Multi-station circulating type ball valve automatic assembly line

Abstract

The invention discloses a multi-station circulating type ball valve automatic assembling line which comprises a rack and a ball valve assembly assembling device. The ball valve assembly assembling device comprises an annular rail, and a feeding station, an auxiliary clamp mounting station, a primary overturning station, a steel ball mounting station, a steel ball detection station, a secondary overturning station, a spring mounting station, a valve sleeve mounting station, a snap spring mounting station and a finished product detection station which are sequentially arranged in the circumferential direction of the annular rail. The automatic assembling machine comprises a rack, an auxiliary clamp disassembling station and a discharging station, a plurality of tool positions are arranged on an annular rail, a corresponding ball valve assembly tool is installed on each tool position, and each ball valve assembly tool can rotate on the rack and sequentially pass through the stations so as to achieve assembling of steel balls, springs, valve sleeves and clamping springs. In this way, automatic assembling and production of the ball valve assembly can be achieved, the assembling process is continuous and accurate, it is guaranteed that ball valve products are smoothly assembled, and the assembling efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of ball valve product assembly, in particular to a multi-station circulation type ball valve automatic assembly line. Background Art

[0002] The core components of a ball valve include the valve body, valve sleeve, steel ball, spring and retaining ring, etc. The assembly accuracy directly affects the quality and service life of the ball valve. Traditional ball valve assembly mainly relies on manual operation, which has the following problems: Low production efficiency: Manual assembly is slow and cannot meet the needs of large-scale production. In particular, in scenarios with high precision requirements, assembly efficiency is further reduced. Some parts are produced automatically, but the connection between the existing automated production lines is not smooth, which limits production efficiency. Assembly accuracy is difficult to guarantee: manual operation is easily affected by the operator's technical level, and no auxiliary tools are used, resulting in unstable assembly accuracy and low product qualification rate; Incomplete quality inspection: In the traditional assembly process, quality inspection often relies on random sampling or visual inspection, which makes it difficult to achieve comprehensive and real-time quality monitoring, increasing the defective rate. Summary of the invention

[0003] The main technical problem solved by the present invention is to provide a multi-station circulating ball valve automatic assembly line, which can realize the automatic assembly and production of ball valve components. The entire assembly is continuous and accurate, ensuring the smooth assembly of ball valve products and greatly improving the assembly efficiency.

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide a multi-station circulating ball valve automatic assembly line, including: a frame and a ball valve assembly device, the ball valve assembly device includes an annular track, and the following stations are arranged in sequence along the circumferential direction of the annular track: a loading station, an auxiliary fixture installation station, a primary flip station, a steel ball installation station, a steel ball detection station, a secondary flip station, a spring installation station, a valve sleeve installation station, a retaining ring installation station, a finished product detection station, an auxiliary fixture disassembly station and a discharge station, The annular track is provided with a plurality of tooling positions, each of which is equipped with a corresponding ball valve assembly tooling, and each ball valve assembly tooling can rotate on the frame and pass through the above-mentioned positions in sequence to realize the assembly of the steel ball, spring, valve sleeve and retaining ring, and return to the original position to realize the cycle work; Wherein, the ball valve assembly tooling comprises: A valve body, wherein the bottom end of the valve body has a quick-install structure, and the top end of the valve body has a plurality of steel ball holes evenly distributed along the circumference; A valve sleeve, the valve sleeve is assembled on the valve body, a spring is installed between the valve sleeve and the valve body, a step capable of resisting the steel ball is arranged in the inner cavity of the valve sleeve, and a retaining spring is arranged between the step and the valve body to prevent the valve sleeve from popping out; An auxiliary fixture, the bottom end of which extends and is disposed in the inner cavity of the valve body, and includes a die head coaxial with the valve body, the die head is used to position and center the ball valve assembly during assembly, and a guide slope is provided on the surface of the die head to guide the spring, valve sleeve and retaining ring to be smoothly installed into the valve body; The lower end of the die head is sequentially installed with a magnetic ring 1, a support ring and a magnetic ring 2. The magnetic ring 1 is used to absorb and fix the steel ball, the support ring is used to provide axial support to prevent the steel ball from shifting, and the support ring 2 is used to absorb the auxiliary clamp onto the valve body.

[0005] In a preferred embodiment of the present invention, the loading station includes a valve body loading robot and a loading belt mechanism, the valve body loading robot includes a loading drive motor, a loading cylinder and a loading jaw connected to the loading cylinder, the two loading jaws are relatively arranged and driven by the loading cylinder to clamp or separate, the loading cylinder and the loading jaws are driven by the loading drive motor to move the valve body on the loading belt mechanism to the corresponding valve body workpiece; the loading belt mechanism includes: a driving motor, a pair of matching transmission pulleys, a conveyor belt simultaneously sleeved on the two pulleys, and a V-shaped stopper located on the output side of the conveyor belt, a proximity switch is arranged in the V-shaped stopper to detect whether the valve body workpiece is in place; the unloading station includes a finished product unloading robot and a unloading belt mechanism, the finished product unloading robot is used to clamp and move the finished ball valve workpiece on the workpiece to the unloading belt mechanism for unloading.

[0006] In a preferred embodiment of the present invention, the auxiliary fixture installation station includes a die head loading robot and a die head belt mechanism, and the die head loading robot is used to move the die head clamp on the die head loading belt mechanism to the corresponding die head installation tooling position and install the die head.

[0007] In a preferred embodiment of the present invention, the primary flipping station is used to flip the workpiece on which the die head is installed so that the die head is placed below the tooling position, and a flipping mechanism and a height detection mechanism are provided on the primary flipping station: the flipping mechanism includes a flipping cylinder, a clamping cylinder and a workpiece clamp, the piston rod of the flipping cylinder is connected to the clamping cylinder, the end of the piston rod of the clamping cylinder is connected to the workpiece clamp, the workpiece clamp includes two symmetrically distributed clamping arms, the clamping cylinder drives the workpiece clamp to clamp and release the workpiece, and the flipping cylinder drives the clamping cylinder and the workpiece clamp to rotate around the axis to achieve 180° flipping; the height detection mechanism includes a downward pressure detection rod, a detection head and a displacement sensor: the lower end of the downward pressure detection rod is connected to the detection head, the displacement sensor is inductively connected to the detection head, the detection head detects height changes by contacting the auxiliary die head, and transmits the changes to the displacement sensor; the secondary flipping station is used to flip the workpiece after the steel ball is installed so that the die head is placed above the tooling position.

[0008] In a preferred embodiment of the present invention, the steel ball installation station is provided with an up-and-down handling manipulator, a steel ball feeding mechanism and a steel ball vibration plate, the up-and-down handling manipulator clamps and places the turned workpiece on the steel ball feeding mechanism, and transports the steel balls to the steel ball feeding mechanism through the steel ball vibration plate; The steel ball feeding mechanism includes a bottom plate, a top plate, an adapter plate and a stepper motor. The bottom plate and the top plate are connected by a support column. The adapter plate is connected to one side of the top plate through a support column. The stepper motor is installed on the top plate. The output shaft of the stepper motor is connected to the rotating shaft. The rotating shaft is arranged on the top plate and the adapter plate to drive the workpiece to rotate uniformly in the circumferential direction. The bottom plate is provided with a top shaft capable of supporting the auxiliary die head. The adapter plate is provided with a steel ball feeding fixture, which is connected to the steel ball vibrating plate through a steel ball conveying pipe to form a steel ball feeding channel for receiving the steel balls conveyed by the steel ball vibrating plate. The stepper motor drives the workpiece to rotate through the rotating shaft, so that the multiple steel ball holes on the workpiece are aligned with the steel ball feeding fixture in sequence, so as to realize the continuous installation of the steel balls. The steel ball feeding mechanism also includes a steel ball channel control component, which includes: a channel push rod, a push column, a push rod cylinder, a first pressing plate and a second pressing plate. The first pressing plate is mounted on the push rod cylinder, the piston rod of the push rod cylinder is connected to the second pressing plate, the first pressing plate and the second pressing plate are connected to the adapter plate through a supporting column, the push column is arranged on the second pressing plate, an elastic member is arranged between the first pressing plate and the second pressing plate to provide buffering and resetting, the channel push rod is mounted on the push column, and the top end of the channel push rod is adapted to the steel ball feeding channel, When the push rod cylinder moves downward, it drives the channel push rod to move downward, so that the steel ball feeding channel is opened, and the steel balls can smoothly enter the steel ball feeding channel to achieve continuous installation. When all the steel balls are installed in place, the push rod cylinder moves upward, driving the channel push rod to move upward, closing the steel ball feeding channel.

[0009] In a preferred embodiment of the present invention, a steel ball imaging detection mechanism is provided on the steel ball detection station, and the steel ball imaging detection mechanism includes: a pneumatic rotary joint, a spindle rotating shaft, a rotating sleeve, a workpiece cylinder, a backlight source and an imaging camera, one end of the spindle rotating shaft is connected to the pneumatic rotary joint, and the other end of the spindle rotating shaft is connected to the workpiece cylinder, the rotating sleeve is coaxially installed on the spindle rotating shaft, and the backlight source and the imaging camera are respectively arranged on the mounting plates on both sides of the workpiece, and the workpiece is driven to rotate 360 ​​degrees through the rotation of the spindle rotating shaft to realize comprehensive imaging detection of the steel balls.

[0010] In a preferred embodiment of the present invention, the spring installation station includes a spring vibration disk, a spring feeding mechanism and a spring upper and lower manipulator, the vibration disk is used to feed the spring to the spring feeding mechanism, the spring feeding mechanism includes a spring conveying channel, a spring positioning core, a spring positioning slider, a slider mounting plate and a spring top block, one end of the spring conveying channel is connected with the discharge port of the spring vibration disk, and the other end leads to the spring positioning core, the spring positioning core is fixedly mounted on the slider mounting plate, the bottom of the slider mounting plate is connected to the workbench through a spring positioning slider and a slide rail, the spring top block can abut and limit the spring, and the spring top block is connected to a top block cylinder for driving the spring top block to move; the spring upper and lower manipulators are used to move the spring on the spring positioning core to the spring installation tooling position corresponding to the annular track.

[0011] In a preferred embodiment of the present invention, the valve sleeve installation station includes: a valve sleeve storage mechanism, a valve sleeve loading and unloading robot, a valve sleeve conveying belt mechanism and a valve sleeve clamping robot. The valve sleeve storage mechanism includes a turntable and a plurality of valve sleeve storage racks evenly spaced along the circumference of the turntable. The turntable can rotate around its axis to realize circumferential switching of the valve sleeve storage rack. The valve sleeve loading and unloading robot is used to grab the valve sleeve from the valve sleeve storage rack and place the grabbed valve sleeve on the valve sleeve conveying belt mechanism. The valve sleeve conveying belt mechanism is used to convey the valve sleeve and convey the valve sleeve to the grabbing position of the valve sleeve clamping robot. The valve sleeve clamping robot is used to grab the valve sleeve from the valve sleeve conveying belt mechanism and convey the valve sleeve to the corresponding valve sleeve installation tooling position on the annular track.

[0012] In a preferred embodiment of the present invention, the retaining spring installation station includes a retaining spring manipulator and a workpiece pre-pressing assembly, wherein the retaining spring manipulator includes a retaining spring feeding assembly and a retaining spring pressing assembly, the retaining spring feeding assembly includes a retaining spring vibration disk, a straight vibration plate, a retaining spring material plate, a retaining spring feeding cylinder and a retaining spring feeding clamp: the output end of the retaining spring vibration disk is connected to the straight vibration plate, the retaining spring material plate is provided with a retaining spring hole, and can move between an initial position and the output end of the straight vibration plate, the retaining spring feeding clamp is driven by the retaining spring feeding cylinder to clamp or separate to achieve the picking and placing of the retaining spring; the retaining spring pressing assembly includes a retaining spring pressing cylinder and a retaining spring pressing clamp, the retaining spring pressing clamp is driven by the retaining spring pressing cylinder to press down and as the guide slope of the die head gradually increases, the retaining spring slides downward along the die head and enters the retaining spring position in the workpiece; the workpiece pre-pressing assembly includes a pre-pressing cylinder and a workpiece pre-pressing plate, The center of the workpiece pre-pressing plate has a limiting hole adapted to the workpiece, and both sides of the workpiece pre-pressing plate are connected to pre-pressing cylinders. The pre-pressing plate is driven downward by the pre-pressing cylinders to limit and fix the workpiece.

[0013] In a preferred embodiment of the present invention, the auxiliary fixture disassembly station includes a workpiece pressing assembly and a die unloading robot, and the workpiece pressing assembly applies downward pressure to the workpiece to keep it fixed, and the unloading robot grabs and removes the die in the auxiliary fixture to complete the disassembly action.

[0014] The beneficial effects of the present invention are: it has the advantages of high efficiency, precision, modularity, and scalability, can realize the automated assembly and production of ball valve components, and can significantly improve the production efficiency and product quality of ball valve components. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which: Figure 1 It is a structural schematic diagram of a preferred embodiment of a ball valve assembly tool of the present invention; Figure 2 It is a cross-sectional view of a preferred embodiment of a ball valve assembly tool of the present invention; Figure 3 It is a structural schematic diagram of a preferred embodiment of the auxiliary clamp of the present invention; Figure 4 It is a structural schematic diagram of a preferred embodiment of the multi-station circulation ball valve automatic assembly line of the present invention; Figure 5 It is a cross-sectional view of a preferred embodiment of a loading station of the present invention; Figure 6is a cross-sectional view of a preferred embodiment of the auxiliary fixture installation station of the present invention; Figure 7 It is a cross-sectional view of a preferred embodiment of a single-turnover station of the present invention; Figure 8 It is a cross-sectional view of a preferred embodiment of the steel ball installation station of the present invention; Fig. 9 It is a cross-sectional view of a preferred embodiment of the steel ball feeding mechanism of the present invention; Fig.10 It is a cross-sectional view of a preferred embodiment of the steel ball detection station of the present invention; Fig.11 is a cross-sectional view of a preferred embodiment of a spring installation station of the present invention; Fig.12 is a cross-sectional view of a preferred embodiment of a valve sleeve installation station of the present invention; Fig.13 It is a cross-sectional view of a preferred embodiment of a retaining spring installation station of the present invention; Fig.14 It is a cross-sectional view of a preferred embodiment of the circlip manipulator and workpiece preloading assembly of the present invention; Fig.15 It is a cross-sectional view of a preferred embodiment of a finished product inspection station of the present invention; Fig.16 is a cross-sectional view of a preferred embodiment of the auxiliary fixture disassembly station of the present invention; Fig.17 is a cross-sectional view of a preferred embodiment of the unloading station of the present invention; The markings of the components in the accompanying drawings are as follows: 100. feeding station, 101. feeding cylinder, 102. feeding clamp, 103. driving motor, 104. pulley, 105. V-shaped stopper, 106. proximity switch; 200, auxiliary fixture installation station, 201, die head loading manipulator, 202, die head belt mechanism; 300, one-time turning station, 301, turning cylinder, 302, clamping cylinder, 303, workpiece clamping claw, 304, detection rod, 305, detection head, 306, displacement sensor; 400, steel ball installation station, 401, upper and lower handling manipulator, 402, steel ball vibration plate, 403, steel ball conveying pipe, 404, bottom plate, 405, top plate, 406, adapter plate, 407, stepping motor, 408, support column, 409, top shaft, 410, feeding fixing part, 411, rotating shaft, 412, channel top rod, 413, top column, 414, top rod cylinder, 415, first pressing plate, 416, second pressing plate; 500, steel ball detection station, 501, pneumatic rotary joint, 502, spindle rotation axis, 503, rotating sleeve, 504, workpiece cylinder, 505, backlight source, 506, imaging camera, 600, secondary turning station; 700, spring installation station, 701, spring vibration plate, 702, spring upper and lower manipulators, 703, spring conveying channel, 704, spring positioning core, 705, spring positioning slider, 706, slider mounting plate, 707, spring top block, 708, top block cylinder; 800, valve sleeve installation station, 801, valve sleeve storage mechanism, 802, valve sleeve loading and unloading manipulator, 803, valve sleeve conveying belt mechanism, 804, valve sleeve clamping manipulator, 805, turntable, 806, valve sleeve storage rack; 900, circlip installation station, 901, circlip vibration plate, 902, straight vibration plate, 903, circlip material plate, 904, circlip feeding cylinder, 905, circlip feeding clamp, 906, circlip pressing cylinder, 907, circlip pressing clamp, 908, pre-pressing cylinder, 909, workpiece pre-pressing plate, 910, limiting hole; 1000, finished product inspection station, 1001, post-process height inspection mechanism; 1100, auxiliary fixture disassembly station, 1101, workpiece pressing assembly, 1102, die head unloading manipulator; 1200, unloading station, 1201, finished product unloading manipulator, 1202, unloading belt mechanism; 1300, rack, 1400, circular track; 1500. Ball valve assembly tooling, 1501. Valve body, 1502. Valve sleeve, 1503. Spring, 1504. Retaining ring, 1505. Steel ball, 1506. Step, 1507. Die head, 1508. Magnetic ring one, 1509. Support ring, 1510. Magnetic ring two, 1511. Guide slope, 1512. Steel ball hole position. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0017] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Embodiments of the present invention include: A multi-station circulating ball valve automatic assembly line, such as Figure 4 As shown, it includes: a frame 1300 and a ball valve assembly assembly device, the ball valve assembly assembly device includes an annular track 1400, and arranged in sequence along the circumferential direction of the annular track 1400: a loading station 100, an auxiliary fixture installation station 200, a primary flipping station 300, a steel ball installation station 400, a steel ball detection station 500, a secondary flipping station 600, a spring installation station 700, a valve sleeve installation station 800, a retaining ring installation station 900, a finished product detection station 1000, an auxiliary fixture disassembly station 1100 and an unloading station 1200.

[0019] The annular track 1400 is provided with a plurality of workstations, each of which is equipped with a ball valve assembly tool 1500. Each ball valve assembly tool 1500 can rotate on the frame and sequentially pass through a loading station 100, an auxiliary fixture installation station 200, a primary flipping station 300, a steel ball installation station 400, a steel ball inspection station 500, a secondary flipping station 600, a spring installation station 700, a valve sleeve installation station 800, a retaining ring installation station 900, a finished product inspection station 1000, an auxiliary fixture disassembly station 1100 and an unloading station 1200 to realize the assembly of steel balls, springs, valve sleeves and retaining rings, and return to the original position to realize cyclic work.

[0020] like Figure 1-3 As shown, the ball valve assembly tool 1500 includes a valve body 1501, a valve sleeve 1502 and an auxiliary fixture. The bottom end of the valve body 1501 has a quick-fit structure for connecting with an external pipeline. The top end of the valve body 1501 has a plurality of steel ball holes 1512 evenly distributed along the circumference. The quick-fit structure can preferably be a threaded structure.

[0021] The valve sleeve 1502 is assembled on the valve body 1501, and a spring 1503 is installed between the valve sleeve 1502 and the valve body 1501, and the spring 1503 is used to provide axial elastic support to compensate for assembly errors. The inner cavity of the valve sleeve 1502 is provided with a step 1506 that can resist the steel ball 1505, and a retaining spring 1504 is provided between the step 1506 and the valve body 1501 to play a role of buffering and fixing. When the valve sleeve 1502 is subjected to external force or internal pressure, the retaining spring 1504 can provide a certain elastic support to prevent the valve sleeve 1502 from popping out due to excessive pressure.

[0022] In order to ensure that the ball valve assembly is accurately aligned during assembly and avoid misalignment or tilting, the present invention adds an auxiliary clamp to the valve body, and the auxiliary clamp extends and is arranged in the inner cavity of the valve body.

[0023] Furthermore, the auxiliary fixture includes a die head 1507 coaxial with the valve body 1501, which is used to position and center the ball valve assembly during assembly. The surface of the die head 1507 is provided with a guide slope 1511, which is used to guide the spring 1503, valve sleeve 1502 and retaining ring 1504 to be accurately and smoothly installed into the valve body 1501.

[0024] The lower end of the die head is sequentially installed with a magnetic ring 1508, a support ring 1509 and a magnetic ring 1510. The magnetic ring 1508 is used to absorb and fix the steel ball 1505 to ensure that the steel ball is installed smoothly and accurately. The support ring 1509 is used to provide axial support to prevent the steel ball from shifting during the assembly process. The magnetic ring 1510 absorbs the auxiliary clamp on the valve body 1501 to ensure the stability of the clamp and prevent it from falling off during reversal.

[0025] In order to achieve accurate and stable installation of the ball valve assembly, corresponding tooling components are set at each workstation. The following is a detailed description of the component structure and its function set at each workstation.

[0026] First, as Figure 5 As shown, the loading station 100 includes a valve body loading robot and a loading belt mechanism. The loading belt mechanism is used to transport the valve body workpiece to be processed, and can transport the valve body workpiece to the loading position according to a preset rhythm and direction, and then the valve body workpiece is clamped by the valve body loading robot.

[0027] In detail, the valve body feeding robot includes a feeding drive motor, a feeding cylinder 101 and a feeding clamp 102 connected to the feeding cylinder 101. The two feeding clamps 102 are relatively arranged and driven by the feeding cylinder 101 to clamp or separate. The feeding cylinder 101 and the feeding clamp 102 are driven by the feeding drive motor to move the valve body workpiece on the feeding belt mechanism to the corresponding valve body tooling position.

[0028] Furthermore, the feeding belt mechanism includes: a driving motor 103, a pair of cooperative transmission pulleys 104, a conveyor belt (not shown in the figure) simultaneously sleeved on the two pulleys 104, and a V-shaped stopper 105 located on the output side of the conveyor belt. A proximity switch 106 is provided in the V-shaped stopper 105 to detect whether the valve body workpiece is in place. The V-shaped stopper 105 can limit the workpiece and ensure that the workpiece can be accurately fixed in a preset position when it reaches the output end, so as to facilitate subsequent clamping or placement operations.

[0029] The action flow of the loading station is as follows: the loading belt mechanism starts to transport the valve body workpiece to the loading position. At this time, the valve body loading robot moves to the workpiece position, and the loading cylinder 101 drives the loading clamp 102 to clamp the valve body workpiece and move the valve body workpiece to the tooling position. Then the loading clamp 102 is released to complete the loading, the valve body loading robot is reset, and the loading belt mechanism continues to transport the next workpiece.

[0030] The above-mentioned loading station can realize automatic loading of valve body workpieces, improve production efficiency, reduce manual intervention, and ensure the accuracy and reliability of the loading process.

[0031] When the valve body is loaded, the annular track continues to rotate, driving the tooling station to enter the auxiliary fixture installation station.

[0032] Second, if Figure 6 As shown, the auxiliary fixture installation station 200 includes a die head loading robot 201 and a die head belt mechanism 202. The die head belt mechanism 202 is used to transport the die head to be installed, and can transport the die head to the die head loading position according to a preset rhythm and direction, and then the die head is clamped by the die head loading robot 201.

[0033] The die head loading robot 201 is a module that is basically the same as the aforementioned valve body loading robot, and the die head belt mechanism 202 is a module that is basically the same as the aforementioned loading belt mechanism, which will not be described in detail here.

[0034] The action flow of the auxiliary fixture installation station is as follows: The die head loading belt mechanism transports the die head to the designated die head loading position. At this time, the die head loading robot moves to the die head loading position, clamps the die head, moves the die head to the die head installation tooling position to complete the die head loading, and then the die head loading robot resets, and the die head loading belt mechanism continues to transport the next die head workpiece.

[0035] When the auxiliary fixture is installed, the circular track continues to rotate, driving the tooling station into a flipping station.

[0036] Third, if Figure 7 As shown, the primary flipping station 300 is provided with a flipping mechanism and a height detection mechanism for flipping the valve body workpiece with the die head installed so that the die head is placed at the bottom, and detecting the height of the die head to determine whether it meets the installation requirements.

[0037] In detail, the flipping mechanism includes a flipping cylinder 301, a clamping cylinder 302 and a workpiece clamp 303. The piston rod of the flipping cylinder 301 is connected to the clamping cylinder 302, and the end of the piston rod of the clamping cylinder 302 is connected to the workpiece clamp 303. The workpiece clamp 303 includes two symmetrically distributed clamping arms. The clamping cylinder 301 drives the workpiece clamp 303 to clamp and release the workpiece. The flipping cylinder 301 drives the clamping cylinder 302 and the workpiece clamp 303 to rotate around the axis to achieve 180° flipping.

[0038] The flipping action process of the above flipping mechanism is as follows: In the initial state: the clamping cylinder 302 is extended and in the open state, and the flip cylinder 301 is in the reset position; In the flipping state: the clamping cylinder 302 contracts, the workpiece clamping jaws 303 close to clamp the workpiece, and the flipping cylinder is actuated to drive the clamping cylinder 302 and the workpiece clamping jaws 303 to flip 180°; After turning to the target position, the clamping cylinder 302 extends, the workpiece clamping jaws 303 release the workpiece, and the turning cylinder 301 resets to prepare for the next action.

[0039] The turning mechanism realizes reliable clamping and precise turning of the workpiece, has the characteristics of compact structure and smooth movement, and is suitable for workpiece reversing operations in automated production lines.

[0040] Based on the above structure, the height detection mechanism includes a downward pressure detection rod 304, a detection head 305 and a displacement sensor 306. The lower end of the downward pressure detection rod 304 is connected to the detection head 305. The displacement sensor 306 is inductively connected to the detection head 305. The detection head 305 detects height changes by contacting the auxiliary die head and transmits the changes to the displacement sensor 306.

[0041] The height detection process of the above-mentioned primary height detection mechanism is as follows: In the initial state, the height detection mechanism is in a high position as a whole; in the detection state, the height detection mechanism moves downward, and by pressing down the detection rod 304, the detection head 305 is driven to move downward and contact the auxiliary die head. The displacement sensor 306 measures the displacement of the detection head 305 in real time, and judges whether the auxiliary die head meets the installation requirements by comparing the installation height of the preset auxiliary die head.

[0042] When one flip and height detection installation is completed, the circular track continues to rotate, driving the tooling station into the steel ball installation station.

[0043] Fourth, if Figure 8-9As shown, the steel ball installation station 400 includes an upper and lower transport robot 401, a steel ball feeding mechanism and a steel ball vibration plate 402. The upper and lower transport robot 401 is used to clamp and transport the flipped workpiece and place it accurately on the steel ball feeding mechanism. The steel ball vibration plate 402 is connected to the steel ball feeding mechanism through a steel ball conveying pipe 403, which is used to convey the steel balls to the steel ball feeding mechanism in an orderly manner to achieve a continuous supply of steel balls.

[0044] In detail, the steel ball feeding mechanism includes a bottom plate 404, a top plate 405, a transfer plate 406 and a stepper motor 407. The bottom plate 404 and the top plate 405 are connected by a support column 408 to form a stable support frame. The bottom plate 404 is provided with a top shaft 409 that can support the auxiliary die head to ensure the stability of the workpiece during the installation process.

[0045] The adapter plate 406 is connected to one side of the top plate 405 through a support column 408 and is used to install a steel ball feeding fixture 410. The steel ball feeding fixture 410 is connected to the steel ball vibration plate 402 through a steel ball conveying pipe 403 to form a steel ball feeding channel for receiving the steel balls conveyed by the steel ball vibration plate 402.

[0046] The stepper motor 407 is installed on the top plate 405, and the output shaft of the stepper motor 407 is connected to the rotating shaft 411. The rotating shaft 411 is set on the top plate 405 and the adapter plate 406 to drive the workpiece to rotate uniformly in the circumferential direction. The stepper motor 407 drives the workpiece to rotate through the rotating shaft 411, so that the multiple steel ball holes 1512 on the workpiece are aligned with the steel ball feeding fixing piece 410 in sequence, thereby realizing the continuous installation of the steel balls.

[0047] The upper and lower transport robot 401 is a module that is basically the same as the aforementioned valve body loading robot, and will not be described in detail here.

[0048] The action flow of the above-mentioned steel ball feeding mechanism is as follows: The up-down transport robot 401 grips the turned workpiece and transports it from the previous station to the steel ball feeding mechanism. The up-down transport robot 401 accurately places the workpiece on the rotating shaft 411 of the top plate 405 of the steel ball feeding mechanism, and supports the auxiliary die head through the top shaft 409 provided on the bottom plate 404; The steel ball vibrating plate 402 is started, and the steel balls are transported in an orderly manner to the steel ball feeding channel of the steel ball feeding mechanism through the steel ball conveying pipe 403, so as to ensure that the steel balls enter the installation position in an orderly manner; The stepper motor 407 is started, and drives the workpiece to rotate evenly in the circumferential direction through the rotating shaft 411. During the rotation process, multiple steel ball holes on the workpiece are aligned with the steel ball feeding fixture 410 in sequence, and the steel balls fall into the installation holes to complete the installation of a single steel ball. The stepper motor 407 gradually rotates the workpiece according to a preset angle until all steel ball holes have completed the installation of the steel balls; When all the steel ball holes are installed, the stepper motor 407 stops working, the rotating shaft 411 is stationary, and the up and down transport robot 401 clamps the workpiece with the installed steel balls and transports it from the steel ball feeding mechanism to the next station.

[0049] On the basis of the above structure, in order to ensure accurate and stable installation of the steel balls, a steel ball channel control component is also provided on the steel ball feeding mechanism.

[0050] The steel ball channel control assembly includes: a channel push rod 412, a push column 413, a push rod cylinder 414 and a first pressure plate 415 and a second pressure plate 416. The first pressure plate 415 is installed on the push rod cylinder 414. The piston rod of the push rod cylinder 414 is connected to the second pressure plate 416. The first pressure plate 415 and the second pressure plate 416 are connected to the adapter plate 406 through the support column 408. The push column 413 is arranged on the second pressure plate 416. An elastic member (not shown in the figure) is arranged between the first pressure plate 415 and the second pressure plate 416 to provide buffering and resetting. The channel push rod 412 is installed on the push column 413. The top end of the channel push rod 412 is adapted to the steel ball feeding channel for controlling the opening and closing of the steel ball feeding channel.

[0051] When the push rod cylinder 414 moves downward, it drives the channel push rod 412 to move downward, so that the steel ball feeding channel is opened, and the steel balls can smoothly enter the steel ball feeding channel to achieve continuous installation; When all the steel balls are installed in place, the push rod cylinder 414 moves upward, driving the channel push rod 412 to move upward, closing the steel ball feeding channel, so that the workpiece with the steel balls installed can be further transported to the next station.

[0052] Through the coordinated cooperation of the above-mentioned upper and lower transport manipulators 401, the steel ball feeding mechanism and the steel ball channel control component, the automated operation of steel ball installation is realized, the installation efficiency and accuracy are improved, and manual intervention is reduced.

[0053] When the steel balls are installed, the circular track continues to rotate, driving the workstation to enter the steel ball detection station.

[0054] Fifth, if Fig.10 As shown, the steel ball detection station 500 is provided with a steel ball imaging detection mechanism to detect whether the steel balls are installed in place.

[0055] In detail, the steel ball imaging detection mechanism includes: a pneumatic rotary joint 501, a spindle rotating shaft 502, a rotating sleeve 503, a workpiece cylinder 504, a backlight source 505 and an imaging camera 506, one end of the spindle rotating shaft 502 is connected to the pneumatic rotary joint 501, the other end of the spindle rotating shaft 502 is connected to the workpiece cylinder 504, and the rotating sleeve 503 is coaxially installed on the spindle rotating shaft 502.

[0056] The pneumatic rotary joint 501 is used to drive the main shaft rotating shaft 502 to rotate, the workpiece cylinder 504 is used to clamp and fix the workpiece loaded with steel balls, and the rotating sleeve 503 is used to support and stabilize the rotation of the main shaft rotating shaft 502.

[0057] Furthermore, a backlight source 505 and an imaging camera 506 are arranged on the mounting plates on both sides of the workpiece. The backlight source 505 and the imaging camera 506 are arranged relative to each other. The backlight source 505 provides uniform lighting, and the imaging camera 506 is used to collect image information of the workpiece to detect whether the steel ball is installed in place.

[0058] The specific action process of the above-mentioned steel ball imaging detection mechanism is as follows: The workpiece loaded with steel balls is clamped by the workpiece cylinder 504 and placed at the detection position. The pneumatic rotary joint 501 receives the start signal and starts to drive the spindle rotating shaft 502 to rotate. The rotation of the spindle rotating shaft 502 drives the workpiece to rotate 360 ​​degrees. The backlight source 505 is started to provide uniform lighting, ensuring that each part of the workpiece surface and the steel ball can be fully illuminated. The imaging camera 506 continuously collects image information of the workpiece during the rotation of the workpiece. Since the workpiece is rotating, the imaging camera 506 can obtain images of the workpiece from multiple angles, ensuring that each part of the steel ball is covered, thereby achieving comprehensive imaging detection of the steel ball; After the inspection is completed, the pneumatic rotary joint 501 stops rotating, the workpiece cylinder 504 releases the clamping, and the workpiece is moved out of the inspection station to prepare for the inspection of the next workpiece.

[0059] After the steel ball is installed and the imaging inspection is completed, the circular track 1400 continues to rotate, and the tooling station enters the secondary flipping station 600. The secondary flipping station 600 is used to flip the workpiece after the steel ball is installed and the imaging inspection is performed, so that the die head is placed above the tooling station.

[0060] Sixth, the secondary flipping station 600 includes a flipping mechanism, the structure of which is substantially the same as that of the flipping mechanism on the primary flipping station, and will not be described in detail herein.

[0061] The flipping angle of the primary flipping station 300 and the secondary flipping station 600 is 180 degrees, which is used to realize automatic flipping and positioning of the workpiece, so as to realize the switching of the die head below and above the tooling position to meet the assembly production requirements.

[0062] After the secondary flipping action is completed, the annular track 1400 continues to rotate, driving the tooling station to enter the spring installation station 700.

[0063] Seventh, such as Fig.11As shown, the spring installation station 700 includes a spring vibration plate 701, a spring feeding mechanism and a spring upper and lower manipulator 702. The spring vibration plate 701 is used to convey springs to the spring feeding mechanism, and the spring upper and lower manipulator 702 is used to transport the springs to the spring installation workstation corresponding to the circular track 1400.

[0064] In detail, the spring feeding mechanism includes a spring conveying channel 703, a spring positioning core 704, a spring positioning slider 705, a slider mounting plate 706, a spring top block 707 and a top block cylinder 708. One end of the spring conveying channel 703 is connected to the discharge port of the spring vibration disk 701, and the other end leads to the spring positioning core 704. The spring positioning core 704 is fixedly mounted on the slider mounting plate 705, and the bottom of the slider mounting plate is connected to the workbench through the spring positioning slider 705 and the slide rail. The spring top block 707 can abut and limit the spring, and the spring top block 707 is connected to a top block cylinder 708 for driving the spring top block 707 to move.

[0065] The spring upper and lower manipulators are basically the same modules as the aforementioned valve body loading manipulator, and will not be described in detail here.

[0066] The specific action flow of the above spring installation station is as follows: Start the spring vibrating plate 701, the spring is transported to the spring conveying channel 703 in an orderly manner through the discharge port, and then moves to the spring positioning core 704, and the spring top block 707 abuts against the spring to limit the position, ensuring that the spring is accurately positioned on the positioning core 704; Then the slider mounting plate 706 moves on the workbench through the spring positioning slider 705 and the slide rail, and moves the spring positioning core 704 to the clamping position of the spring upper and lower manipulators 702. During this process, the spring top block 707 maintains the abutment limit to the spring under the action of the top block cylinder 708, ensuring that the spring will not fall off or deviate during the movement; Finally, the spring upper and lower manipulators 702 move to the top of the spring positioning core 704 , clamp the spring on the spring positioning core 704 , and move the spring from the spring positioning core 704 to the spring installation tooling position 700 corresponding to the annular track 1400 .

[0067] When the spring installation action is completed, the annular track 1400 continues to rotate, driving the tooling station to enter the valve sleeve installation station 800.

[0068] Eighth, such as Fig.12 As shown, the valve sleeve installation station 800 includes a valve sleeve storage mechanism 801 , a valve sleeve loading and unloading robot 802 , a valve sleeve conveying belt mechanism 803 and a valve sleeve clamping robot 804 .

[0069] In detail, the valve sleeve storage mechanism 801 includes a turntable 805 and a plurality of valve sleeve storage racks 806 that are evenly spaced along the circumference of the turntable 805, wherein the turntable 805 can rotate around its axis to achieve circumferential switching of the valve sleeve storage racks 806. Preferably, the number of the valve sleeve storage racks 806 is 4-12, and each valve sleeve storage rack 806 can store multiple valve sleeves.

[0070] Among them, the valve sleeve loading and unloading robot 802 and the valve sleeve clamping robot 804 are basically the same modules as the aforementioned valve body loading robot, and will not be repeated here. The valve sleeve conveying belt mechanism 803 is basically the same module as the aforementioned loading belt mechanism, and will not be repeated here.

[0071] The specific action flow of the above valve sleeve installation station is as follows: The turntable 805 of the valve sleeve storage mechanism 801 is driven to rotate to a specified position, and the valve sleeve loading and unloading robot 802 removes the valve sleeve from the valve sleeve storage rack 806 and then moves it to the valve sleeve conveying belt mechanism 803. The valve sleeve conveying belt mechanism 803 is started to convey the valve sleeve to the grasping position of the valve sleeve clamping robot 804 , and then the valve sleeve clamping robot 804 grasps the valve sleeve and moves to the corresponding valve sleeve installation tooling position 800 on the annular track 1400 .

[0072] When the valve sleeve installation action is completed, the annular track 1400 continues to rotate, driving the tooling station to enter the retaining ring installation station 900.

[0073] Ninth, such as Figure 13-14 As shown, the retaining spring installation station 900 includes a retaining spring manipulator and a workpiece pre-pressing assembly, wherein the retaining spring manipulator includes a retaining spring feeding assembly and a retaining spring pressing assembly.

[0074] In detail, the circlip feeding assembly includes a circlip vibration plate 901, a straight vibration plate 902, a circlip material plate 903, a circlip feeding cylinder 904 and a circlip feeding clamp 905: The output end of the retaining spring vibration disk 901 is connected to the straight vibration plate 902, and the retaining spring material plate 903 is provided with retaining spring holes. The retaining spring material plate 903 can move between the initial position and the output end of the straight vibration plate 902, and the retaining spring feeding claw 905 is driven by the retaining spring feeding cylinder 904 to clamp or separate to realize the taking and placing of the retaining spring.

[0075] Furthermore, the retaining spring pressing assembly includes a retaining spring pressing cylinder 906 and a retaining spring pressing jaw 907. The retaining spring pressing jaw 907 is driven downward by the retaining spring pressing cylinder 906 and gradually increases with the die guide slope 1511, so that the retaining spring slides downward along the die and enters the retaining spring position in the workpiece.

[0076] Furthermore, the workpiece pre-pressing assembly includes a pre-pressing cylinder 908 and a workpiece pre-pressing plate 909. The center of the workpiece pre-pressing plate 909 has a limiting hole 910 adapted to the workpiece. The pre-pressing cylinder 908 is connected to both sides of the workpiece pre-pressing plate 909. The workpiece pre-pressing plate 909 is driven downward by the pre-pressing cylinder 908 to limit and fix the workpiece.

[0077] The specific action flow of the above-mentioned retaining spring installation station is as follows: The clip plate 903 moves from the initial position to the output end of the straight vibration plate 902, receives the clips delivered by the clip vibration plate 901 and the straight vibration plate 902, and the clip feeding cylinder 904 drives the clip feeding jaws 905 to contract to clamp the clips on the clip plate 903, and moves the clips to above the guide slope 1511 of the workpiece die head on the tooling position; When the retaining ring to be installed is released at the starting position of the die head guide inclined surface 1511, the pre-pressing cylinder 908 drives the workpiece pre-pressing plate 909 to press down, and the workpiece is limited and fixed through the limiting hole 910 to prevent the workpiece from shifting during the installation process; Then the retaining spring pressing cylinder 906 drives the retaining spring pressing jaw 907 to press down, and the retaining spring slides downward along the gradually increasing structure of the die head guide slope 1511. Under the guidance of the guide slope 1511, the retaining spring accurately slides into the retaining spring slot in the workpiece to complete the installation.

[0078] At this workstation, the limiting hole 910 of the workpiece pre-pressure plate 909 matches the shape of the workpiece, and the pre-pressure is moderate to avoid deformation or displacement of the workpiece. The guidance of the die head guide bevel 1511 ensures that the retaining spring slides smoothly and without sticking, thereby achieving efficient and accurate installation of the retaining spring.

[0079] When the retaining spring installation action is completed, the annular track continues to rotate, driving the tooling station to enter the finished product inspection station 1000.

[0080] Tenth, such as Fig.15 As shown, the finished product inspection station 1000 includes a post-process height detection mechanism 1001. The structure of the post-process height detection mechanism 1001 is substantially the same as the height detection mechanism on the aforementioned one-time flipping station 300, and will not be described in detail here.

[0081] After the installation of the retaining ring is completed, the die head height is detected again by setting the post-process height detection mechanism 1001 to confirm whether all components (steel ball, spring, valve sleeve, retaining ring) are correctly installed in place to ensure the quality of the entire ball valve assembly.

[0082] When the finished product inspection action is completed, the annular track 1400 continues to rotate, driving the tooling station to enter the auxiliary fixture disassembly station 1100.

[0083] Eleventh, such as Fig.16As shown, the auxiliary fixture disassembly station 1100 includes a workpiece pressing assembly 1101 and a die unloading robot 1102. The workpiece pressing assembly 1101 applies downward pressure to the workpiece to keep it fixed, and the unloading robot 1102 grabs and removes the die in the auxiliary fixture to complete the disassembly action.

[0084] The structure of the workpiece pressing assembly 1101 is substantially the same as the workpiece pre-pressing assembly structure on the aforementioned retaining ring installation station 900, and the die unloading robot 1102 is substantially the same as the aforementioned valve body loading robot structure, which will not be described in detail here.

[0085] The specific action flow of the above auxiliary fixture disassembly station is as follows: When the ball valve assembly arrives at the auxiliary fixture disassembly station along the annular track, the workpiece pressing assembly 1101 starts and moves downward until the limiting hole of the lower pressing plate is accurately inserted into the workpiece. The lower pressing plate applies a stable downward pressure to firmly fix the workpiece on the fixture position to prevent the workpiece from shaking or deflecting due to external force during the disassembly process, thereby ensuring the stability and safety of the disassembly process; The die unloading robot 1102 moves along the preset path to the die position above the workpiece to clamp the die, then lifts the die upward and pulls it out of the auxiliary fixture of the workpiece to complete the disassembly of the die. Finally, the die unloading robot transfers the die 1102 to the aforementioned die belt mechanism to complete the recycling of the die.

[0086] When the auxiliary fixture disassembly action is completed, the annular track 1400 continues to rotate, driving the tooling station to enter the unloading station.

[0087] Twelfth, such as Fig.17 As shown, the unloading station 1200 includes a finished product unloading robot 1201 and a unloading belt mechanism 1202. The finished product unloading robot 1201 is used to clamp and move the finished ball valve workpiece on the work station to the unloading belt mechanism 1202 for unloading.

[0088] Among them, the finished product unloading robot 1201 and the aforementioned valve body loading robot are basically the same module, and the unloading belt mechanism 1202 and the aforementioned loading belt mechanism are basically the same module, which will not be repeated here.

[0089] The beneficial effects of the multi-station circulating ball valve automatic assembly line of the present invention are: Efficient and automated production: Through the collaborative work of multiple workstations, the fully automated assembly of ball valve components is achieved, which significantly improves production efficiency, reduces manual intervention, and reduces production costs; High-precision assembly: Auxiliary fixtures, manipulators and detection mechanisms are used to ensure the precise installation of each component, reduce assembly errors and improve product quality.

[0090] Modular design: The design of each workstation is relatively independent and modular, which is easy to maintain and upgrade and can be reused. By adjusting the configuration and parameters of the workstation, it can adapt to the assembly requirements of ball valve components of different specifications, reducing design and manufacturing costs.

[0091] Quality inspection and control: A detection mechanism is set up to monitor the assembly quality in real time to ensure that each ball valve component meets the requirements and reduce the defective rate.

[0092] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A multi-station circulating ball valve automatic assembly line, characterized in that: include: The frame and the ball valve assembly assembly device include an annular track, and the following stations are arranged in sequence along the circumferential direction of the annular track: a loading station, an auxiliary fixture installation station, a primary flip station, a steel ball installation station, a steel ball detection station, a secondary flip station, a spring installation station, a valve sleeve installation station, a retaining ring installation station, a finished product detection station, an auxiliary fixture disassembly station and a discharge station. The annular track is provided with a plurality of tooling positions, each of which is equipped with a corresponding ball valve assembly tooling, and each ball valve assembly tooling can rotate on the frame and pass through the above-mentioned positions in sequence to realize the assembly of the steel ball, spring, valve sleeve and retaining ring, and return to the original position to realize the cycle work; Wherein, the ball valve assembly tooling comprises: A valve body, wherein the bottom end of the valve body has a quick-install structure, and the top end of the valve body has a plurality of steel ball holes evenly distributed along the circumference; A valve sleeve, the valve sleeve is assembled on the valve body, a spring is installed between the valve sleeve and the valve body, a step capable of resisting the steel ball is arranged in the inner cavity of the valve sleeve, and a retaining spring is arranged between the step and the valve body to prevent the valve sleeve from popping out; An auxiliary fixture, the bottom end of which extends and is disposed in the inner cavity of the valve body, and includes a die head coaxial with the valve body, the die head is used to position and center the ball valve assembly during assembly, and a guide slope is provided on the surface of the die head to guide the spring, valve sleeve and retaining ring to be smoothly installed into the valve body; The lower end of the die head is sequentially installed with a magnetic ring 1, a support ring and a magnetic ring 2. The magnetic ring 1 is used to absorb and fix the steel ball, the support ring is used to provide axial support to prevent the steel ball from shifting, and the support ring 2 is used to absorb the auxiliary clamp onto the valve body.

2. The multi-station circulation ball valve automatic assembly line according to claim 1 is characterized in that: The feeding station includes a valve body feeding manipulator and a feeding belt mechanism. The valve body feeding manipulator comprises a feeding drive motor, a feeding cylinder and a feeding clamp connected to the feeding cylinder, two feeding clamps are arranged opposite to each other and driven by the feeding cylinder to clamp or separate, the feeding cylinder and the feeding clamp are driven by the feeding drive motor to move the valve body on the feeding belt mechanism to the corresponding valve body tooling position; The feeding belt mechanism comprises: a driving motor, a pair of belt pulleys for matching transmission, a transmission belt sleeved on the two belt pulleys at the same time, and a V-shaped stopper located on the output side of the transmission belt, wherein a proximity switch is arranged in the V-shaped stopper to detect whether the valve body workpiece is in place; The unloading station comprises a finished product unloading robot and a unloading belt mechanism. The finished product unloading robot is used to clamp and move the finished ball valve workpiece on the workstation to the unloading belt mechanism for unloading.

3. The multi-station circulation ball valve automatic assembly line according to claim 2 is characterized in that: The auxiliary fixture installation station includes a die head loading robot and a die head belt mechanism. The die head loading robot is used to move the die head clamp on the die head loading belt mechanism to the corresponding die head installation tooling position and realize the die head installation.

4. The multi-station circulation ball valve automatic assembly line according to claim 1 is characterized in that: The one-time flipping station is used to flip the workpiece on which the die head is installed so that the die head is placed under the tooling station. The one-time flipping station is provided with a flipping mechanism and a height detection mechanism: The flip mechanism includes a flip cylinder, a clamping cylinder and a workpiece clamping jaw. The piston rod of the flip cylinder is connected to the clamping cylinder. The end of the piston rod of the clamping cylinder is connected to the workpiece clamping jaw. The workpiece clamping jaw includes two symmetrically distributed clamping jaw arms. The clamping cylinder drives the workpiece clamping jaws to clamp and release the workpiece, and the flipping cylinder drives the clamping cylinder and the workpiece clamping jaws to rotate around the axis to achieve 180° flipping; The height detection mechanism comprises a downward pressure detection rod, a detection head and a displacement sensor: the lower end of the downward pressure detection rod is connected to the detection head, the displacement sensor is inductively connected to the detection head, the detection head detects the height change by contacting the auxiliary die head, and transmits the change to the displacement sensor; The secondary turning station is used to turn over the workpiece after the steel ball is installed, so that the die head is placed above the tooling position.

5. The multi-station circulation ball valve automatic assembly line according to claim 1 is characterized in that: The steel ball installation station is provided with an up-and-down handling manipulator, a steel ball feeding mechanism and a steel ball vibration plate. The up-and-down handling manipulator clamps and places the turned workpiece on the steel ball feeding mechanism, and transports the steel balls to the steel ball feeding mechanism through the steel ball vibration plate. The steel ball feeding mechanism includes a bottom plate, a top plate, an adapter plate and a stepper motor. The bottom plate and the top plate are connected by a support column. The adapter plate is connected to one side of the top plate through a support column. The stepper motor is installed on the top plate. The output shaft of the stepper motor is connected to the rotating shaft. The rotating shaft is arranged on the top plate and the adapter plate to drive the workpiece to rotate uniformly in the circumferential direction. The bottom plate is provided with a top shaft capable of supporting the auxiliary die head. The adapter plate is provided with a steel ball feeding fixture, which is connected to the steel ball vibration plate through a steel ball conveying pipe to form a steel ball feeding channel for receiving the steel balls conveyed by the steel ball vibration plate. The stepper motor drives the workpiece to rotate through the rotating shaft, so that the multiple steel ball holes on the workpiece are aligned with the steel ball feeding fixture in sequence, so as to realize the continuous installation of the steel balls. The steel ball feeding mechanism also includes a steel ball channel control component, which includes: a channel push rod, a push column, a push rod cylinder, a first pressing plate and a second pressing plate. The first pressing plate is mounted on the push rod cylinder, the piston rod of the push rod cylinder is connected to the second pressing plate, the first pressing plate and the second pressing plate are connected to the adapter plate through a supporting column, the push column is arranged on the second pressing plate, an elastic member is arranged between the first pressing plate and the second pressing plate to provide buffering and resetting, the channel push rod is mounted on the push column, and the top end of the channel push rod is adapted to the steel ball feeding channel, When the push rod cylinder moves downward, it drives the channel push rod to move downward, so that the steel ball feeding channel is opened, and the steel balls can smoothly enter the steel ball feeding channel to achieve continuous installation. When all the steel balls are installed in place, the push rod cylinder moves upward, driving the channel push rod to move upward, closing the steel ball feeding channel.

6. The multi-station circulation ball valve automatic assembly line according to claim 1 is characterized in that: The steel ball detection station is provided with a steel ball imaging detection mechanism, which includes: a pneumatic rotary joint, a spindle rotating shaft, a rotating sleeve, a workpiece cylinder, a backlight source and an imaging camera. One end of the spindle rotating shaft is connected to the pneumatic rotating joint, and the other end of the spindle rotating shaft is connected to the workpiece cylinder. The rotating sleeve is coaxially installed on the spindle rotating shaft. The backlight source and the imaging camera are respectively arranged on the mounting plates on both sides of the workpiece. Through the rotation of the spindle rotating shaft, the workpiece is driven to rotate 360 ​​degrees to realize comprehensive imaging detection of the steel balls.

7. The multi-station circulation ball valve automatic assembly line according to claim 1 is characterized in that: The spring installation station includes a spring vibrating plate, a spring feeding mechanism and spring upper and lower manipulators. The vibration plate is used to convey springs to the spring feeding mechanism, and the spring feeding mechanism includes a spring conveying channel, a spring positioning core, a spring positioning slider, a slider mounting plate and a spring top block. One end of the spring conveying channel is connected to the discharge port of the spring vibration plate, and the other end leads to the spring positioning core, the spring positioning core is fixedly mounted on the slider mounting plate, the bottom of the slider mounting plate is connected to the workbench through the spring positioning slider and the slide rail, the spring top block can abut against the spring to limit the position, and the spring top block is connected to a top block cylinder for driving the spring top block to move; The spring upper and lower manipulators are used to move the spring on the spring positioning core to the spring installation tooling position corresponding to the annular track.

8. The multi-station circulation ball valve automatic assembly line according to claim 1 is characterized in that: The valve sleeve installation station includes: a valve sleeve storage mechanism, a valve sleeve loading and unloading manipulator, a valve sleeve conveying belt mechanism and a valve sleeve clamping manipulator. The valve sleeve storage mechanism includes a rotating disk and a plurality of valve sleeve storage racks evenly spaced along the circumference of the rotating disk. The rotating disk can rotate around its axis to realize circumferential switching of the valve sleeve storage racks. The valve sleeve loading and unloading robot is used to grab the valve sleeve from the valve sleeve storage rack and place the grabbed valve sleeve on the valve sleeve conveying belt mechanism. The valve sleeve conveying belt mechanism is used to convey the valve sleeve and convey the valve sleeve to the grabbing position of the valve sleeve clamping robot. The valve sleeve clamping robot is used to grab the valve sleeve from the valve sleeve conveying belt mechanism and convey the valve sleeve to the corresponding valve sleeve installation tooling position on the annular track.

9. The multi-station circulation ball valve automatic assembly line according to claim 1 is characterized in that: The circlip installation station includes a circlip manipulator and a workpiece pre-pressing assembly, wherein the circlip manipulator includes a circlip feeding assembly and a circlip pressing assembly. The circlip feeding assembly includes a circlip vibration disk, a straight vibration plate, a circlip material plate, a circlip feeding cylinder and a circlip feeding clamp: the output end of the circlip vibration disk is connected to the straight vibration plate, the circlip material plate is provided with a circlip hole and can move between an initial position and the output end of the straight vibration plate, and the circlip feeding clamp is driven by the circlip feeding cylinder to clamp or separate to realize the taking and placing of the circlip; The clamp spring pressing assembly includes a clamp spring pressing cylinder and a clamp spring pressing jaw. The clamp spring pressing jaw is driven by the clamp spring pressing cylinder to press down and gradually increases with the die head guide slope, so that the clamp spring slides downward along the die head and enters the clamp spring position in the workpiece. The workpiece pre-pressing assembly includes a pre-pressing cylinder and a workpiece pre-pressing plate. The center of the workpiece pre-pressing plate has a limiting hole adapted to the workpiece. The two sides of the workpiece pre-pressing plate are connected to the pre-pressing cylinder. The pre-pressing plate is driven downward by the pre-pressing cylinder to limit and fix the workpiece.

10. The multi-station circulation ball valve automatic assembly line according to claim 1 is characterized in that: The auxiliary fixture disassembly station includes a workpiece pressing assembly and a die head unloading robot. The workpiece pressing assembly applies downward pressure to the workpiece to keep it fixed, and the unloading robot grabs and removes the die head in the auxiliary fixture to complete the disassembly action.

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