Automatic assembling device and method for tubular workpiece port sealing assembly

Abstract

The invention discloses an automatic assembling device and method for a tubular workpiece port sealing assembly. Comprising a lap joint flange feeding mechanism, a blind plate feeding mechanism, a spring collar feeding mechanism and a positioning discharging mechanism which are arranged along one side of a transmission line of a site, a nut feeding mechanism, a bolt feeding mechanism and a retainer ring, flange and nut combined assembling mechanism which are sequentially and adjacently arranged along the other side of the transmission line, and a six-axis robot arranged in the center of the site. The six-axis robot is provided with a multifunctional feeding and tightening mechanism. Automatic integrated assembling, workpiece feeding and assembling of various sealing assemblies in a narrow space are achieved, the influence of gravity on assembling in the horizontal direction is overcome, in the actual production application that the overall machining precision of workpieces is not high, the assembling qualification rate is increased, it is guaranteed that the sealing performance and stress uniformity meet the requirements, and the purposes of improving the assembling quality and reducing the production cost are achieved. And the purpose of full-automatic assembly is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical assembly, and particularly relates to an automatic assembly device and method for a port sealing assembly of a tubular workpiece. Background Art

[0002] The sealing assembly generally includes parts such as a flange, a blind plate, a flange connecting piece, a sealing member, etc., and is connected by bolts or welding. It is generally used to block the pipe orifice and isolate the production medium.

[0003] In the prior art, the sealing assembly includes a loose flange, a snap ring, a blind plate (including a gasket), bolts, and nuts. The assembly process is to sleeved the loose flange onto the port of the pipe body, snap the snap ring into the card slot of the pipe body port to prevent the loose flange from withdrawing, block the blind plate at the pipe body port, then sequentially pass the bolts through the small holes of the blind plate and the loose flange, and finally screw in the nuts for fixation. During the tightening process, a torque wrench is used to gradually tighten the bolts, and it is ensured that the 4 groups of bolts are evenly stressed.

[0004] It can be seen from the above assembly process that the plugging operation of the tubular workpiece has the characteristics of long pipe body, low machining accuracy of parts, high requirements for airtightness and firmness, etc. The manual assembly method is mainly adopted, and the automatic assembly is difficult. Summary of the Invention

[0005] In view of the above problems, the invention provides an automatic assembly device and method for a port sealing assembly of a tubular workpiece, which realizes automatic integrated assembly of various types of sealing assemblies in a narrow space, workpiece feeding and assembly, overcomes the influence of gravity on the horizontal assembly, etc. In the actual production application with low overall machining accuracy of the workpiece, the assembly qualification rate is improved, and the airtightness and stress uniformity are ensured to meet the requirements, so as to achieve the purpose of improving the assembly quality and realizing full-automatic assembly.

[0006] The specific solutions are as follows:

[0007] An automatic assembly device for a port sealing assembly of a tubular workpiece includes a loose flange feeding mechanism, a blind plate feeding mechanism, a snap ring feeding mechanism and a positioning and blanking mechanism arranged along one side of the transmission line of the site, a nut feeding mechanism, a bolt feeding mechanism and a snap ring flange nut combined assembly mechanism arranged adjacent to each other in sequence along the other side of the transmission line, and a six-axis robot arranged in the center of the site. A multi-functional feeding and tightening mechanism is installed on the six-axis robot.

[0008] Preferably, the snap ring feeding mechanism includes a snap ring storage bin, a snap ring picking gripper and a snap ring positioning groove installed on a support frame.

[0009] The snap ring bin is installed on the support bench through a bin latch. The snap ring picking gripper is opposite to the snap ring bin, and the snap ring positioning groove is installed behind and adjacent to the snap ring picking gripper.

[0010] A lifting cylinder is installed at the bottom of the snap ring bin, and the lifting height of the lifting cylinder is limited by the snap ring picking gripper.

[0011] Preferably, the bolt feeding mechanism includes a bolt feeding vibratory bowl, a bolt distributing plate, a bolt gripper, and a bolt combination seat installed on the workbench.

[0012] The outlet of the bolt feeding vibratory bowl is connected to the bolt distributing plate (620) through a linear vibrating guide rail. The bolt combination seat is installed in front of the bolt distributing plate (620) and below the bolt gripper.

[0013] The bolt gripper is mounted above the bolt distributing plate, and the bolt gripper moves between the bolt distributing plate and the bolt combination seat through a slide table.

[0014] The distributing plate of the bolt distributing plate is provided with eight positioning holes for placing bolts, and the bottom motor drives the coupling to select a specified angle of the distributing plate.

[0015] Further preferably, a sensor is installed on one side of the positioning hole on the distributing plate to confirm whether there is a bolt in the positioning hole.

[0016] Preferably, the nut feeding mechanism includes a nut feeding vibratory bowl, a nut positioning gripper, a nut angle positioning seat, and a nut positioning seat installed on the workbench.

[0017] The outlet of the nut feeding vibratory bowl is connected to the nut angle positioning seat through a linear vibrating guide rail. The nut positioning gripper includes two groups of grippers and is mounted above the nut angle positioning seat. The nut positioning seat is provided with four nut positioning grooves.

[0018] Preferably, the snap ring flange nut combination assembly mechanism includes a nut fixing gripper, a loose flange nut fixing gripper, and a snap ring installation gripper installed on the frame pedestal.

[0019] The snap ring installation gripper is installed behind the loose flange nut fixing gripper and the nut fixing gripper.

[0020] The loose flange nut fixing gripper is divided into left and right groups, and moves horizontally towards the middle when clamping.

[0021] The nut fixing gripper is divided into upper and lower groups, and moves vertically towards the middle when clamping.

[0022] Preferably, the multi-functional feeding and tightening mechanism includes four tightening guns and bolt tightening sleeves connected by a tightening shaft, and the tightening shaft and the bolt tightening sleeve are telescopic;

[0023] The blind plate installation jaw is installed between the sets of bolt tightening sleeves and fixed to the fixed seat carried by the tightening gun;

[0024] The nut inner support jaw adopts an airbag design and is installed at the end of the six-axis robot;

[0025] The flange blind plate universal jaw is on the same side as the nut inner support jaw and is installed on the jaw drive shaft of the six-axis robot.

[0026] Preferably, the flange blind plate universal jaw is a two-piece opening and closing jaw with a stepped structure, and an arc-shaped groove is opened at the front end of the jaw.

[0027] Preferably, both the loose flange feeding mechanism and the blind plate feeding mechanism use positioning trays for positioning. Positioning grooves are designed on the positioning trays to position the angle, position, and front and back of the tubular workpiece, and the materials are supplied in an up-and-down cycle through a double-speed chain transmission line.

[0028] The second object of the present invention:

[0029] An automatic assembly method for a port sealing assembly of a tubular workpiece, which applies an automatic assembly device for a port sealing assembly of a tubular workpiece, includes the following steps:

[0030] S1: After the tubular workpiece is transported in place, the positioning and blanking mechanism positions the tubular workpiece;

[0031] S2: The six-axis robot drives the multi-functional feeding and tightening mechanism to grab the loose flange from the tray of the loose flange feeding mechanism and pre-assemble the loose flange on the snap ring flange nut combined assembly mechanism;

[0032] S3: The six-axis robot drives the multi-functional feeding and tightening mechanism to pick up the snap ring from the snap ring feeding mechanism and pre-assemble the snap ring on the snap ring flange nut combined assembly mechanism;

[0033] S4: The six-axis robot drives the multi-functional feeding and tightening mechanism to pick up four groups of nuts from the nut feeding mechanism and pre-assemble the nuts on the snap ring flange nut combined assembly mechanism;

[0034] S5: The snap ring flange nut combined assembly mechanism moves to one end of the tubular workpiece, and synchronously assembles the pre-assembled snap ring, loose flange, and nut onto the pipe orifice and keeps their positions unchanged;

[0035] S6: The six-axis robot drives the multi-functional feeding and tightening mechanism to grab the blind plate from the tray of the blind plate feeding mechanism and place it on the positioning seat of the bolt feeding mechanism. The bolt gripper of the bolt positioning mechanism passes four groups of arranged bolts through the four small holes of the blind plate.

[0036] S7: The six-axis robot drives the multi-functional feeding and tightening mechanism to grab the blind plate with bolts. The tightening gun of the multi-functional feeding and tightening mechanism presses against the bolt and rotates until the bolt nut and the bolt tightening sleeve engage. The multi-functional feeding and tightening mechanism grabs the blind plate and the bolt, aligns them with the pipe orifice, the loose flange and the nut fixed on the pipe orifice, passes the bolt through the small hole of the loose flange and the nut, and at the same time tightens the bolt to fix the blind plate on the pipe orifice to complete the sealing.

[0037] S8: Repeat steps S2 to S7 to complete the installation of the other end of the pipe workpiece.

[0038] S9: The positioning and unloading mechanism transports the installed pipe workpiece to the unloading area to complete the offline.

[0039] The beneficial effects of the present invention are:

[0040] (1) The design of the automatic feeding mechanism for each component realizes the automatic feeding of different sealing components such as loose flanges, spring retaining rings, blind plates, nuts, bolts, etc., and solves the problem that spring retaining rings are not easily scattered due to their openings being interlocked with each other.

[0041] (2) Through the design of the retaining ring installation mechanism, the automatic assembly of the spring retaining ring is realized, and the scratching of the pipe orifice is avoided.

[0042] (3) The nut assembly and tightening problems in a narrow space are solved through the combined assembly.

[0043] (4) The blind plate and bolt combined assembly mechanism uses stacking and pushing to avoid the influence of gravity on the position of the workpiece during the horizontal assembly process.

[0044] (5) Through the design of this device, the full-automatic assembly of the sealing components is realized, liberating manpower, greatly reducing labor intensity, with accurate tightening torque, uniform force on bolts and sealing gaskets, improving the sealing quality, and having good popularization. Description of the Drawings

[0045] The technical solutions of the present invention will be further described in detail below in conjunction with the drawings and embodiments. However, it should be noted that these drawings are only designed for explanatory purposes and therefore do not limit the scope of the present invention. In addition, unless otherwise specified, these drawings are only intended to conceptually illustrate the structural configurations described herein and are not necessarily drawn to scale.

[0046] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the device of the present invention;

[0047] Figure 2 is a three-dimensional schematic diagram of the snap ring feeding mechanism in the present invention;

[0048] Figure 3 is a three-dimensional schematic diagram of the bolt feeding mechanism and nut feeding mechanism in the present invention;

[0049] Figure 4 is a three-dimensional schematic diagram of the snap ring flange nut combined assembly mechanism in the present invention;

[0050] Figure 5 is a three-dimensional schematic diagram of the multi-functional feeding and tightening mechanism in the present invention;

[0051] In the figure:

[0052] 1 - loose flange feeding mechanism; 2 - blind plate feeding mechanism;

[0053] 3 - snap ring feeding mechanism; 310 - snap ring bin; 312 - bin lock; 313 - lifting cylinder; 320 - snap ring picking gripper; 330 - snap ring positioning groove;

[0054] 4 - 6-axis robot;

[0055] 5 - multi-functional feeding and tightening mechanism; 510 - common gripper for flange and blind plate; 520 - tightening gun; 530 - bolt tightening sleeve; 540 - blind plate installation gripper; 550 - nut inner support gripper;

[0056] 6 - bolt feeding mechanism; 610 - bolt feeding vibrating bowl; 620 - bolt distributing plate; 630 - bolt gripper; 640 - bolt combination seat;

[0057] 7 - nut feeding mechanism; 710 - nut feeding vibrating bowl; 720 - nut positioning gripper; 730 - nut angle positioning seat; 740 - nut positioning seat;

[0058] 8 - snap ring flange nut combined assembly mechanism; 810 - nut fixing gripper; 820 - loose flange nut fixing gripper; 830 - snap ring installation gripper;

[0059] 9 - positioning and discharging mechanism. Detailed implementation manners

[0060] First of all, it should be noted that the following will specifically illustrate the specific structure, characteristics, advantages, etc. of the present invention by way of examples. However, all descriptions are only for illustration and should not be construed as any limitation to the present invention. In addition, any single technical feature described or implied in each embodiment mentioned herein, or any single technical feature shown or implied in each drawing, can still be arbitrarily combined or deleted between these technical features, so as to obtain more other embodiments of the present invention that may not be directly mentioned herein. Additionally, for the sake of simplifying the drawings, the same or similar technical features may be marked only at one place in the same drawing.

[0061] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "setting", "connection", "fixation", "swivel connection", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. Unless otherwise clearly defined, for those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] The following will specifically illustrate the present invention in conjunction with the attached Figure 1 - attached Figure 5 drawings.

[0063] Embodiment 1:

[0064] An automatic assembly device for a pipe-shaped workpiece port sealing assembly includes a loose flange feeding mechanism 1, a blind plate feeding mechanism 2, a circlip feeding mechanism 3, and a positioning and blanking mechanism 9 arranged along one side of the transmission line on the site, a nut feeding mechanism 7, a bolt feeding mechanism 6, and a circlip flange nut combination assembly mechanism 8 arranged adjacent to each other in sequence along the other side of the transmission line, and a six-axis robot 4 arranged in the center of the site. A multi-functional feeding and tightening mechanism 5 is installed on the six-axis robot 4.

[0065] Working principle:

[0066] The present invention relates to functions such as automatic feeding, assembly, locking, and qualification detection of parts. As Figure 1 shown, each part of the mechanism is distributed on both sides of the transmission line, and the six-axis robot 4 is in the central position, taking into account the material taking and assembly in all directions. In order to ensure positioning, each mechanism and the six-axis robot 4 are fixed to the ground with anchor bolts.

[0067] Furthermore, it can also be considered in the embodiment that the circlip feeding mechanism 3 includes a circlip bin 310 installed on a support frame, a circlip picking gripper 320, and a circlip positioning groove 330;

[0068] The spring retaining ring bin 310 is installed on the support stand through the bin lock 312, the spring retaining ring material taking clamp 320 is opposite to the spring retaining ring bin 310, and the spring retaining ring positioning groove 330 is installed behind and adjacent to the spring retaining ring material taking clamp 320;

[0069] A lifting cylinder 313 is installed at the bottom of the spring retaining ring bin 310 , and the height of the lifting cylinder 313 is limited by the spring retaining ring material taking clamp 320 .

[0070] In this embodiment, Figure 2 As shown, the spring retaining ring bin 310 is fixed on the spring retaining ring feeding mechanism support frame through the bin lock 312. The spring retaining ring bin 310 adopts a clip-type design, and a lifting mechanism is installed at the bottom of the spring retaining ring bin 310, preferably a cylinder type. The spring retaining ring in the spring retaining ring bin 310 is pushed upward by the lifting cylinder 313, and the ejection height is limited by the spring retaining ring material taking clamp 320, and is clamped to the spring retaining ring positioning groove 330 by the clamp, leaving a clamping position for the universal clamp 510 of the multifunctional feeding and tightening mechanism 5 to be clamped. The structure of the spring retaining ring positioning groove 330 facilitates the clamp on the six-axis robot 4 to clamp the outer circle of the spring retaining ring, and the spring retaining ring material taking clamp 320 clamps the inner circle of the spring retaining ring. This mechanism design solves the problems of spring retaining rings with poor size and opening consistency and easy hooking.

[0071] Furthermore, it can also be considered in the embodiment that the bolt feeding mechanism 6 includes a bolt feeding vibration plate 610, a bolt distribution plate 620, a bolt clamping claw 630 and a bolt assembly seat 640 installed on the workbench;

[0072] The outlet of the bolt feeding vibration plate 610 is connected to the bolt material distribution plate 620 through a linear vibration guide rail, and the bolt assembly seat 640 is installed in front of the bolt material distribution plate 620 and below the bolt clamp 630;

[0073] The bolt clamp 630 is mounted above the bolt material distribution plate 620, and the bolt clamp 630 moves between the bolt material distribution plate 620 and the bolt assembly seat 640 through a slide;

[0074] The bolt distribution tray 620 is provided with eight positioning holes for placing bolts, and the coupling is driven by the bottom motor to select the specified angle of the distribution tray.

[0075] In this embodiment, Figure 3 As shown, the bolt feeding mechanism 6 is fixed on the workbench by bolt connection, and the workbench is fixed on the ground by bolt anchors.

[0076] The bolt sorting tray 620 is installed at the outlet of the bolt feeding vibrating bowl 610 and is connected by a linear vibrating guide rail. The bolt gripper 630 is erected above the bolt sorting tray 620, and the bolt combination seat 640 is fixed in front of the bolt sorting tray 620. The bolt gripper 630 moves between the bolt sorting tray 620 and the bolt combination seat 640 through its own sliding table.

[0077] The bolt sorting tray 620 is installed at the outlet of the bolt feeding vibrating bowl 610 and is connected by a linear vibrating guide rail. Under vibration, the bolts are conveyed from the guide rail of the bolt feeding vibrating bowl 610 to the linear vibrating guide rail until they reach the bolt sorting tray 620. Here, the linear vibrating guide rail is used for bolt alignment and movement.

[0078] The bolt sorting tray 620 is provided with 8 positioning holes. The bottom motor drives the coupling to rotate the sorting tray by a specified angle. Whenever a bolt is conveyed to the positioning hole of the bolt sorting tray 620, the sorting tray rotates 45 degrees, and the next positioning hole turns to the docking port. The bolt enters the second positioning hole, and the above process is repeated until all 8 positioning holes are filled with bolts.

[0079] Furthermore, it can also be considered in the embodiment that a sensor is installed on one side of the positioning hole on the sorting tray to confirm whether there is a bolt in the positioning hole.

[0080] In this embodiment, it can also be confirmed whether there is a bolt in the positioning hole through a sensor. After the positioning holes are filled with bolts, the bolt gripper 630 grips 4 bolts, moves to the bolt combination seat 640, and places them into the blind hole on the bolt combination seat 640.

[0081] Furthermore, it can also be considered in the embodiment that the nut feeding mechanism 7 includes a nut feeding vibrating bowl 710, a nut positioning gripper 720, a nut angle positioning seat 730, and a nut positioning seat 740 installed on the workbench;

[0082] The outlet of the nut feeding vibrating bowl 710 is connected to the nut angle positioning seat 730 by a linear vibrating guide rail; the nut positioning gripper 720 includes two groups of grippers and is erected above the nut angle positioning seat 730. Four nut positioning grooves are provided on the nut positioning seat 740.

[0083] In this embodiment, as Figure 3 shown, the nut feeding machine 7 is adjacent to the bolt feeding mechanism 6, and each component is bolted and fixed to the workbench. The workbench is fixed to the ground by bolt feet.

[0084] The nut angle positioning seat 730 is fixed at the outlet of the nut feeding vibrating bowl 710 by bolts and is connected by a linear vibrating guide rail. Under vibration, the nuts are conveyed from the guide rail of the nut feeding vibrating bowl 710 to the linear vibrating guide rail until they reach the nut angle positioning seat 730.

[0085] The nut positioning jaw 720 is mounted above the nut angle positioning seat 730 , clamps the nut on the nut angle positioning seat 730 , keeps the nut angle unchanged, moves to above the nut positioning seat 740 , and places the nut in the positioning groove of the nut positioning seat 740 .

[0086] The nut positioning jaws 720 are divided into two groups, and two nuts are taken and placed each time. The nut positioning seat 740 is provided with four nut positioning grooves. The nut positioning jaws 720 fill the nut positioning seat 740 twice, and the position between the positioning grooves is the same as the nut assembly position.

[0087] Furthermore, it can also be considered in the embodiment that the retaining ring flange nut combined assembly mechanism 8 includes a nut fixing claw 810, a slip-on flange nut fixing claw 820 and a spring retaining ring installation claw 830 installed on the frame base;

[0088] The spring retaining ring mounting claw 830 is mounted behind the slip-on flange nut fixing claw 820 and the nut fixing claw 810;

[0089] The slip-on flange nut fixing claws 820 are divided into two groups, left and right, which move horizontally toward the middle when clamping;

[0090] The nut fixing claws 810 are divided into two groups, upper and lower, which move vertically toward the middle when clamping.

[0091] In this embodiment, Figure 4 As shown, the various parts of the retaining ring flange nut assembly mechanism 8 are connected to the frame pedestal by bolts. The spring retaining ring mounting claw 830 is installed behind the slip-on flange nut fixing claw 820 and the nut fixing claw 810. The slip-on flange nut fixing claw 820 is divided into left and right parts, which move toward the middle when clamping. The nut fixing claw 810 is divided into upper and lower parts, which move toward the middle when clamping.

[0092] Furthermore, it can also be considered in the embodiment that the multifunctional feeding and tightening mechanism 5 includes four groups of tightening guns 520 and bolt tightening sleeves 530 connected by tightening shafts, and the tightening shafts and the bolt tightening sleeves 530 are retractable;

[0093] The blind plate mounting clamp 540 is installed between the four sets of bolt tightening sleeves 530 and fixed to the fixing seat provided by the tightening gun 520;

[0094] The nut inner support clamp 550 adopts an airbag design and is installed at the end of the six-axis robot 4;

[0095] The flange blind plate universal clamp 510 is on the same side as the nut inner support clamp 550 , and is installed on the clamp drive shaft of the six-axis robot 4 , that is, the sixth axis.

[0096] In this embodiment, as Figure 5 shown, the tightening gun 520 and the tightening sleeve 530 are connected by a tightening shaft. The motor of the tightening gun 520 controls the rotation of the tightening shaft and the tightening sleeve 530. The tightening gun 520 and the bolt tightening sleeve 530 are divided into 4 groups. The blind plate installation jaw 540 is installed between the 4 groups of tightening sleeves and is fixed to the fixed seat of the tightening gun 520. The tightening shaft and the tightening sleeve are telescopic. When the blind plate installation jaw 540 clamps the blind plate and bolt assembly, the bolt tightening sleeve 530 extends forward to push the bolt, rotates slowly for several weeks to engage the sleeve with the nut, and forms a resultant force with the blind plate installation jaw 540 to fix the blind plate and the bolt, make the bolt perpendicular to the blind plate, and ensure the bolt position accuracy.

[0097] The blind plate installation jaw 540 is floating and moves towards the workpiece pipe orifice direction during the bolt tightening process until the tightening is completed and the sealing is achieved. When tightening, the 4 groups of bolt tightening sleeves tighten synchronously to ensure uniform force and uniform sealing of the 4 groups of bolts.

[0098] The nut inner support jaw 550 is fixed to the end of the robot by bolts and is on the same side as the universal jaw 510. It adopts an airbag design and inflates and deflates the airbag by connecting compressed air to pick up and place the nut.

[0099] Furthermore, it can also be considered in the embodiment that the flange blind plate universal jaw 510 is a two-piece opening and closing jaw with a stepped structure, and an arc-shaped groove is opened at the front end of the jaw.

[0100] In this embodiment, the universal jaw 510 is provided with two-piece opening and closing jaws, adopts a stepped structure, can clamp the outside of the blind plate and the flange, and an arc-shaped groove is opened at the front end of the jaw to clamp the retaining ring.

[0101] Further, it can also be considered in the embodiment that both the loose flange feeding mechanism 1 and the blind plate feeding mechanism 2 use positioning trays for positioning. Positioning grooves are designed on the positioning trays to position the angle, position, and front and back of the tubular workpiece to be transferred, and the feeding is carried out in an up-and-down cycle through a double-speed chain transmission line.

[0102] Usage method:

[0103] In the above embodiment, the six-axis robot 4 is loaded with a multi-functional assembly mechanism 5. The switching of each functional module, such as the flange blind plate universal jaw 510, the tightening gun 520, the bolt tightening sleeve 530, the blind plate installation jaw 540, the nut inner support jaw 550, etc., is completed through the rotation and displacement of the 6th axis of the six-axis robot 4.

[0104] The universal jaw 510 clamps the retaining ring and moves to the spring retaining ring installation jaw 830 under the drive of the robot. The spring retaining ring installation jaw expands the spring retaining ring, and the universal jaw 510 opens and moves out.

[0105] The universal clamp 510 clamps the slip-on flange and is driven by the six-axis robot 4 to move to the slip-on flange nut fixing clamp 820 . The slip-on flange nut fixing clamp 820 closes to clamp the slip-on flange, and the universal clamp 510 opens and moves out.

[0106] The nut inner support clamp 550 picks up the nut and moves to the slip-on flange nut fixing clamp 820 driven by the six-axis robot 4. The nut fixing clamp 810 closes and clamps the nut together with the slip-on flange nut fixing clamp 820, and the airbag of the nut inner support clamp 550 shrinks and moves out.

[0107] The spring retaining ring installation claw 830, the slip-on flange nut fixing claw 820 and the nut fixing claw 810 carry the spring retaining ring, slip-on flange and nut and move to the pipe mouth of the tubular workpiece under the translation module at the same time. The spring retaining ring installation claw 830 pushes the spring retaining ring along the pipe mouth to the slot and moves it out, and the bolt tightens the sleeve 530; and the blind plate installation claw 540 clamps the blind plate with bolts, rotates to the horizontal direction, moves along the workpiece axial direction to the pipe mouth of the tubular workpiece, and inserts the bolts into the small holes of the slip-on flange to resist the nut. The tightening gun 520 rotates to screw the 4 sets of bolts into the nuts, and the blind plate and slip-on flange are tightened to complete the plugging.

[0108] Embodiment 2:

[0109] A method for automatically assembling a tubular workpiece port sealing component, using an automatic assembly device for the tubular workpiece port sealing component, comprises the following steps:

[0110] S1: After the pipe workpiece is transferred to the right position, the positioning and unloading mechanism 9 positions the pipe workpiece;

[0111] S2: The six-axis robot 4 drives the multifunctional feeding and tightening mechanism 5 to grab the slip-on flange from the tray of the slip-on flange feeding mechanism 1, and pre-install the slip-on flange on the retaining ring flange nut combination assembly mechanism 8;

[0112] S3: The six-axis robot 4 drives the multifunctional feeding and tightening mechanism 5 to pick up the spring retaining ring from the spring retaining ring feeding mechanism 3, and pre-installs the retaining ring on the retaining ring flange nut combined assembly mechanism 8;

[0113] S4: The six-axis robot 4 drives the multifunctional feeding and tightening mechanism 5 to pick up four sets of nuts from the nut feeding mechanism 7, and pre-install the nuts on the retaining ring flange nut combination assembly mechanism 8;

[0114] S5: The retaining ring, flange and nut combined assembly mechanism 5 moves to one end of the pipe body workpiece, and synchronously assembles the pre-installed spring retaining ring, slip-on flange and nut onto the pipe mouth, and keeps their positions unchanged;

[0115] S6: The six-axis robot 4 drives the multi-functional feeding and tightening mechanism 5 to grasp the blind plate from the tray of the blind plate feeding mechanism 2 and place it on the positioning seat of the bolt feeding mechanism 6. The bolt grippers of the bolt positioning mechanism 6 pass four groups of arranged bolts through the four small holes of the blind plate.

[0116] S7: The six-axis robot 4 drives the multi-functional feeding and tightening mechanism 5 to grasp the blind plate with bolts. The tightening gun 520 of the multi-functional feeding and tightening mechanism 5 presses against the bolt and rotates until the bolt nut engages with the bolt tightening sleeve 530. The multi-functional feeding and tightening mechanism 5 grasps the blind plate and the bolt, aligns with the pipe orifice and the loose flange and nut fixed on the pipe orifice, passes the bolt through the small hole of the loose flange and the nut, and simultaneously tightens the bolt to fix the blind plate on the pipe orifice to complete the sealing.

[0117] S8: Repeat steps S2 to S7 to complete the installation of the other end of the pipe workpiece.

[0118] S9: The positioning and discharging mechanism 9 transfers the installed pipe workpiece to the discharging area to complete the offline.

[0119] Working principle:

[0120] The whole production line includes 9 mechanisms such as the loose flange feeding mechanism 1, the blind plate feeding mechanism 2, the snap ring feeding mechanism 3, the nut feeding mechanism 7, the bolt feeding mechanism 6, the six-axis robot 4, the multi-functional feeding and tightening mechanism 5, the snap ring flange nut combined assembly mechanism 8, and the positioning and discharging mechanism 9, which respectively perform operations such as loose flange feeding; snap ring discharging and feeding; blind plate feeding; nut discharging and feeding; bolt discharging and feeding; integrated assembly of loose flange, snap ring, and nut; integrated assembly of blind plate and bolt; bolt locking; finished product discharging, etc.

[0121] The overall assembly is a fully automatic device. After the pipe workpiece is conveyed in place, it is positioned by the positioning mechanism, and the integrated assembly device gradually completes the assembly of the loose flange, snap ring, nut, blind plate, and bolt, and locks them according to the set torque.

[0122] The designed loose flange feeding mechanism 1 and blind plate feeding mechanism 2 both adopt the double-speed chain transmission line combined with the tray feeding; the snap ring feeding mechanism 3 adopts the cartridge-type magazine, and the gripper picks up and feeds; the nut feeding mechanism 7 and the bolt feeding mechanism 6 adopt the vibrating bowl and the linear vibrating guide rail for feeding.

[0123] The designed multi-functional feeding and tightening mechanism 5 is installed on the six-axis robot 4, and includes functional parts such as the loose flange and blind plate picking gripper, the snap ring expanding gripper, the four-axis tightening gun, and the nut picking mechanism, among which the loose flange and the blind plate share the gripper.

[0124] The combined assembly mechanism of the retaining ring flange nut 8 first pre-assembles the retaining ring, loose flange, and nut to their relatively fixed positions, and then synchronously assembles them to the port of the pipe workpiece, keeping their positions unchanged before the bolts are tightened.

[0125] The positioning and blanking mechanism 9 positions and conveys the pipe workpiece for blanking.

[0126] It can also be considered to install an industrial camera on the six-axis robot 4 to judge and identify the front and back of the workpiece, the placement position, and the assembly qualification, and use the PLC to control the device assembly process. The program and parameters can be adjusted with a touch screen.

[0127] The above embodiments have described the present invention in detail, but the described content is only the preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. Any equivalent changes and improvements made within the scope of the application of the present invention shall still fall within the scope covered by the patent of the present invention.

Claims

1. An automatic assembly device for a tubular workpiece port sealing assembly, characterized in that: The invention comprises a slip-on flange feeding mechanism (1), a blind plate feeding mechanism (2), a spring retaining ring feeding mechanism (3) and a positioning unloading mechanism (9) arranged along one side of a transmission line of a site, a nut feeding mechanism (7), a bolt feeding mechanism (6) and a retaining ring flange nut combined assembly mechanism (8) arranged in sequence and adjacent to each other along the other side of the transmission line, and a six-axis robot (4) arranged in the center of the site, wherein a multifunctional feeding and tightening mechanism (5) is installed on the six-axis robot (4).

2. The automatic assembly device for a tubular workpiece port sealing assembly according to claim 1, characterized in that: The spring retaining ring feeding mechanism (3) comprises a spring retaining ring material bin (310) installed on a supporting stand, a spring retaining ring material taking clamp (320) and a spring retaining ring positioning groove (330); The spring retaining ring bin (310) is installed on the support stand via a bin lock (312); the spring retaining ring material taking clamp (320) is opposite to the spring retaining ring bin (310); and the spring retaining ring positioning groove (330) is installed behind and adjacent to the spring retaining ring material taking clamp (320); A lifting cylinder (313) is installed at the bottom of the spring retaining ring material bin (310), and the height of the lifting cylinder (313) is limited by the spring retaining ring material taking clamp (320).

3. The automatic assembly device for a tubular workpiece port sealing assembly according to claim 1, characterized in that: The bolt feeding mechanism (6) comprises a bolt feeding vibration plate (610), a bolt distribution plate (620), a bolt clamping claw (630) and a bolt assembly seat (640) installed on a workbench; The outlet of the bolt feeding vibration plate (610) is connected to the bolt material distribution plate (620) via a linear vibration guide rail, and the bolt assembly seat (640) is installed in front of the bolt material distribution plate (620) and below the bolt clamping claw (630); The bolt clamp (630) is mounted above the bolt material distribution plate (620), and the bolt clamp (630) moves between the bolt material distribution plate (620) and the bolt assembly seat (640) via a slide. The bolt distribution plate (620) is provided with eight positioning holes for placing bolts, and the coupling is driven by the bottom motor to select the specified angle of the distribution plate.

4. The automatic assembly device for a tubular workpiece port sealing assembly according to claim 1, characterized in that: A sensor is installed on one side of the positioning hole on the distribution plate to confirm whether there is a bolt in the positioning hole.

5. The automatic assembly device for a tubular workpiece port sealing assembly according to claim 1, characterized in that: The nut feeding mechanism (7) comprises a nut feeding vibration plate (710), a nut positioning clamp (720), a nut angle positioning seat (730) and a nut positioning seat (740) installed on a workbench; The outlet of the nut feeding vibration plate (710) is connected to the nut angle positioning seat (730) via a linear vibration guide rail; the nut positioning jaws (720) include two groups of jaws mounted above the nut angle positioning seat (730), and the nut positioning seat (740) is provided with four nut positioning grooves.

6. The automatic assembly device for a tubular workpiece port sealing assembly according to claim 1, characterized in that: The retaining ring flange nut combined assembly mechanism (8) comprises a nut fixing claw (810) installed on a frame base, a slip-on flange nut fixing claw (820) and a spring retaining ring installation claw (830); The spring retaining ring mounting claw (830) is mounted behind the slip-on flange nut fixing claw (820) and the nut fixing claw (810); The slip-on flange nut fixing claws (820) are divided into two groups, left and right, which move horizontally toward the middle when clamping; The nut fixing claws (810) are divided into two groups, upper and lower, which move vertically toward the middle when clamping.

7. The automatic assembly device for a tubular workpiece port sealing assembly according to claim 1, characterized in that: The multifunctional feeding and tightening mechanism (5) comprises four groups of tightening guns (520) and bolt tightening sleeves (530) connected by tightening shafts, and the tightening shafts and the bolt tightening sleeves (530) are retractable; The blind plate mounting clamp (540) is installed between the four sets of bolt tightening sleeves (530) and fixed to the fixing seat provided with the tightening gun (520); The nut inner support clamp (550) adopts an airbag design and is installed at the end of the six-axis robot (4); The flange blind plate universal clamp (510) is on the same side as the nut inner support clamp (550), and is installed on the clamp drive shaft of the six-axis robot (4).

8. The automatic assembly device for a tubular workpiece port sealing assembly according to claim 7, characterized in that: The flange blind plate universal clamp (510) is a two-piece opening and closing clamp of a stepped structure, and an arc groove is formed at the front end of the clamp.

9. The automatic assembly device for a tubular workpiece port sealing component according to claim 1, characterized in that: The slip-on flange feeding mechanism (1) and the blind plate feeding mechanism (2) are both positioned using a positioning tray, on which a positioning groove is designed for positioning the angle, position and front and back of the conveying tube-shaped workpiece, and for circulating the feeding up and down through a double-speed chain transmission line.

10. An automatic assembly method for a tubular workpiece port sealing component, using an automatic assembly device for a tubular workpiece port sealing component according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: After the pipe workpiece is transferred to the right position, the positioning and unloading mechanism (9) positions the pipe workpiece; S2: The six-axis robot (4) drives the multifunctional feeding and tightening mechanism (5) to grab the slip-on flange from the tray of the slip-on flange feeding mechanism (1), and pre-install the slip-on flange on the retaining ring flange nut combination assembly mechanism (8); S3: The six-axis robot (4) drives the multifunctional feeding and tightening mechanism (5) to pick up the spring retaining ring from the spring retaining ring feeding mechanism (3), and pre-install the retaining ring on the retaining ring flange nut combined assembly mechanism (8); S4: The six-axis robot (4) drives the multifunctional feeding and tightening mechanism (5) to pick up four sets of nuts from the nut feeding mechanism (7) and pre-install the nuts on the retaining ring flange nut combination assembly mechanism (8); S5: The retaining ring, flange and nut combined assembly mechanism (5) moves to one end of the pipe body workpiece, and synchronously assembles the pre-installed spring retaining ring, slip-on flange and nut onto the pipe mouth, and keeps their positions unchanged; S6: The six-axis robot (4) drives the multifunctional feeding and tightening mechanism (5) to grab the blind plate from the tray of the blind plate feeding mechanism (2) and place it on the positioning seat of the bolt feeding mechanism (6). The bolt clamp of the bolt positioning mechanism (6) inserts the four groups of arranged bolts into the four small holes of the blind plate; S7: The six-axis robot (4) drives the multifunctional feeding and tightening mechanism (5) to grab the blind plate with bolts, and the tightening gun (520) of the multifunctional feeding and tightening mechanism (5) rotates against the bolts until the bolt nut and the bolt tightening sleeve (530) are engaged, and the multifunctional feeding and tightening mechanism (5) grabs the blind plate and the bolts, aligns the pipe mouth and the slip-on flange and nut fixed on the pipe mouth, inserts the bolts into the small holes and nuts of the slip-on flange, and tightens the bolts at the same time to fix the blind plate on the pipe mouth, thereby completing the plugging; S8: Repeat steps S2 to S7 to complete the installation of the other end of the pipe body workpiece; S9: The positioning unloading mechanism (9) transfers the installed pipe workpiece to the unloading area to complete unloading.

Images