in the first conveyor line 111. In this way, the carrier 12 can move from the initial position to each processing station, then to the end position, and finally be driven back to the initial position by the first transfer line 113, the second conveyor line 112 and the second transfer line 114, so as to realize the cyclic flow of the carrier 12 on the conveying mechanism 1.

[0073] like Figure 1 , 11 As shown, the coil feeding mechanism 2 of this embodiment includes a full coil tray unit 21, an empty coil tray unit 22, a coil transfer unit 23, and a coil pick-and-place unit 24. Multiple coil material trays 211 filled with coils 101 are stacked at the full coil tray unit 21. The coil transfer unit 23 can move to the bottom of the full coil tray unit 21 and move upwards to receive at least one full coil material tray 211 from the full coil tray unit 21, then descend and move to the coil pick-and-place unit 24. The remaining full coil material trays 211 descend one... After reaching a certain height, the coil is still held and carried in the coil full tray unit 21; the coil picking and placing unit 24 includes a coil picking and placing gripper 241 and a coil moving module 242. The coil picking and placing gripper 241 picks up a coil 101 and, driven by the coil moving module 242, places the coil 101 in the first placement position 121 on the carrier 12. After all the coils 101 on the coil material tray 211 are picked up and placed, the coil transfer unit 23 is also used to transfer the empty coil material tray 211 to the empty coil tray unit 22 for reception.

[0074] Furthermore, the valve seat feeding mechanism 3 includes a valve seat full tray unit 31, a valve seat empty tray unit 32, a valve seat transfer unit 33, and a valve seat pick-and-place unit 34. Multiple valve seat material trays 311 filled with valve seats 102 are stacked at the valve seat transfer unit 33. The valve seat transfer unit 33 can move to the bottom of the valve seat full tray unit 31 and move upwards to receive at least one full valve seat material tray 311 from the full tray unit 31. Then it descends and moves to the valve seat pick-and-place unit 34. The remaining full valve seat material trays 311 descend to a certain extent. After reaching the height, it is still clamped and carried in the valve seat full tray unit 31; the valve seat picking and placing unit 34 includes a valve seat picking and placing gripper 341 and a valve seat moving module 342. The valve seat picking and placing gripper 341 picks up a valve seat 102 and, driven by the valve seat moving module 342, places the valve seat 102 on the second placement position 122 on the carrier 12. After all the valve seats 102 on the valve seat material tray 311 are picked up and placed, the valve seat transfer unit 33 is also used to transfer the empty valve seat material tray 311 to the empty valve seat tray unit 32 for reception.

[0075] Preferably, in this embodiment, the coil feeding mechanism 2 and the valve seat feeding mechanism 3 share a horizontal moving module, that is, the coil moving module 242 in the coil feeding mechanism 2 and the valve seat moving module 342 in the valve seat feeding mechanism 3 share a horizontal moving module. Two grippers and two vertical moving modules are configured on this horizontal moving module, which can save a certain amount of space and cost.

[0076] like Figure 1 , 12As shown in Figure 14, the sealing ring feeding mechanism 4 of this embodiment includes a sealing ring vibration feeding unit 41, a receiving seat 42, and a sealing ring picking and placing unit 43. The sealing ring vibration feeding unit 41 feeds a plurality of sealing rings 103 sequentially to the receiving seat 42 through a sealing ring vibration plate 411 and a sealing ring feeding line 412. The receiving seat 42 is provided with a receiving groove 421 to receive the sealing rings 103. A receiving hole 422 is also formed in the receiving groove 421. The outer diameter of the sealing ring 103 is larger than the diameter of the receiving hole 422. The sealing ring picking and placing unit 43 includes a sealing ring moving module 431, a sealing ring picking module 432, and a sealing ring lowering module 433. The sealing ring picking module 432 includes a receiving rod 4321, which can be driven downward to insert into the receiving hole 422 and also into the middle of the sealing ring 103. The sealing ring 103 is an O-ring, which is clamped onto the receiving rod 4321 under its own elasticity. At this time, the sealing ring moving module 431 can drive the sealing ring 103 to move above the valve seat 102 on the carrier 12. The sealing ring lowering module 433 includes a sleeve 4331, which is sleeved on the upper end of the receiving rod 4321. The sleeve 4331 can be driven downward to push the sealing ring 103 on the receiving rod 4321 out so that it falls into the O-ring groove 1021 of the valve seat 102 on the carrier 12.

[0077] Furthermore, a blocking module 434 is provided on the side of the receiving seat 42. Before the sealing ring taking module 432 takes the sealing ring 103, the blocking plate 4341 of the blocking module 434 extends above the receiving seat 42 to block the sealing ring 103 on it, and the sealing ring vibration feeding unit 41 stops working. This can prevent the current sealing ring 103 on the receiving seat 42 from being squeezed by the subsequent sealing ring 103 and popped out of the receiving groove 421.

[0078] like Figure 1 , 15 As shown in Figure 17, the iron core feeding mechanism 5 of this embodiment includes an iron core vibration feeding unit 51, an iron core flipping disk 52, and an iron core picking and placing unit 53. The iron core vibration feeding unit 51 transports the iron core 104 horizontally to the iron core flipping disk 52 in sequence through the iron core vibration disk 511 and the iron core feeding line 512. The iron core flipping disk 52 is provided with an iron core receiving groove 521. A part of the iron core 104 is placed in the iron core receiving groove 521, and another part protrudes from the iron core receiving groove 521. The iron core flipping disk 52 flips the iron core 104 90 degrees to a vertical state. The iron core picking and placing unit 53 includes an iron core moving module 531 and an iron core gripper 532. The iron core gripper 532 grips the vertical iron core 104 and, driven by the iron core moving module 531, places the iron core 104 on the third placement position 123 on the carrier 12.

[0079] Furthermore, the end of the iron core feeding line 512 is also provided with a clearance groove 54, which is used to avoid the protruding part of the iron core 104 when the iron core flipping disc 52 flips. The iron core flipping disk 52 preferably moves in a forward and reverse rotation manner. A detection hole 55 is provided on the iron core flipping disk 52, which vertically penetrates the iron core receiving slot 521. A first detection sensor 56, preferably a photoelectric sensor, is provided at the end of the iron core feeding line 512. Its light can pass through the detection hole 55 to detect whether there is an iron core 104 in the iron core receiving slot 521. A second detection sensor 57, preferably a photoelectric sensor, is also provided at the iron core flipping disk 52. Its light is directed at the protruding part of the iron core 104, which is in a vertical state after flipping. When the first detection sensor 56 detects that there is an iron core 104 in the iron core receiving slot 521, it controls the iron core flipping disk 52 to rotate forward, flipping the horizontal iron core 104 to a vertical state. When the second detection sensor 57 detects that the vertical iron core 104 is picked up and removed, it controls the iron core flipping disk 52 to rotate in reverse, so that it can receive the next iron core 104 through the iron core receiving slot 521.

[0080] like Figure 1 , 18 As shown in Figure -20, the spring feeding mechanism 6 and the iron core feeding mechanism 5 in this embodiment have basically the same structure. Specifically, the spring feeding mechanism 6 includes a spring vibration feeding unit 61, a spring flipping disk 62, and a spring picking and placing unit 63. The spring vibration feeding unit 61 conveys the spring 105 horizontally to the spring flipping disk 62 in sequence through the spring vibration disk 611 and the spring feeding line 612. The spring flipping disk 62 is provided with a spring receiving groove 621. A part of the spring 105 is placed in the spring receiving groove 621, and another part protrudes from the spring receiving groove 621. The spring flipping disk 62 flips the spring 105 90 degrees to a vertical state. The spring picking and placing unit 63 includes a spring moving module 631 and a spring gripper 632. The spring gripper 632 grips the vertical spring 105 and, driven by the spring moving module 631, places the spring 105 in the groove 1041 on the top of the iron core 104 on the third placement position 123 on the carrier 12 to form an iron core spring assembly. The spring gripper 632 is also provided with an insertion rod 64 in the middle. When the spring gripper 632 grips the spring 105, the insertion rod 64 is simultaneously inserted into the middle of the spring 105, so that when the spring 105 is lowered, the spring 105 can be lowered along the insertion rod 64. Furthermore, an auxiliary module 65 is also provided at the carrier 12 at the target position of the spring loading mechanism 6. The auxiliary module 65 includes an auxiliary gripper 651. The auxiliary gripper 651 is also provided with a guide groove 652 to facilitate the spring 105 entering the groove 1041 at the top of the iron core 104.

[0081] In addition, the end of the spring feed line 612 is also provided with a clearance groove 54, which is used to avoid the protruding part of the spring 105 when the spring flip plate 62 flips. The spring flipping disk 62 preferably moves in both forward and reverse directions. A detection hole 55 is also provided on the spring flipping disk 62, which vertically penetrates the spring receiving slot 621. A first detection sensor 56, preferably a photoelectric sensor, is also provided at the end of the spring feeding line 612. Its light can pass through the detection hole 55 to detect the spring 105 inside the spring receiving slot 621. A second detection sensor 57, preferably a photoelectric sensor, is also provided at the spring flipping disk 62. Its light is directed at the protruding part of the spring 105, which is in a vertical position after flipping. When the first detection sensor 56 detects a spring 105 inside the spring receiving slot 621, it controls the flipping disk to rotate forward, flipping the horizontal spring 105 to a vertical position. When the second detection sensor 57 detects that the vertical spring 105 has been removed, it controls the spring flipping disk 62 to rotate in reverse, allowing it to receive the next spring 105 through the spring receiving slot 621.

[0082] Because the sealing ring 103 and the spring 105 have a certain degree of elasticity, they may pop out due to their own elasticity when placed in the corresponding position on the carrier 12. Therefore, the pilot valve automatic assembly equipment in this embodiment also includes a detection mechanism 8. Figure 1-2 As shown, the detection mechanism 8 is disposed on the workbench and close to the conveying mechanism 1, and includes a sealing ring detection module 81 and a spring detection module 82. The two detection modules are preferably cameras. The sealing ring detection module 81 is located downstream of the sealing ring feeding mechanism 4, for example, between the sealing ring feeding mechanism 4 and the iron core feeding mechanism 5, or between the iron core feeding mechanism 5 and the spring feeding mechanism 6. The spring detection module 82 is located downstream of the spring feeding mechanism 6, for example, between the spring feeding mechanism 6 and the snap-fit ​​feeding and assembly mechanism 7. When an abnormality is detected, an alarm can be triggered promptly to prevent parts from being lost during product assembly.

[0083] like Figure 1 , 21 As shown in Figure 29, the snap-fit ​​feeding and assembly mechanism 7 of this embodiment includes an assembly unit 71. The assembly unit 71 is used to place the iron core spring assembly on the carrier 12 into the valve seat 102, and to place the coil 101 onto the valve seat 102 where the iron core spring assembly has already been placed. In this way, the coil 101, valve seat 102, sealing ring 103, and iron core spring assembly of the pilot valve 10 are pre-assembled together, thereby facilitating the subsequent assembly of the snap-fit ​​106. Preferably, the coil 101, valve seat 102, and iron core spring assembly on the carrier 12 are arranged in a straight line, which can simplify the movement module of the assembly unit 71.

[0084] The assembly unit 71 includes a first assembly moving module 711 and a first assembly gripper 712. The first assembly gripper 712 is used to grip the iron core spring assembly on the carrier 12 and place it in the valve seat 102 under the drive of the first assembly moving module 711. Specifically, the first assembly moving module 711 includes a first vertical moving module 7111 and a first horizontal moving module 7112. After the first assembly gripper 712 grips the iron core spring assembly, it is driven upward by the first vertical moving module 7111, and then driven towards the valve seat 102 by the first horizontal moving module 7112. Then, it is driven downward by the first vertical moving module 7111 to place it in the valve seat 102. Each module can remain in its current position and then reset when the iron core spring assembly enters the coil 101 after the coil 101 is placed. This is more conducive to the installation of the iron core spring assembly and the coil 101. Because the iron core 104 slides within the inner wall of the coil 101, and has a certain circumferential distance from the placement groove 1022 on the valve seat 102, meaning that the iron core 104 is closer to the inner wall of the coil 101 than to the placement groove 1022 on the valve seat 102, it would be difficult to ensure that the iron core 104 is vertical if it is placed directly in the valve seat 102. Therefore, in this embodiment, a third placement position 123 is provided on the carrier 12 to place the iron core 104, which can keep it vertical. In addition, when the iron core spring assembly is placed into the valve seat 102 by the first assembly moving module 711 and the first assembly gripper 712, the iron core 104 is kept in a vertical position. This ensures that when the coil 101 is vertically assembled in the valve seat 102, the iron core 104 can smoothly enter the coil 101 and slide within the inner wall of the coil 101, ensuring accurate and reliable assembly of the product.

[0085] The assembly unit 71 further includes a second assembly moving module 713 and a second assembly gripper 714. The second assembly gripper 714 grips the coil 101 and places it onto the valve seat 102 on which the iron core spring assembly has already been placed. Specifically, the second assembly moving module 713 includes a second vertical moving module 7131 and a second horizontal moving module 7132. After the second assembly gripper 714 grips the coil 101, it is driven upward by the second vertical moving module 7131, then driven towards the valve seat 102 by the second horizontal moving module 7132, and then driven downward by the second vertical moving module 7131 to place it onto the valve seat 102.

[0086] Furthermore, the buckle feeding and assembly mechanism 7 of this embodiment also includes a transfer unit 72, a rotary disk 73, a buckle vibration feeding unit 74, a pushing unit 75, and a limiting unit 76. The transfer unit 72 is used to place the assembled coil 101, valve seat 102, sealing ring 103, and iron core spring assembly onto the rotary disk 73. The rotary disk 73 is provided with a corresponding slot to accommodate the valve seat 102. The buckle vibration feeding unit 74 is used to transport the buckle 106 to the pushing unit 75. The pushing unit 75 is used to... The received latch 106 is pushed into the corresponding slot 1011 on the first side of the coil 101 and valve seat 102 on the rotating disk 73. The rotating disk 73 can rotate horizontally by 180 degrees. The pushing unit 75 can push the next latch 106 into the corresponding slot 1011 on the second side of the coil 101 and valve seat 102 on the rotating disk 73. The two latches 106 are used to lock the coil 101 and valve seat 102. The limiting unit 76 is used to limit the coil 101 and valve seat 102 when the latch 106 is pushed in.

[0087] Specifically, the buckle vibration feeding unit 74 includes a buckle vibratory feeder 741 and a buckle feeding line 742. The buckle feeding line 742 is located at the output end of the buckle vibratory feeder 741. Buckle guide structures are provided on the buckle vibratory feeder 741 and the buckle feeding line 742, so that the buckles 106 are output vertically in sequence, and the output direction of the buckles 106 is perpendicular to their snap-fit ​​direction. For example, as... Figure 27As shown, the clip feeding line 742 has an L-shaped groove 7421. The vertical edge and lower edge of the C-shaped clip 106 enter the L-shaped groove 7421 and are guided by it. The upper edge of the clip 106 is located on the upper outer end face of the L-shaped groove 7421. The pushing unit 75 includes a first pushing module 751 and a second pushing module 752. After the clip 106 passes through the clip feeding line 742, it is first detected by the clip detection sensor 753. The push plate at the output end of the first pushing module 751 receives the clip 106. The middle of the push plate has a roughly C-shaped slot that conforms to the shape of the clip 106, keeping the clip 106 in a vertical position and preventing it from tipping over. The first pushing module 751 pushes the clip 106 a certain distance to the side in the direction of the slot. The clip 106 is pushed... After reaching the side, the pusher plate at the output end of the second pusher module 752 pushes the buckle 106 towards the rotating disk 73. Along this pushing path, a roughly C-shaped limiting groove, similar in shape to the buckle 106, is provided to maintain the buckle 106's vertical posture. The buckle 106 is directly pushed into the corresponding slots 1011 on the coil 101 and valve seat 102 by the second pusher module 752. Throughout the pushing process, the buckle 106's posture remains unchanged. The two locking edges of the C-shaped buckle 106 respectively enter the slots 1011 on the coil 101 and valve seat 102, engaging them. The outer edge of the slot 1011 may have a certain curvature to facilitate the insertion of the buckle 106. Preferably, the pushing direction of the first pusher module 751 and the pushing direction of the second pusher module 752 are perpendicular to each other.

[0088] Furthermore, the limiting unit 76 includes a rear limiting module 761 and a top limiting module 762. The rear limiting module 761 is disposed on the side of the turntable opposite to the pushing unit 75. The rear limiting module 761 and the top limiting module 762 are used to limit the assembled coil 101, valve seat 102 and iron core spring assembly when assembling the buckle 106.

[0089] The bottom of the rotating disk 73 is also provided with a sliding module 77. The sliding module 77 is used to move the rotating disk 73 away from the pushing unit 75 before assembling the buckle 106, and to move the rotating disk 73 closer to the pushing unit 75 when assembling the buckle 106. During assembly, the sliding module 77 first moves the rotating disk 73 closer to the pushing unit 75, so that the coil 101 and valve seat 102 on the rotating disk 73 are close to the output end of the pushing unit 75. After the first buckle 106 is assembled, the sliding module 77 moves the rotating disk 73 away from the pushing unit 75, so that the rotating disk 73 can rotate horizontally 180 degrees with the coil 101 and valve seat 102 on it, and the coil 101 and valve seat 102 will not touch the output end of the pushing unit 75. Then the sliding module 77 moves the rotating disk 73 towards the pushing unit 75 again to assemble the second buckle 106. Finally, the sliding module 77 moves the rotating disk 73 away from the conveying unit 11 again to retract. When the buckle 106 is assembled, the rear limiting module 761 extends and presses against the back of the coil 101 and the valve seat 102; the top limiting module 762 includes an inverted U-shaped top limiting member 7621, which can move to the top of the coil 101 for limiting, and can also limit the two sides of the coil 101, which facilitates the assembly of the buckle 106.

[0090] like Figure 1 and Figure 30 As shown, the automatic pilot valve assembly equipment in this embodiment also includes a feeding mechanism 9, which is also located on the worktable. The feeding mechanism 9 is used to feed the assembled pilot valve 10. Specifically, the feeding mechanism 9 includes a full pilot valve tray unit 91, an empty pilot valve tray unit 92, a pilot valve transfer unit 93, and a pilot valve pick-and-place unit 94. The pilot valve transfer unit 93 is used to receive at least one empty pilot valve material tray 911 from the empty pilot valve tray unit 92 and move it to the pilot valve pick-and-place unit 94. The remaining empty pilot valve material trays 911 are lowered to a certain height and then held and carried by the empty pilot valve tray unit 92. The pilot valve pick-and-place unit 94 includes pilot valve pick-and-place grippers 9. 41 and pilot valve moving module 942, pilot valve pick-up and drop gripper 941 clamps the assembled pilot valve 10 (i.e., the one with two snap fasteners 106) from the rotating disk 73 and places the pilot valve 10 on the pilot valve material tray 911 under the drive of the pilot valve moving module 942. When the pilot valve material tray 911 is full of pilot valve 10, the pilot valve transfer unit 93 is also used to transfer the full pilot valve material tray 911 to the pilot valve full tray unit 91 for reception.

[0091] Since the feeding mechanism 9 is equipped with a pilot valve pick-and-place unit 94, which picks and places the pilot valve 10 from the top, it must be located at a high position. In addition, the snap-on feeding and assembly mechanism 7 also includes a pushing unit 75 and a limiting unit 76. For spatial arrangement considerations, this embodiment also provides a rotating disk 73 that can move to receive the assembled coil 101, valve seat 102 and iron core spring assembly.

[0092] Specifically, the transfer unit 72 includes a first transfer module 721, a second transfer module 722, and an intermediate module 723. The first transfer module 721 is used to clamp the assembled coil 101, valve seat 102, and iron core spring assembly and drive them to move. The first transfer module 721 includes two linear modules, one vertical and one horizontal, as well as a transfer gripper 7211 and a top elastic clamping member 7212. The transfer gripper 7211 clamps the valve seat 102, and the top elastic clamping member 7212 presses the top of the coil 101. The assembled coil 101, valve seat 102, and iron core spring assembly are transferred to the rotating disk 73 on the second transfer module 722 through the first transfer module 721. The second transfer module 722 is located at the bottom of the rotating disk 73 and carries the rotating disk 73, the top limiting module 762 and the sliding module 77. In the initial state, the rotating disk 73 is driven to the first transfer module 721 to receive the assembled coil 101, valve seat 102 and iron core spring assembly. The valve seat 102 is placed on the rotating disk 73, and the coil 101 is still pressed against by the top elastic clamping member 7212. The intermediate module 723 includes an intermediate gripper 7231, which grips the coil 101 from the side. At this time, the first transfer module 721 can return to its original position. The top limiting module 762 includes a top limiting member 7621, a vertical translation module 7622, ​​and a horizontal translation module 7623. The vertical translation module 7622 can drive the top limiting member 7621 to move up and down. The horizontal translation module 7623 can drive the top limiting member 7621 to move along the moving direction of the second transfer module 722. The top limiting member 7621 can be driven to the top of the coil 101 for limiting and fixing the coil 101. At this time, the intermediate gripper 7231 can open. Then, the second transfer module 722 drives the rotary disk 73 to move to the assembly station for the assembly of the buckle 106.

[0093] Preferably, the second assembly moving module 713 and the second assembly gripper 714 used to clamp the coil 101 onto the valve seat 102 adopt the first transfer module 721 in the transfer unit 72. That is, in addition to the transfer action of placing the assembled coil 101, valve seat 102 and iron core spring assembly onto the rotating disk 73 through the first transfer module 721, the assembly action of placing the coil 101 onto the valve seat 102 is also performed through the two horizontal and vertical linear modules and the transfer gripper 7211 in the first transfer module 721, which can save space and cost. In addition, preferably, the coil 101, valve seat 102 and iron core spring assembly on the support are arranged along a straight line, and the direction of this straight line is the direction of the slot 1011 on the coil 101 and valve seat 102, that is, the pushing direction of the buckle 106. In this way, after the coil 101 and valve seat 102 are transferred to the rotating disk 73, the rotating disk 73 does not need to rotate again to align the slot 1011 with the buckle 106, which facilitates assembly.

[0094] As can be seen from the above, the pilot valve automatic assembly equipment provided in this embodiment can realize the automatic assembly of pilot valves, and has the characteristics of reliable assembly structure and high assembly efficiency.

[0095] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automatic pilot valve assembly device, characterized in that, It includes a conveying mechanism (1), which includes a conveying unit (11) and a carrier (12). The conveying unit (11) is used to convey the carrier (12) through the coil feeding mechanism (2), valve seat feeding mechanism (3), sealing ring feeding mechanism (4), iron core feeding mechanism (5), spring feeding mechanism (6), and buckle feeding and assembly mechanism (7). The carrier (12) is provided with a first placement position (121), a second placement position (122) and a third placement position (123). The coil feeding mechanism (2) is used to feed the coil (101) and place it vertically in the first placement position (121). The valve seat feeding mechanism (3) is used to feed the valve seat (102) and place it vertically in the second placement position (122). The sealing ring feeding mechanism (4) is used to feed the sealing ring (103) and place it in the valve seat (102) in the second placement position (122). The iron core feeding mechanism (5) is used to feed the iron core (104) and place it vertically in the second placement position (122). The spring feeding mechanism (6) is used to feed the spring (105) and place it vertically in the groove (1041) on the top of the iron core (104) on the third placement position (123) to form an iron core spring assembly. The snap-on feeding and assembly mechanism (7) is used to place the iron core spring assembly into the valve seat (102), and to place the coil (101) onto the valve seat (102) on which the iron core spring assembly has been placed, and to feed the snap-on (106) and to snap the two snap-on (106) into the corresponding slots (1011) on both sides of the coil (101) and the valve seat (102) respectively. The conveying mechanism (1) is located on one side of the coil feeding mechanism (2), valve seat feeding mechanism (3), sealing ring feeding mechanism (4), iron core feeding mechanism (5), spring feeding mechanism (6), and buckle feeding and assembly mechanism (7); The conveying unit (11) is a circulating conveyor line, including a first conveyor line (111), a second conveyor line (112), a first transfer line (113), and a second transfer line (114). The first conveyor line (111) includes a first conveyor guide rail (1111) and a first conveyor module (1112). The first conveyor guide rail (1111) is slidably engaged with the slider (124) at the bottom of the carrier (12). The first conveyor module (1112) is used to drive one or more carriers (12) to move to the next work station. The second conveyor line (112) includes a second conveyor guide rail (1121) and a second conveyor module (1122). The second conveyor guide rail (1121) is slidably engaged with the slider (124) at the bottom of the carrier (12). The second conveyor module (1122) is used to drive one or more carriers (12) along a parallel... The first transfer line (113) moves in the opposite direction to the conveying direction of the first conveying module (1112); the first transfer line (113) is located at one end of the first conveying line (111) and the second conveying line (112), and includes a first transfer guide rail (1131) and a first transfer module (1132). The first transfer guide rail (1131) can be aligned with the first conveying guide rail (1111) or the second conveying guide rail (1121) under the drive of the first transfer module (1132); the second transfer line (114) is located at the other end of the first conveying line (111) and the second conveying line (1122), and includes a second transfer guide rail (1141) and a second transfer module (1142). The second transfer guide rail (1141) can be aligned with the second conveying guide rail (1121) or the first conveying guide rail (1111) under the drive of the second transfer module (1142).

2. The automatic pilot valve assembly equipment according to claim 1, characterized in that, The coil feeding mechanism (2) includes a full coil tray unit (21), an empty coil tray unit (22), a coil transfer unit (23), and a coil pick-and-place unit (24). The coil transfer unit (23) is used to receive a full coil material tray (211) from the full coil tray unit (21) and move it to the coil pick-and-place unit (24). The coil pick-and-place unit (24) includes a coil pick-and-place gripper (241) and a coil moving module (242). The coil pick-and-place gripper (241) grips the coil (101) and, driven by the coil moving module (242), places the coil (101) on the first placement position (121) on the carrier (12). The coil transfer unit (23) is also used to transfer an empty coil material tray (211) to the empty coil tray unit (22) for reception. The valve seat feeding mechanism (3) includes a valve seat full tray unit (31), a valve seat empty tray unit (32), a valve seat transfer unit (33), and a valve seat pick-and-place unit (34). The valve seat transfer unit (33) is used to receive a full valve seat material tray (311) from the valve seat full tray unit (31) and move it to the valve seat pick-and-place unit (34). The valve seat pick-and-place unit (34) includes a valve seat pick-and-place gripper (341) and a valve seat moving module (342). The valve seat pick-and-place gripper (341) grips the valve seat (102) and, driven by the valve seat moving module (342), places the valve seat (102) on the second placement position (122) on the carrier (12). The valve seat transfer unit (33) is also used to transfer an empty valve seat material tray (311) to the valve seat empty tray unit (32) for reception.

3. The automatic pilot valve assembly equipment according to claim 2, characterized in that, The sealing ring feeding mechanism (4) includes a sealing ring vibration feeding unit (41), a receiving seat (42), and a sealing ring picking and placing unit (43). The sealing ring vibration feeding unit (41) sequentially feeds the sealing rings (103) to the receiving seat (42). The receiving seat (42) is provided with a receiving groove (421) to receive the sealing rings (103), and a receiving hole (422) is formed in the receiving groove (421). The sealing ring picking and placing unit (43) includes a sealing ring moving module (431), a sealing ring picking module (432), and a sealing ring lowering module (433). The sealing ring picking module (432) The device includes a receiving rod (4321) that can be inserted into the receiving hole (422) so that the sealing ring (103) is fitted onto the receiving rod (4321). The sealing ring moving module (431) can move the sealing ring (103) to above the valve seat (102) on the carrier (12). The sealing ring lowering module (433) includes a sleeve (4331) that is fitted onto the upper end of the receiving rod (4321). The sleeve (4331) can push the sealing ring (103) on the receiving rod (4321) downwards onto the carrier (12).

4. The automatic pilot valve assembly equipment according to claim 1, characterized in that, The iron core feeding mechanism (5) includes an iron core vibration feeding unit (51), an iron core flipping disk (52), and an iron core picking and placing unit (53). The iron core vibration feeding unit (51) sequentially and horizontally conveys the iron core (104) to the iron core flipping disk (52). The iron core flipping disk (52) is provided with an iron core receiving groove (521). A part of the iron core (104) is placed in the iron core receiving groove (521), and another part protrudes from the iron core receiving groove (521). The iron core flipping disk (52) flips the iron core (104) to a vertical state. The iron core picking and placing unit (53) includes an iron core moving module (531) and an iron core gripper (532). The iron core gripper (532) grips the vertical iron core (104) and, driven by the iron core moving module (531), places the iron core (104) on the carrier (12) at the third placement position (123).

5. The automatic pilot valve assembly equipment according to claim 4, characterized in that, The spring feeding mechanism (6) includes a spring vibration feeding unit (61), a spring flipping disk (62), and a spring picking and placing unit (63). The spring vibration feeding unit (61) sequentially and horizontally transports the springs (105) to the spring flipping disk (62). The spring flipping disk (62) is provided with a spring receiving groove (621). A part of the spring (105) is placed in the spring receiving groove (621), and another part protrudes from the spring receiving groove (621). The spring flipping disk (62) flips the spring (105) to a vertical state. The spring picking and placing unit (63) includes a spring moving module (631) and a spring gripper (632). The spring gripper (632) grips the vertical spring (105) and, driven by the spring moving module (631), places the spring (105) in the groove (1041) on the top of the iron core (104) at the third placement position (123) on the carrier (12) to form an iron core spring assembly.

6. The automatic pilot valve assembly equipment according to claim 1, characterized in that, The buckle feeding and assembly mechanism (7) includes an assembly unit (71), which is used to place the iron core spring assembly on the carrier (12) into the valve seat (102) and to place the coil (101) onto the valve seat (102) on which the iron core spring assembly has been placed; the assembly unit (71) includes a first assembly moving module (711), a first assembly gripper (712), a second assembly moving module (713) and a second assembly gripper (714), the first assembly gripper (712) is used to grip the iron core spring assembly on the carrier (12) and place it into the valve seat (102) under the drive of the first assembly moving module (711), and the second assembly gripper (714) is used to grip the coil (101) and place it onto the valve seat (102) on which the iron core spring assembly has been placed under the drive of the second assembly moving module (713).

7. The automatic pilot valve assembly equipment according to claim 6, characterized in that, The buckle feeding and assembly mechanism (7) further includes a transfer unit (72), a rotary disk (73), a buckle vibration feeding unit (74), a pushing unit (75), and a limiting unit (76). The transfer unit (72) is used to place the assembled coil (101), valve seat (102), sealing ring (103), and iron core spring assembly onto the rotary disk (73). The buckle vibration feeding unit (74) is used to transport the buckle (106) to the pushing unit (75). The pushing unit (75) is used to receive the buckle. The buckle (106) is pushed into the slot (1011) corresponding to the first side of the coil (101) and valve seat (102) on the rotating disk (73). The rotating disk (73) can rotate horizontally by 180 degrees. The pushing unit (75) can push the next buckle (106) into the slot (1011) corresponding to the second side of the coil (101) and valve seat (102) on the rotating disk (73). The limiting unit (76) is used to limit the coil (101) and valve seat (102) when the buckle (106) is pushed in.

8. The automatic pilot valve assembly equipment according to claim 1, characterized in that, The pilot valve automatic assembly equipment also includes a detection mechanism (8), which is located at the conveying mechanism (1) and includes a sealing ring detection module (81) located downstream of the sealing ring feeding mechanism (4) and a spring detection module (82) located downstream of the spring feeding mechanism (6).

9. The automatic pilot valve assembly equipment according to claim 1, characterized in that, The automatic assembly equipment for the pilot valve also includes a feeding mechanism (9), which is used to feed the assembled pilot valve (10) into the material. The feeding mechanism (9) includes a pilot valve full tray unit (91), a pilot valve empty tray unit (92), a pilot valve transfer unit (93), and a pilot valve pick-and-place unit (94). The pilot valve transfer unit (93) is used to receive an empty pilot valve material tray (911) from the pilot valve empty tray unit (92) and move it to the pilot valve pick-and-place unit (94). The pilot valve pick-and-place unit (94) includes pilot valve pick-and-place grippers (94). 1) and pilot valve moving module (942), the pilot valve pick-up and drop gripper (941) picks up the assembled pilot valve (10) and places the pilot valve (10) on the pilot valve material tray (911) under the drive of the pilot valve moving module (942). The pilot valve transfer unit (93) is also used to transfer the full pilot valve material tray (911) to the pilot valve full tray unit (91) for reception by the pilot valve full tray unit (91).

Images