Multi-station circulating ball valve automatic assembly line

Abstract

The application discloses a multi-station circulating type ball valve automatic assembly line, which comprises a rack and a ball valve assembly assembling device, wherein the ball valve assembly assembling device comprises an annular track and sequentially arranged along the circumferential direction of the annular track: a feeding station, an auxiliary clamp mounting station, a first overturning station, a steel ball mounting station, a steel ball detecting station, a second overturning station, a spring mounting station, a valve sleeve mounting station, a clamping spring mounting station, a finished product detecting station, an auxiliary clamp dismounting station and a discharging station; a plurality of tool stations are arranged on the annular track, and a corresponding ball valve assembly tool is arranged on each tool station; each ball valve assembly tool can rotate on the rack and sequentially pass through the above-mentioned stations to realize the assembly of the steel ball, the spring, the valve sleeve and the clamping spring. Through the above-mentioned mode, the automatic assembly and production of the ball valve assembly can be realized, the assembly process is continuous and accurate, the smooth assembly of the ball valve product is ensured, and the assembly efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of ball valve product assembly technology, and in particular to a multi-station circulating automatic ball valve assembly line. Background Technology

[0002] The core components of a ball valve include the valve body, valve sleeve, steel ball, spring, and snap ring, and their assembly precision directly affects the quality and service life of the ball valve. Traditional ball valve assembly mainly relies on manual operation, which presents the following problems: Low production efficiency: Manual assembly is slow and cannot meet the needs of large-scale production, especially in scenarios with high precision requirements, where assembly efficiency is further reduced; some automated production is also adopted, but the connection between workstations on the existing automated production line is not smooth enough, which limits production efficiency. Assembly accuracy is difficult to guarantee: manual operation is easily affected by the operator's skill level, and the lack of auxiliary tools leads to unstable assembly accuracy and low product qualification rate; Incomplete quality inspection: In traditional assembly processes, quality inspection often relies on sampling or visual inspection, which makes it difficult to achieve comprehensive and real-time quality monitoring and increases the defect rate. Summary of the Invention

[0003] The main technical problem solved by this invention is to provide a multi-station circulating automatic ball valve assembly line, which can realize the automated 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 assembly efficiency.

[0004] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is: to provide a multi-station circulating automatic ball valve assembly line, comprising: a frame and a ball valve assembly device, wherein the ball valve assembly device includes a ring track, and sequentially arranged along the circumference of the ring track: a loading station, an auxiliary fixture installation station, a primary flipping station, a steel ball installation station, a steel ball detection station, a secondary flipping station, a spring installation station, a valve sleeve installation station, a snap ring installation station, a finished product detection station, an auxiliary fixture disassembly station, and an unloading station. The circular track is provided with multiple tooling positions, each tooling position is equipped with a corresponding ball valve assembly tooling, each ball valve assembly tooling can rotate on the frame and pass through the above tooling positions in sequence to realize the assembly of steel balls, springs, valve sleeves and snap rings, and return to the original position to realize cyclic work; The ball valve assembly tooling includes: The valve body has a quick-release structure at the bottom and multiple steel ball holes are evenly distributed around the top of the valve body. A valve sleeve is fitted onto a valve body. A spring is installed between the valve sleeve and the valve body. The inner cavity of the valve sleeve is provided with a step that can resist a steel ball. A retaining spring is provided between the step and the valve body to prevent the valve sleeve from popping out. An auxiliary clamp, the bottom end of which extends and is disposed in the inner cavity of the valve body, includes a die head that is coaxial with the valve body. The die head is used to position and center the ball valve assembly during assembly. The surface of the die head is provided with a guide bevel 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 equipped with a magnetic ring one, a support ring and a magnetic ring two. The magnetic ring one is used to attract and fix the steel ball, the support ring provides axial support to prevent the steel ball from shifting, and the support ring two is used to attract 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 loading grippers connected to the loading cylinder. The two loading grippers are arranged opposite each other and are driven by the loading cylinder to clamp or separate. The loading cylinder and the loading grippers are driven by the loading drive motor to move the valve body on the loading belt mechanism to the corresponding valve body tooling position. The loading belt mechanism includes a drive motor, a pair of cooperating pulleys, a conveyor belt sleeved on the two pulleys, and a V-shaped stop located on the output side of the conveyor belt. The V-shaped stop is provided with a proximity switch to detect whether the valve body workpiece is in place. The unloading station includes a finished product unloading robot and an unloading belt mechanism. The finished product unloading robot is used to clamp and move the finished ball valve workpiece on the tooling position 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. The die head loading robot is used to clamp and move the die head on the die head loading belt mechanism to the corresponding die head installation fixture 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 with the mold head installed so that the mold head is placed below the tooling position. The primary flipping station is provided with a flipping mechanism and a height detection mechanism: the flipping mechanism includes a flipping cylinder, a clamping cylinder, and a workpiece gripper. The piston rod of the flipping cylinder is connected to the clamping cylinder, and the end of the piston rod of the clamping cylinder is connected to the workpiece gripper. The workpiece gripper includes two symmetrically distributed gripper arms. The clamping cylinder drives the workpiece gripper to clamp and release the workpiece. The flipping cylinder drives the clamping cylinder and the workpiece gripper to rotate around the axis to achieve a 180° flip. The height detection mechanism includes a pressure detection rod, a detection head, and a displacement sensor: the lower end of the pressure detection rod is connected to the detection head, and the displacement sensor is inductively connected to the detection head. The detection head detects height changes by contacting the auxiliary mold head and transmits the changes to the displacement sensor. The secondary flipping station is used to flip the workpiece after the steel balls are installed so that the mold head is placed above the tooling position.

[0008] In a preferred embodiment of the present invention, the steel ball installation station is provided with a vertical transport robot, a steel ball feeding mechanism and a steel ball vibrating plate. The vertical transport robot clamps the flipped workpiece and places it on the steel ball feeding mechanism, and the steel ball vibrating plate feeds steel balls to the steel ball feeding mechanism. The steel ball feeding mechanism includes a base plate, a top plate, a transition plate, and a stepper motor. The base plate and the top plate are connected by support columns. The transition plate is connected to one side of the top plate by support columns. The stepper motor is mounted on the top plate, and its output shaft is connected to a rotating shaft. The rotating shaft is located on the top plate and the transition plate to drive the workpiece to rotate uniformly in the circumferential direction. The base plate is provided with a top shaft that can support the auxiliary die head. The adapter plate is provided with a steel ball feeding fixing component. The steel ball feeding fixing component is connected to the steel ball vibrating plate through a steel ball conveying pipe to form a steel ball feeding channel for receiving steel balls conveyed by the steel ball vibrating plate. The stepper motor drives the workpiece to rotate through the rotating shaft, so that multiple steel ball holes on the workpiece are aligned with the steel ball feeding fixing component in sequence to realize the continuous installation of steel balls. The steel ball feeding mechanism also includes a steel ball channel control assembly, which includes: a channel push rod, a push column, a push rod cylinder, a first pressure plate, and a second pressure plate. The first pressure plate is mounted on the push rod cylinder, and the piston rod of the push rod cylinder is connected to the second pressure plate. The first and second pressure plates are connected to the adapter plate via a support column. The push column is disposed on the second pressure plate. An elastic element is disposed between the first and second pressure plates to provide buffering and reset. 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 feed channel. When the push rod cylinder moves downward, it drives the channel push rod downward, opening the steel ball feeding channel and allowing the steel balls to smoothly enter, thus enabling continuous installation. Once all the steel balls are installed, the push rod cylinder moves upward, causing the channel push rod to move upward and 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. The steel ball imaging detection mechanism includes: a pneumatic rotary joint, a main spindle rotation shaft, a rotating sleeve, a workpiece cylinder, a backlight, and an imaging camera. One end of the main spindle rotation shaft is connected to the pneumatic rotary joint, and the other end of the main spindle rotation shaft is connected to the workpiece cylinder. The rotating sleeve is coaxially mounted on the main spindle rotation shaft. The backlight and the imaging camera are respectively disposed on mounting plates on both sides of the workpiece. By rotating the main spindle rotation shaft, the workpiece is driven to rotate 360 ​​degrees, thereby realizing comprehensive imaging detection of the steel ball.

[0010] In a preferred embodiment of the present invention, the spring installation station includes a spring vibratory feeder, a spring feeding mechanism, and a spring lifting robot. The vibratory feeder is used to feed springs 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 to the discharge port of the spring vibratory feeder, and the other end is connected to the spring positioning core. The spring positioning core is fixedly installed on the slider mounting plate. The bottom of the slider mounting plate is connected to the worktable through the spring positioning slider and the slide rail. The spring top block can abut and limit the spring. A top block cylinder for driving the movement of the spring top block is connected to the spring top block. The spring lifting robot is used to move the spring on the spring positioning core to the spring installation fixture 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 / unloading robot, a valve sleeve conveyor 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 distributed along the circumference of the turntable. The turntable can rotate around its axis to realize circumferential switching of the valve sleeve storage racks. The valve sleeve loading / unloading robot is used to grab valve sleeves from the valve sleeve storage racks and place the grabbed valve sleeves on the valve sleeve conveyor belt mechanism. The valve sleeve conveyor belt mechanism is used to transport the valve sleeves and transport them to the gripping position of the valve sleeve clamping robot. The valve sleeve clamping robot is used to grab valve sleeves from the valve sleeve conveyor belt mechanism and transport the valve sleeves to the corresponding valve sleeve installation fixture position on the circular track.

[0012] In a preferred embodiment of the present invention, the snap ring installation station includes a snap ring manipulator and a workpiece pre-pressing assembly. The snap ring manipulator includes a snap ring feeding assembly and a snap ring pressing assembly. The snap ring feeding assembly includes a snap ring vibratory feeder, a straight vibrating plate, a snap ring material plate, a snap ring feeding cylinder, and snap ring feeding grippers. The output end of the snap ring vibratory feeder is connected to the straight vibrating plate. The snap ring material plate is provided with snap ring holes and can move between its initial position and the output end of the straight vibrating plate. The snap ring feeding grippers are driven by the snap ring feeding cylinder to clamp or separate to realize the picking and placing of snap rings. The snap ring pressing assembly includes a snap ring pressing cylinder and a snap ring pressing gripper. The snap ring pressing gripper is driven by the snap ring pressing cylinder to press down and gradually increases with the increase of the guide slope of the die head, so that the snap ring slides down along the die head and enters the snap ring position in the workpiece. The workpiece pre-pressing assembly includes a pre-pressing cylinder and a workpiece pre-pressing plate. The workpiece pre-pressing plate has a limiting hole in the center that matches the workpiece. Pre-pressing cylinders are connected to both sides of the workpiece pre-pressing plate. The workpiece pre-pressing plate is driven by the pre-pressing cylinders to press down and limit and fix the workpiece.

[0013] In a preferred embodiment of the present invention, the auxiliary fixture disassembly station includes a workpiece pressing component and a die unloading robot. The workpiece is pressed down by the workpiece pressing component to keep it fixed, and the die unloading robot grabs and removes the die from the auxiliary fixture to complete the disassembly action.

[0014] The beneficial effects of this invention are: it has the advantages of high efficiency, precision, modularity and scalability, and can realize the automated assembly and production of ball valve components, which can significantly improve the production efficiency and product quality of ball valve components. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. 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 effort, wherein: Figure 1 This is a schematic diagram of a preferred embodiment of the ball valve assembly tooling of the present invention; Figure 2 This is a cross-sectional view of a preferred embodiment of the ball valve assembly tooling of the present invention; Figure 3 This is a schematic diagram of a preferred embodiment of the auxiliary clamp of the present invention; Figure 4 This is a schematic diagram of a preferred embodiment of the multi-station circulating ball valve automatic assembly line of the present invention; Figure 5 This is a cross-sectional view of a preferred embodiment of the material loading station of the present invention; Figure 6This is a cross-sectional view of a preferred embodiment of the auxiliary fixture installation station of the present invention; Figure 7 This is a cross-sectional view of a preferred embodiment of the single-flipping station of the present invention; Figure 8 This is a cross-sectional view of a preferred embodiment of the steel ball installation station of the present invention; Figure 9 This is a cross-sectional view of a preferred embodiment of the steel ball feeding mechanism of the present invention; Figure 10 This is a cross-sectional view of a preferred embodiment of the steel ball detection station of the present invention; Figure 11 This is a cross-sectional view of a preferred embodiment of the spring mounting station of the present invention; Figure 12 This is a cross-sectional view of a preferred embodiment of the valve sleeve installation position of the present invention; Figure 13 This is a cross-sectional view of a preferred embodiment of the snap ring mounting station of the present invention; Figure 14 This is a cross-sectional view of a preferred embodiment of the snap ring manipulator and workpiece preload assembly of the present invention; Figure 15 This is a cross-sectional view of a preferred embodiment of the finished product inspection station of the present invention; Figure 16 This is a cross-sectional view of a preferred embodiment of the auxiliary clamp disassembly station of the present invention; Figure 17 This is a cross-sectional view of a preferred embodiment of the unloading station of the present invention; The components in the attached diagram are labeled as follows: 100. Loading station; 101. Loading cylinder; 102. Loading gripper; 103. Drive motor; 104. Pulley; 105. V-block; 106. Proximity switch. 200. Auxiliary fixture installation station; 201. Die head loading robot; 202. Die head belt mechanism; 300. One-time flip station; 301. Flip cylinder; 302. Clamping cylinder; 303. Workpiece gripper; 304. Detection rod; 305. Detection head; 306. Displacement sensor. 400. Steel ball installation station; 401. Vertical handling robot; 402. Steel ball vibratory feeder; 403. Steel ball conveying pipe; 404. Base plate; 405. Top plate; 406. Adapter plate; 407. Stepper motor; 408. Support column; 409. Top shaft; 410. Feed fixing component; 411. Rotating shaft; 412. Channel top rod; 413. Top column; 414. Top rod cylinder; 415. First pressure plate; 416. Second pressure plate. 500. Steel ball inspection station; 501. Pneumatic rotary joint; 502. Spindle rotation axis; 503. Rotary sleeve; 504. Workpiece cylinder; 505. Backlight; 506. Imaging camera. 600, Secondary Flip Station; 700. Spring installation station; 701. Spring vibratory feeder; 702. Spring lifting robot; 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 robot; 803. Valve sleeve conveyor belt mechanism; 804. Valve sleeve clamping robot; 805. Turntable; 806. Valve sleeve storage rack. 900. Snap ring installation station; 901. Snap ring vibratory plate; 902. Straight vibratory plate; 903. Snap ring material plate; 904. Snap ring feeding cylinder; 905. Snap ring feeding gripper; 906. Snap ring pressing cylinder; 907. Snap ring pressing gripper; 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 robot; 1200, unloading station; 1201, finished product unloading robot; 1202, unloading conveyor belt mechanism; 1300, rack; 1400, circular track; 1500. Ball valve assembly tooling; 1501. Valve body; 1502. Valve sleeve; 1503. Spring; 1504. Snap 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. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0017] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0018] The 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 device. The ball valve assembly device includes an annular track 1400 and the following components arranged sequentially along the circumference of the annular track 1400: a loading station 100, an auxiliary fixture installation station 200, a first flipping station 300, a steel ball installation station 400, a steel ball detection station 500, a second flipping station 600, a spring installation station 700, a valve sleeve installation station 800, a snap 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 multiple tooling positions, each tooling position is equipped with a ball valve assembly tooling 1500. Each ball valve assembly tooling 1500 can rotate on the frame and pass through the loading station 100, the auxiliary fixture installation station 200, the first flipping station 300, the steel ball installation station 400, the steel ball detection station 500, the second flipping station 600, the spring installation station 700, the valve sleeve installation station 800, the snap ring installation station 900, the finished product detection station 1000, the auxiliary fixture disassembly station 1100, and the unloading station 1200 in order to assemble the steel ball, spring, valve sleeve, and snap ring, and return to its original position to realize cyclic operation.

[0020] like Figure 1-3 As shown, the ball valve assembly fixture 1500 includes a valve body 1501, a valve sleeve 1502, and an auxiliary clamp. The bottom end of the valve body 1501 has a quick-connect structure for connecting to an external pipeline. The top end of the valve body 1501 has multiple ball bearing holes 1512 evenly distributed circumferentially. Preferably, the quick-connect structure is a threaded structure.

[0021] The valve sleeve 1502 is assembled onto the valve body 1501. A spring 1503 is installed between the valve sleeve 1502 and the valve body 1501. The spring 1503 provides axial elastic support to compensate for assembly errors. The inner cavity of the valve sleeve 1502 is provided with a step 1506 that can abut against the steel ball 1505. A retaining ring 1504 is provided between the step 1506 and the valve body 1501, which serves to buffer and fix the valve sleeve 1502. When the valve sleeve 1502 is subjected to external force or internal pressure, the retaining ring 1504 can provide a certain amount of elastic support to prevent the valve sleeve 1502 from popping out due to excessive pressure.

[0022] To ensure accurate alignment of the ball valve assembly during assembly and avoid misalignment or tilting, the present invention adds an auxiliary clamp to the valve body, which extends and is disposed in the inner cavity of the valve body.

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

[0024] The lower end of the die head is sequentially equipped with a magnetic ring 1508, a support ring 1509, and a magnetic ring 1510. The magnetic ring 1508 is used to attract 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 assembly. The magnetic ring 1510 attracts the auxiliary clamp to the valve body 1501 to ensure the stability of the clamp and prevents it from falling off during reversal.

[0025] To achieve precise and stable installation of the ball valve assembly, corresponding tooling components are set up at each workstation. The following is a detailed description of the component structure and function set up at each workstation.

[0026] First, such 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. It can transport the valve body workpiece to the loading position according to a preset rhythm and direction, and then the valve body loading robot will pick up the valve body workpiece.

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

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

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

[0030] The aforementioned loading station enables automated loading of valve body workpieces, improving production efficiency, reducing manual intervention, and ensuring the accuracy and reliability of the loading process.

[0031] After the valve body is loaded, the circular track continues to rotate, driving the tooling position into the auxiliary fixture installation position.

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

[0033] The die head feeding robot 201 is essentially the same module as the aforementioned valve body feeding robot, and the die head belt mechanism 202 is essentially the same module as the aforementioned feeding belt mechanism, which will not be described again here.

[0034] The operation flow for the auxiliary fixture installation station is as follows: The die head feeding belt mechanism transports the die head to the designated die head feeding position. At this time, the die head feeding robot moves to the die head feeding position, clamps the die head, and moves the die head to the die head mounting fixture position to complete the die head feeding. Then the die head feeding robot resets, and the die head feeding belt mechanism continues to transport the next die head workpiece.

[0035] After the auxiliary fixture is installed, the circular track continues to rotate, driving the tooling position into the first flipping position.

[0036] Third, such as Figure 7 As shown, the primary flipping station 300 is equipped with a flipping mechanism and a height detection mechanism, which are used to flip the valve body workpiece with the mold head installed so that the mold head is placed below, and to detect the height of the mold 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 gripper 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 gripper 303. The workpiece gripper 303 includes two symmetrically distributed gripper arms. The clamping cylinder 301 drives the workpiece gripper 303 to clamp and release the workpiece. The flipping cylinder 301 drives the clamping cylinder 302 and the workpiece gripper 303 to rotate around the axis, achieving a 180° flip.

[0038] The flipping action of the above-mentioned flipping mechanism is as follows: In the initial state: the clamping cylinder 302 is extended and in the open state, while the tilting cylinder 301 is in the reset position; In the flipped state: the clamping cylinder 302 retracts, the workpiece gripper 303 closes to clamp the workpiece, and at this time the flipping cylinder is activated, which drives the clamping cylinder 302 and the workpiece gripper 303 to flip 180°. After flipping to the target position, the clamping cylinder 302 extends, the workpiece gripper 303 releases the workpiece, and the flipping cylinder 301 resets, ready for the next action.

[0039] This flipping mechanism enables reliable clamping and precise flipping of workpieces. It features a compact structure and smooth movement, making it suitable for workpiece reversing operations in automated production lines.

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

[0041] The height inspection process of the aforementioned height inspection agency is as follows: In the initial state, the height detection mechanism is in a high position. In the detection state, the height detection mechanism moves downward, and the detection head 305 moves downward and contacts the auxiliary mold head by pressing down the detection rod 304. The displacement sensor 306 measures the displacement of the detection head 305 in real time, and judges whether the auxiliary mold head meets the installation requirements by comparing it with the preset installation height of the auxiliary mold head.

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

[0043] Fourth, such as Figure 8-9As shown, the steel ball installation station 400 includes a vertical transport robot 401, a steel ball feeding mechanism, and a steel ball vibrating plate 402. The vertical transport robot 401 is used to clamp and transport the flipped workpiece and accurately place it on the steel ball feeding mechanism. The steel ball vibrating plate 402 is connected to the steel ball feeding mechanism through a steel ball conveying pipe 403 and is used to orderly transport steel balls to the steel ball feeding mechanism to realize the continuous supply of steel balls.

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

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

[0046] The stepper motor 407 is mounted on the top plate 405. 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 evenly in the circumference. 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 part 410 in sequence, thereby realizing the continuous installation of steel balls.

[0047] The above-mentioned vertical transport robot 401 is basically the same module as the valve body loading robot mentioned above, and will not be described again here.

[0048] The operation flow of the above-mentioned steel ball feeding mechanism is as follows: The vertical transport robot 401 clamps the flipped workpiece and transports it from the previous station to the steel ball feeding mechanism. The vertical 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 mold head through the top shaft 409 set on the bottom plate 404. When the steel ball vibratory feeder 402 is started, the steel balls are transported in an orderly manner through the steel ball conveying pipe 403 to the steel ball feeding channel of the steel ball feeding mechanism, ensuring that the steel balls enter the installation position in an orderly manner. When the stepper motor 407 starts, it drives the workpiece to rotate evenly in the circumference through the rotating shaft 411. During the rotation, the multiple steel ball holes on the workpiece are aligned with the steel ball feeding fixture 410 in sequence, and the steel ball falls into the installation hole to complete the installation of a single steel ball. The stepper motor 407 rotates the workpiece gradually according to the preset angle until all steel ball holes are installed. Once all the steel ball holes are installed, the stepper motor 407 stops working, the rotating shaft 411 stops, and the vertical 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] Based on the above structure, in order to ensure the accurate and stable installation of 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 top rod 412, a top column 413, a top rod cylinder 414, a first pressure plate 415, and a second pressure plate 416. The first pressure plate 415 is mounted on the top rod cylinder 414, and the piston rod of the top 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 via a support column 408. The top column 413 is disposed on the second pressure plate 416. An elastic element (not shown in the figure) is disposed between the first pressure plate 415 and the second pressure plate 416 to provide buffer reset. The channel top rod 412 is mounted on the top column 413, and the top end of the channel top rod 412 is adapted to the steel ball feeding channel to control 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, opening the steel ball feeding channel so that the steel ball can smoothly enter the steel ball feeding channel and achieve continuous installation. Once all the steel balls are installed, the push rod cylinder 414 moves upward, causing the channel push rod 412 to move upward, closing the steel ball feeding channel so that the workpiece with the steel balls installed can continue to be transferred to the next station.

[0052] Through the coordinated operation of the above-mentioned vertical transport robot 401, steel ball feeding mechanism and steel ball channel control components, the automated operation of steel ball installation is realized, which improves installation efficiency and accuracy and reduces manual intervention.

[0053] After the steel balls are installed, the circular track continues to rotate, driving the tooling position into the steel ball testing position.

[0054] Fifth, such as Figure 10 As shown, the steel ball detection station 500 is equipped with a steel ball imaging detection mechanism to detect whether the steel ball is installed in place.

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

[0056] Among them, the pneumatic rotary joint 501 is used to drive the spindle rotary 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 spindle rotary shaft 502.

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

[0058] The specific operation process of the aforementioned steel ball imaging detection mechanism is as follows: After the workpiece is loaded with steel balls, it is clamped by the workpiece cylinder 504 and placed in the detection position. The pneumatic rotary joint 501 receives the start signal and starts to drive the spindle rotary shaft 502 to rotate. The rotation of the spindle rotary shaft 502 causes the workpiece to rotate 360 ​​degrees. Backlight 505 provides uniform illumination, ensuring that the workpiece surface and every part of the steel ball are fully illuminated. Imaging camera 506 continuously acquires image information of the workpiece during its rotation. Because the workpiece is rotating, imaging camera 506 can acquire images of the workpiece from multiple angles, ensuring that every part of the steel ball is covered, thus 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 its clamp, and the workpiece is moved out of the inspection station to prepare for the inspection of the next workpiece.

[0059] After the steel ball installation and imaging detection are completed, the circular track 1400 continues to rotate, and the fixture position 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 detection is performed, so that the mold head is placed above the fixture position.

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

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

[0062] After the second flipping action is completed, the circular track 1400 continues to rotate, driving the tooling position into the spring installation position 700.

[0063] Seventh, such as Figure 11As shown, the spring installation station 700 includes a spring vibratory feeder 701, a spring feeding mechanism, and a spring lifting robot 702. The spring vibratory feeder 701 is used to feed springs to the spring feeding mechanism, and the spring lifting robot 702 is used to transport the springs to the spring installation fixture position corresponding to the annular 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 vibrating plate 701, and the other end is connected to the spring positioning core 704. The spring positioning core 704 is fixedly installed on the slider mounting plate 705. The bottom of the slider mounting plate is connected to the worktable through the spring positioning slider 705 and the slide rail. The spring top block 707 can abut and limit the spring. A top block cylinder 708 for driving the movement of the spring top block 707 is connected to the spring top block 707.

[0065] The spring-loaded manipulator is essentially the same module as the aforementioned valve body loading manipulator, and will not be described in detail here.

[0066] The specific operation process of the above spring installation station is as follows: When the spring vibratory feeder 701 is started, the springs are conveyed in an orderly manner through the discharge port to the spring conveying channel 703, and then moved to the spring positioning core 704. The spring top block 707 abuts and limits the spring to ensure that the spring is accurately positioned on the positioning core 704. Then the slider mounting plate 706 moves on the worktable via the spring positioning slider 705 and the slide rail, moving the spring positioning core 704 to the gripping position of the spring upper and lower manipulator 702. During this process, the spring top block 707 maintains the contact limit of 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 lifting robot 702 moves to above the spring positioning core 704, picks up the spring on the spring positioning core 704, and transports the spring from the spring positioning core 704 to the spring mounting fixture position 700 corresponding to the circular track 1400.

[0067] After the spring installation is completed, the annular track 1400 continues to rotate, driving the tooling position into the valve sleeve installation position 800.

[0068] Eighth, such as Figure 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 conveyor 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 evenly distributed circumferentially along the turntable 805, wherein the turntable 805 is rotatable about its axis to realize circumferential switching of the valve sleeve storage racks 806. Preferably, the number of 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 described in detail here. The valve sleeve conveyor belt mechanism 803 is basically the same module as the aforementioned loading belt mechanism, and will not be described in detail here.

[0071] The specific operation procedure for the valve sleeve installation station mentioned above is as follows: The turntable 805 of the valve sleeve storage mechanism 801 is driven to rotate to a designated 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 conveyor belt mechanism 803. The valve sleeve conveyor belt mechanism 803 is started, which transports the valve sleeve to the gripping position of the valve sleeve clamping robot 804. Then, the valve sleeve clamping robot 804 grips the valve sleeve and moves to the corresponding valve sleeve installation fixture position 800 on the circular track 1400.

[0072] After the valve sleeve installation is completed, the annular track 1400 continues to rotate, driving the tooling position into the snap ring installation position 900.

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

[0074] Specifically, the snap ring feeding assembly includes a snap ring vibratory plate 901, a straight vibrating plate 902, a snap ring material plate 903, a snap ring feeding cylinder 904, and a snap ring feeding gripper 905. The output end of the snap ring vibratory plate 901 is connected to the straight vibrating plate 902. The snap ring material plate 903 is provided with snap ring holes. The snap ring material plate 903 can move between the initial position and the output end of the straight vibrating plate 902. The snap ring feeding claw 905 is driven by the snap ring feeding cylinder 904 to clamp or separate to realize the picking and placing of snap rings.

[0075] Furthermore, the snap ring pressing assembly includes a snap ring pressing cylinder 906 and a snap ring pressing jaw 907. The snap ring pressing jaw 907 is driven to press down by the snap ring pressing cylinder 906 and gradually increases with the increase of the guide slope 1511 of the die head, so that the snap ring slides down along the die head and enters the snap ring 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 workpiece pre-pressing plate 909 is connected to the pre-pressing cylinder 908 on both sides. The workpiece pre-pressing plate 909 is driven by the pre-pressing cylinder 908 to press down to limit and fix the workpiece.

[0077] The specific operation flow of the above-mentioned snap ring installation station is as follows: The snap ring material plate 903 moves from the initial position to the output end of the straight vibrating plate 902 to receive the snap rings conveyed by the snap ring vibrating plate 901 and the straight vibrating plate 902. The snap ring feeding cylinder 904 drives the snap ring feeding claw 905 to retract to clamp the snap rings on the snap ring material plate 903 and move the snap rings above the guide slope 1511 of the workpiece die head in the tooling position. When the snap ring to be installed is released at the starting position of the guide slope 1511 of the die head, the pre-pressure cylinder 908 drives the workpiece pre-pressure plate 909 to press down, and limits and fixes the workpiece through the limiting hole 910 to prevent the workpiece from shifting during the installation process. Then, the retaining ring pressing cylinder 906 drives the retaining ring pressing jaw 907 to press down. The retaining ring slides down along the gradually increasing structure of the guide slope 1511 of the die head. Under the guidance of the guide slope 1511, the retaining ring slides precisely into the retaining ring groove in the workpiece, completing the installation.

[0078] At this workstation, the limiting hole 910 of the workpiece preload plate 909 matches the shape of the workpiece, and the preload is moderate to avoid workpiece deformation or displacement. The guide of the die head guide slope 1511 ensures that the snap ring slides smoothly without jamming, thus realizing the efficient and precise installation of the snap ring.

[0079] After the snap ring installation is completed, the circular track continues to rotate, driving the tooling position into the finished product inspection station 1000.

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

[0081] After the snap ring is installed, the height of the die head is checked again by setting the rear height detection mechanism 1001 to confirm that all components (steel balls, springs, valve sleeves, snap rings) have been correctly installed and to ensure the quality of the entire ball valve assembly.

[0082] After the finished product inspection is completed, the circular track 1400 continues to rotate, driving the tooling position into the auxiliary fixture disassembly position 1100.

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

[0084] The structure of the workpiece pressing assembly 1101 is basically the same as the structure of the workpiece pre-pressing assembly on the aforementioned snap ring mounting station 900. The structure of the die head unloading robot 1102 is basically the same as the structure of the aforementioned valve body loading robot, and will not be described again here.

[0085] The specific operation flow of the above-mentioned 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 pressing plate is precisely fitted into the workpiece. The pressing plate applies a stable downward pressure to firmly fix the workpiece in the tooling position, preventing the workpiece from shaking or shifting due to external force during disassembly, and ensuring the stability and safety of the disassembly process. The die head unloading robot 1102 moves along a preset path to the die head position above the workpiece, clamps the die head, and then lifts the die head upward to pull it out of the auxiliary fixture of the workpiece, completing the die head disassembly action. Finally, the die head unloading robot 1102 transfers the die head to the aforementioned die head belt mechanism to complete the recycling of the die head.

[0086] After the auxiliary fixture disassembly is completed, the circular track 1400 continues to rotate, driving the tooling position into the unloading position.

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

[0088] The finished product unloading robot 1201 and the aforementioned valve body loading robot are essentially the same module, and the unloading belt mechanism 1202 and the aforementioned loading belt mechanism are essentially the same module, which will not be described again here.

[0089] The beneficial effects of the multi-station circulating ball valve automatic assembly line of the present invention are: Highly efficient automated production: Through the collaborative work of multiple workstations, the ball valve assembly is fully automated, which significantly improves production efficiency, reduces manual intervention, and lowers production costs; High-precision assembly: The use of auxiliary fixtures, robotic arms, and inspection mechanisms ensures the precise installation of each component, reducing assembly errors and improving product quality.

[0090] Modular design: Each workstation is designed to be relatively independent and modular, which facilitates maintenance and upgrades, and can be reused repeatedly. By adjusting the configuration and parameters of the workstations, it can adapt to the assembly requirements of ball valve components of different specifications, thus reducing design and manufacturing costs.

[0091] Quality Inspection and Control: An inspection mechanism has been set up to monitor the assembly quality in real time, ensuring that each ball valve component meets the requirements and reducing the defect rate.

[0092] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A multi-station circulating automatic ball valve assembly line, characterized in that, include: The frame and ball valve assembly device include a ring track and the following components arranged sequentially along the circumference of the ring track: a loading station, an auxiliary fixture installation station, a primary flipping station, a steel ball installation station, a steel ball detection station, a secondary flipping station, a spring installation station, a valve sleeve installation station, a snap ring installation station, a finished product detection station, an auxiliary fixture disassembly station, and an unloading station. The circular track is provided with multiple tooling positions, each tooling position is equipped with a corresponding ball valve assembly tooling, each ball valve assembly tooling can rotate on the frame and pass through the above tooling positions in sequence to realize the assembly of steel balls, springs, valve sleeves and snap rings, and return to the original position to realize cyclic work; The ball valve assembly tooling includes: The valve body has a quick-release structure at the bottom and multiple steel ball holes are evenly distributed around the top of the valve body. A valve sleeve is fitted onto a valve body. A spring is installed between the valve sleeve and the valve body. The inner cavity of the valve sleeve is provided with a step that can resist a steel ball. A retaining spring is provided between the step and the valve body to prevent the valve sleeve from popping out. An auxiliary clamp, the bottom end of which extends and is disposed in the inner cavity of the valve body, includes a die head that is coaxial with the valve body. The die head is used to position and center the ball valve assembly during assembly. The surface of the die head is provided with a guide bevel 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 equipped with a magnetic ring one, a support ring and a magnetic ring two. The magnetic ring one is used to attract and fix the steel ball, the support ring provides axial support to prevent the steel ball from shifting, and the support ring two is used to attract the auxiliary clamp onto the valve body.

2. The multi-station circulating ball valve automatic assembly line according to claim 1, characterized in that, 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 loading grippers connected to the loading cylinder. The two loading grippers are arranged opposite each other and are driven by the loading cylinder to clamp or separate. The loading cylinder and the loading grippers are driven by the loading drive motor to move the valve body on the loading belt mechanism to the corresponding valve body tooling position. The feeding belt mechanism includes: a drive motor, a pair of pulleys that cooperate in transmission, a conveyor belt that is simultaneously sleeved on the two pulleys, and a V-shaped stop block located on the output side of the conveyor belt. The V-shaped stop block is equipped with a proximity switch to detect whether the valve body workpiece is in place. The unloading station includes a finished product unloading robot and an unloading belt mechanism. The finished product unloading robot is used to clamp and move the finished ball valve workpiece on the tooling station to the unloading belt mechanism for unloading.

3. The multi-station circulating ball valve automatic assembly line according to claim 2, 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 clamp and move the die head on the die head loading belt mechanism to the corresponding die head installation fixture position and realize the die head installation.

4. The multi-station circulating ball valve automatic assembly line according to claim 1, characterized in that, The primary flipping station is used to flip the workpiece with the mold head installed so that the mold head is placed below the tooling position. The primary flipping station is equipped with a flipping mechanism and a height detection mechanism. The flipping mechanism includes a flipping cylinder, a clamping cylinder, and workpiece grippers. The piston rod of the flipping cylinder is connected to the clamping cylinder, and the end of the piston rod of the clamping cylinder is connected to the workpiece grippers. The workpiece grippers include two symmetrically distributed gripper arms. The clamping cylinder drives the workpiece gripper to clamp and release the workpiece, and the flipping cylinder drives the clamping cylinder and the workpiece gripper to rotate around the axis to achieve a 180° flip. The height detection mechanism includes a pressure detection rod, a detection head, and a displacement sensor: the lower end of the pressure detection rod is connected to the detection head, the displacement sensor is connected to the detection head, and the detection head detects height changes by contacting an auxiliary mold head and transmits the changes to the displacement sensor; The secondary flipping station is used to flip the workpiece after the steel balls are installed so that the die head is placed above the tooling position.

5. The multi-station circulating ball valve automatic assembly line according to claim 1, characterized in that, The steel ball installation station is equipped with a vertical transport robot, a steel ball feeding mechanism, and a steel ball vibrating plate. The vertical transport robot clamps the flipped workpiece and places it on the steel ball feeding mechanism, and the steel ball is fed to the steel ball feeding mechanism through the steel ball vibrating plate. The steel ball feeding mechanism includes a base plate, a top plate, a transition plate, and a stepper motor. The base plate and the top plate are connected by support columns. The transition plate is connected to one side of the top plate by support columns. The stepper motor is mounted on the top plate, and its output shaft is connected to a rotating shaft. The rotating shaft is located on the top plate and the transition plate to drive the workpiece to rotate uniformly in the circumferential direction. The base plate is provided with a top shaft that can support the auxiliary die head. The adapter plate is provided with a steel ball feeding fixing component. The steel ball feeding fixing component is connected to the steel ball vibrating plate through a steel ball conveying pipe to form a steel ball feeding channel for receiving steel balls conveyed by the steel ball vibrating plate. The stepper motor drives the workpiece to rotate through the rotating shaft, so that multiple steel ball holes on the workpiece are aligned with the steel ball feeding fixing component in sequence to realize the continuous installation of steel balls. The steel ball feeding mechanism also includes a steel ball channel control assembly, which includes: a channel push rod, a push column, a push rod cylinder, a first pressure plate, and a second pressure plate. The first pressure plate is mounted on the push rod cylinder, and the piston rod of the push rod cylinder is connected to the second pressure plate. The first and second pressure plates are connected to the adapter plate via a support column. The push column is disposed on the second pressure plate. An elastic element is disposed between the first and second pressure plates to provide buffering and reset. 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 feed channel. When the push rod cylinder moves downward, it drives the channel push rod downward, opening the steel ball feeding channel and allowing the steel balls to smoothly enter, thus enabling continuous installation. Once all the steel balls are installed, the push rod cylinder moves upward, causing the channel push rod to move upward and closing the steel ball feeding channel.

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

7. The multi-station circulating ball valve automatic assembly line according to claim 1, characterized in that, The spring installation station includes a spring vibratory feeder, a spring feeding mechanism, and a spring lifting and lowering robot. The vibratory feeder is used to feed springs to the spring feeding mechanism, which includes a spring feeding 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 vibrating plate, and the other end is connected to the spring positioning core. The spring positioning core is fixedly installed on the slider mounting plate. The bottom of the slider mounting plate is connected to the worktable through the spring positioning slider and the slide rail. The spring top block can abut and limit the spring. A top block cylinder for driving the movement of the spring top block is connected to the spring top block. The spring manipulator is used to move the spring on the spring positioning core to the spring mounting fixture position corresponding to the circular track.

8. The multi-station circulating ball valve automatic assembly line according to claim 1, characterized in that, The valve sleeve installation station includes: a valve sleeve storage mechanism, a valve sleeve loading and unloading robot, a valve sleeve conveyor 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 achieve circumferential switching of the valve sleeve storage racks. The valve sleeve loading and unloading robot is used to grab valve sleeves from the valve sleeve storage rack and place the grabbed valve sleeves on the valve sleeve conveyor belt mechanism. The valve sleeve conveyor belt mechanism is used to transport the valve sleeves and transport them to the gripping position of the valve sleeve clamping robot. The valve sleeve clamping robot is used to grab the valve sleeves from the valve sleeve conveyor belt mechanism and transport the valve sleeves to the corresponding valve sleeve installation fixture position on the circular track.

9. The multi-station circulating ball valve automatic assembly line according to claim 1, characterized in that, The snap ring installation station includes a snap ring robot and a workpiece pre-compression assembly, wherein the snap ring robot includes a snap ring loading assembly and a snap ring pressing assembly. The snap ring feeding assembly includes a snap ring vibratory plate, a straight vibrating plate, a snap ring material plate, a snap ring feeding cylinder, and snap ring feeding grippers: the output end of the snap ring vibratory plate is connected to the straight vibrating plate, the snap ring material plate is provided with snap ring holes and can move between the initial position and the output end of the straight vibrating plate, and the snap ring feeding grippers are driven by the snap ring feeding cylinder to clamp or separate to realize the picking and placing of snap rings; The snap ring pressing assembly includes a snap ring pressing cylinder and a snap ring pressing gripper. The snap ring pressing gripper is driven by the snap ring pressing cylinder to press down and gradually increases as the guide slope of the die head increases, so that the snap ring slides down along the die head and enters the snap ring 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 cylinders. The workpiece pre-pressing plate is driven by the pre-pressing cylinders to press down to limit and fix the workpiece.

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

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