Semi-automatic assembly line suitable for urea pump assembly

Abstract

The invention relates to a semi-automatic assembly line suitable for urea pump assembly, which comprises a gantry truss, and a pressure sensor and PP pump mounting station, an SP pump mounting station, a pipe joint and fixing piece mounting station and a filter element rubber rod and filter element cover mounting station which are sequentially arranged along the gantry truss, the pressure sensor and PP pump mounting station is used for completing feeding, clamping and mounting of a shell, a pressure sensor and a PP pump, the SP pump mounting station is used for completing feeding, clamping and mounting of an SP pump, and the pipe joint and fixing piece mounting station is used for completing feeding, clamping and mounting of a pipe joint and a fixing piece. According to the urea pump part assembling machine, by arranging the multiple stations and the corresponding feeding device, the corresponding grabbing device, the corresponding fixing device and the like, automation of the urea pump part assembling process is achieved, dependence on manpower is reduced, the assembling efficiency is improved, and the assembling efficiency is improved. The problem that full-automatic production is difficult to achieve due to the fact that parts are irregular and the requirement for the assembly sequence is high is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of urea pump automatic assembly equipment, and specifically, it is a semi-automatic assembly line applicable to urea pump assembly. Background Art

[0002] Currently, most of the mainstream urea pump production lines have low automation levels and rely heavily on manual assembly. The main reasons are that the shapes, sizes, and textures of different urea pump parts are extremely irregular, and there are high requirements for the assembly sequence, making it difficult to design a complete production line with a high degree of automation. This also results in low production efficiency of the urea pump production line. Summary of the Invention

[0003] The technical problem to be solved by the present invention is that most of the urea pump production lines have low automation levels and rely heavily on manual assembly. The main reasons are that the shapes, sizes, and textures of different urea pump parts are extremely irregular, and there are high requirements for the assembly sequence, making it difficult to design a complete production line with a high degree of automation. In view of the above deficiencies, a semi-automatic assembly line applicable to urea pump assembly is provided.

[0004] To solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A semi-automatic assembly line applicable to urea pump assembly, including a gantry truss and a pressure sensor, a PP pump installation station, an SP pump installation station, a pipe joint and fixing piece installation station, and a filter element rubber rod and filter element cover installation station sequentially arranged along the gantry truss. The pressure sensor and PP pump installation station is used to complete the feeding, clamping, and installation of the housing, pressure sensor, and PP pump. The SP pump installation station is used to complete the feeding, clamping, and installation of the SP pump. The pipe joint and fixing piece installation station is used to complete the feeding, clamping, and installation of the pipe joint and fixing piece. The filter element rubber rod and filter element cover installation station is used to complete the feeding, clamping, and installation of the filter element rubber rod and filter element cover.

[0006] The pressure sensor and PP pump installation station is used to clamp the housing and install the pressure sensor and PP pump on the housing. The SP pump installation station is used to clamp the housing with the pressure sensor and PP pump installed on the pressure sensor and PP pump installation station and install the SP pump on the housing. The pipe joint and fixing piece installation station is used to clamp the housing with the SP pump installed on the SP pump installation station and install the pipe joint and fixing piece on the housing. The filter element rubber rod and filter element cover installation station is used to clamp the housing with the pipe joint and fixing piece installed on the pipe joint and fixing piece installation station and install the filter element rubber rod and filter element cover on the housing. The filter element rubber rod and filter element cover installation station is also used to clamp and move the housing with the filter element rubber rod and filter element cover installed to the next station.

[0007] Further, the pressure sensor and PP pump installation station includes a first manipulator, a second manipulator, a housing feeding mechanism, a pressure sensor feeding mechanism, a PP pump feeding mechanism, and a first locking machine. The first manipulator is provided with a pressure sensor clamping jaw and a housing clamping jaw. The first manipulator is used to first use the pressure sensor clamping jaw to pick up the pressure sensor conveyed by the pressure sensor feeding mechanism and lift and rotate to replace it with the housing clamping jaw. The first manipulator is used to use the housing clamping jaw to pick up the housing and place it on the first locking machine after the housing feeding mechanism detects that the conveyed housing reaches the clamping designated position. The second manipulator is provided with a PP pump clamping jaw and a housing clamping jaw. The second manipulator is used to first use the PP pump clamping jaw to pick up the PP pump conveyed by the PP pump feeding mechanism before the first manipulator places the housing. The first locking machine is used to fix the housing after detecting the housing. The first manipulator is used to first lift and rotate to replace it with the pressure sensor clamping jaw after the housing is fixed and then use the pressure sensor clamping jaw to place the pressure sensor on the housing. The second manipulator is used to place the PP pump on the housing on which the pressure sensor is placed after the first locking machine detects the installation of the pressure sensor. The first locking machine is used to use bolts to lock the pressure sensor and the PP pump to the housing after detecting that both the pressure sensor and the PP pump are placed on the housing.

[0008] Further, the SP pump installation station includes a third manipulator, an SP pump feeding mechanism, and a second locking machine. The third manipulator is provided with an SP pump clamping jaw and a housing clamping jaw. The second manipulator is also used to use the housing clamping jaw to pick up the housing on which the pressure sensor and the PP pump are installed at the pressure sensor and PP pump installation station and place it on the second locking machine. The third manipulator is used to use the SP pump clamping jaw to pick up the SP pump conveyed by the SP feeding mechanism before the second manipulator picks up and places the housing. The second locking machine is used to fix the housing after detecting the housing. The third manipulator is used to place the SP pump on the housing after the housing is fixed and lift and rotate the clamping end to change it into the housing clamping jaw. The second locking machine is also used to use bolts to lock the SP pump to the housing after detecting the placement of the SP pump.

[0009] Further, the pipe joint and fixing piece installation station includes a fourth manipulator, a pipe joint feeding mechanism, a fixing piece feeding mechanism, a third locking machine, and a first housing flipping mechanism.

[0010] A first housing flipping mechanism is arranged on one side of the output end of the fixing piece feeding mechanism. A third locking machine is arranged on one side of the first housing flipping mechanism. The fourth manipulator is located above the first housing flipping mechanism. The fourth manipulator realizes horizontal movement through a guide rail. The fourth manipulator includes a pipe joint clamping jaw and a fixing piece clamping jaw.

[0011] The fixed piece feeding mechanism includes a lead screw slide rail, a storage plate, a pushing block and a support plate. Support plates parallel to the lead screw slide rail are arranged on both the left and right sides of the lead screw slide rail. On the opposite sides of the upper surfaces of the two support plates, chutes are horizontally arranged. The two chutes are used to support both ends of the fixed piece. The two ends of the support plate are respectively the feeding end and the discharging end. A storage plate is horizontally arranged above the feeding end. A blanking through hole is arranged in the middle of the storage plate. A fixed piece limiting plate and a fixed piece limiting column are respectively arranged on the front and rear sides of the blanking through hole. The fixed piece limiting plate and the fixed piece limiting column are used to stack and place the fixed pieces. The lowermost one of a stack of fixed pieces is located at the feeding end. Multiple fixed pieces are stacked on the chute inside the through hole. The lead screw slide rail is used to push the fixed piece at the feeding end forward along the chute to the discharging end through the pushing block;

[0012] The third manipulator is also used to use the housing clamping claws to clamp and place the housing with the SP pump installed at the SP pump installation station on the first housing flipping mechanism at the pipe joint and fixed piece installation station. The fourth manipulator is used to, before the third manipulator places the housing, use the pipe joint clamping claws to simultaneously clamp a group of three pipe joints on the pipe joint feeding mechanism and lift them up to rotate the clamping end to be the fixed piece clamping claws. The fourth manipulator is also used to, after clamping the pipe joints, use the fixed piece clamping claws to clamp the fixed pieces conveyed by the fixed piece feeding mechanism and lift them up to rotate the clamping end to be the pipe joint clamping claws. The first housing flipping mechanism is used to clamp and fix the housing; the first housing flipping mechanism is also used to drive the housing to flip from the horizontal state to the vertical state after clamping and fixing the housing. The fourth manipulator is used to install the three pipe joints at the corresponding positions on the housing simultaneously after detecting that the housing flipping is completed. The fourth manipulator is also used to lift up and rotate the clamping end to be the fixed piece clamping claws after installing the pipe joints and install the fixed pieces on the outer sides of the pipe joints on the housing. After the sensor at the discharging end of the fixed piece feeding mechanism detects that the fixed piece is clamped, the first lead screw guide rail drives the pushing block to reset and push the next fixed piece to move to the discharging end again, repeating the clamping and installation process of the fixed pieces. The third locking machine is used to lock the fixed piece and the housing through bolts to uniformly fix the three pipe joints. After the third locking machine locks the fixed piece, the first housing flipping mechanism flips the housing from the vertical state to the horizontal state and releases the fixation of the housing. The third manipulator clamps the next housing onto the first housing flipping mechanism, repeating the clamping and installation process of the pipe joints.

[0013] Further, the filter element rubber rod and filter element cover installation station includes a fifth manipulator, a sixth manipulator, a filter element rubber rod feeding mechanism, a filter element cover feeding mechanism, a capping device and a second housing flipping mechanism. The fifth manipulator is provided with housing clamping claws and filter element rubber rod clamping claws. The sixth manipulator is only provided with housing clamping claws.

[0014] The filter element cover loading mechanism includes a frame, multiple material racks, a pushing cylinder, a belt conveyor, an intercepting cylinder, a clamping and positioning cylinder, a cover plate, and a limiting rod.

[0015] The capping device includes a capping motor, a pressing and resetting cylinder, a capping fixture, a cylinder support frame, a connecting plate, a precision reducer, a stabilizing plate, and a first buffer.

[0016] The fifth manipulator is used to first use the filter element rubber rod clamping claw to clamp the filter element rubber rod conveyed by the filter element rubber rod feeding mechanism, lift it, and rotate the clamping end to replace it with the housing clamping claw. The fifth manipulator is also used to use the housing clamping claw to clamp the housing with the pipe joint and the fixing piece installed at the pipe joint and fixing piece installation station, place it on the second housing flipping mechanism, lift it, and rotate the clamping end to replace it with the filter element rubber rod clamping claw. The second housing flipping mechanism is used to fix and lock the housing after detecting the housing and flip the housing from the horizontal state to the vertical state. The fifth manipulator is used to place the filter element rubber rod on the housing after detecting that the housing has been flipped to the vertical state. The pushing cylinder is used to push the filter element cover to the through hole and drop it onto the belt conveyor after the sensor detects the filter element cover. Sensors for detecting whether there is a filter element cover at the feeding end of the intercepting cylinder and for detecting whether the filter element cover has passed through the discharging end of the intercepting cylinder are respectively arranged at the feeding end and the discharging end of the intercepting cylinder. The intercepting cylinder is used to extend and intercept the subsequent filter element covers after both sensors detect the filter element cover, allowing only one filter element cover to pass through each time. A sensor for detecting whether the filter element cover has reached the clamping position is arranged at the clamping and positioning cylinder. The clamping and positioning cylinder is used to extend and clamp the filter element cover to the clamping position after the sensor detects the filter element cover. The electric slide rail is used to drive the capping device to move to the filter element cover clamping position after the clamping and positioning cylinder clamps the filter element cover. The pressing and resetting cylinder is used to extend downward after moving to the filter element cover clamping position and push the connecting plate to move a specified distance. The connecting plate is used to drive the capping fixture to move a specified distance and press it into the filter element cover. The pressing and resetting cylinder is used to contract upward after the capping fixture presses into the filter element cover, pull the connecting plate to reset, and drive the capping fixture to clamp the filter element cover. The electric slide rail is used to drive the capping device to move to the specified filter element cover installation position after the connecting plate resets. The pressing and resetting cylinder is used to extend downward after reaching the specified filter element cover installation position and drive the capping fixture to move downward to a specified position. The capping motor is used to drive the capping fixture to rotate and screw the filter element cover into the housing while the capping fixture moves downward. The pressing and resetting cylinder is used to contract upward after the filter element cover is screwed into the housing, drive the capping fixture to move out of the filter element cover and reset. The second housing flipping mechanism is used to flip the housing back to the horizontal state and release the fixation of the housing after detecting that the filter element cover has been screwed into the housing. The sixth manipulator is used to use the housing clamping claw to clamp the housing with the filter element rubber rod and the filter element cover installed and move it to the next station.

[0017] Further, a plurality of material racks for stacking and placing filter element caps are arranged side by side on the frame. Pushing cylinders are arranged on the plurality of material racks. A belt conveyor line is arranged on the frame and passes under the output ends of the plurality of material racks. A through hole for dropping the filter element caps onto the belt conveyor line is formed at the front end of the material rack. An intercepting cylinder and a clamping and positioning cylinder are sequentially installed at the tail end of the belt conveyor line. A cover plate is arranged on the material rack at the front side of the pushing end of the pushing cylinder. The cover plate is used to limit the number of filter element caps pushed by the pushing cylinder at one time. A cavity is formed between the cover plate and the material rack, and only one filter element cap can be accommodated in the cavity at a time. A leakage hole for leaking the filter element caps is formed at the top of the cover plate. A plurality of limiting rods for restricting the movement of the filter element caps are vertically arranged around the through hole. A plurality of filter element caps are stacked between the plurality of limiting rods.

[0018] Further, an electric slide rail is arranged at the bottom of the cap screwing device. A cylinder support frame is arranged on the electric slide rail. A pressing and resetting cylinder for pushing the connecting plate to rise or fall is arranged on the cylinder support frame. The connecting plate is slidably connected to a plurality of support columns of the cylinder support frame. A cap screwing motor for driving the cap screwing fixture to rotate is arranged on the connecting plate. The output end of the cap screwing motor is provided with a cap screwing fixture for clamping the filter element cap. A precision speed reducer for reducing the rotation speed of the cap screwing fixture is arranged at the output end of the cap screwing motor. A stabilizing plate is arranged at the bottom of the connecting plate. A first buffer is arranged at the bottom of the cylinder support frame. The stabilizing plate is used to reduce the descending speed of the cap screwing fixture after contacting the first buffer so that the cap screwing fixture can stably press into the filter element cap. The outer surface of the cap screwing fixture is circular and adapted to the inner surface of the outer circle of the cap. A plurality of elastic metal sheets are arranged on the outer surface of the cap screwing fixture. When the cap screwing fixture presses into the filter element cap, the elastic metal sheets contact the inner surface of the filter element cap to generate an elastic squeezing force to clamp the filter element cap. The inner surface of the cap screwing fixture is a ring gear adapted to the outer surface of the inner circle of the filter element cap. When the cap screwing fixture rotates to screw the filter element cap into the housing, the ring gear can prevent relative sliding between the cap screwing fixture and the filter element cap.

[0019] Further, the first manipulator, the second manipulator, the third manipulator, the fourth manipulator, the fifth manipulator and the sixth manipulator all achieve horizontal movement through electric slide rails. The first manipulator, the second manipulator, the third manipulator, the fourth manipulator and the fifth manipulator are all used to clamp the corresponding materials before clamping and placing the housing. Rotating cylinders are arranged on all the manipulators. The first manipulator, the second manipulator, the third manipulator, the fourth manipulator and the fifth manipulator all rotate through the rotating cylinders to replace two clamping claws. After placing the corresponding materials clamped by the first manipulator, the second manipulator, the third manipulator, the fourth manipulator and the fifth manipulator, they immediately clamp the materials again and wait for the next housing.

[0020] Further, the housing feeding mechanism is a belt conveyor feeding mechanism. An interception device composed of a photoelectric sensor and a cylinder is arranged on the belt conveyor of the housing feeding mechanism. Only one material can pass through to the clamping position each time, ensuring the orderly conveyance of materials. The pressure sensor feeding mechanism, PP pump feeding mechanism, SP pump feeding mechanism, pipe joint feeding mechanism, and filter element rubber rod feeding mechanism are all tray feeding mechanisms. The materials of the tray feeding mechanisms are all placed on the trays, and the materials are conveyed by the cyclic movement of the trays on the tray feeding mechanisms.

[0021] Further, the shape of the fixing piece limiting post is adapted to that of the fixing piece. A groove is provided at the corresponding position of the recess on the outer side of the fixing piece. And only when the fixing piece is placed correctly in the front-back direction, can it be placed between the fixing piece limiting plate and the fixing piece limiting post. The cavity between the lower surface of the storage plate and the upper surface of the chute at the feeding end can only accommodate one fixing piece. The upper surface of the pushing block is an inclined surface with the front higher than the rear, so that when the pushing block moves forward, it can smoothly push a fixing piece at the feeding end forward, and when moving backward, it can move under the fixing piece at the feeding end to the initial position without being blocked by the fixing piece at the feeding end.

[0022] After the present invention adopts the above technical solutions, compared with the prior art, it has the following advantages:

[0023] The present invention improves the production efficiency of the product, ensures the consistency and stability of the produced products, and saves manpower and material resources; by setting multiple workstations and corresponding feeding, grasping, fixing and other devices, the automation of the partial assembly process of the urea pump is realized, reducing the dependence on manual labor and solving the problem that it is difficult to achieve full automation production due to irregular parts and high requirements for the assembly sequence. The feeding device includes various part feeding mechanisms, and the part grasping device is provided with multiple manipulators, which can grasp and install corresponding parts according to the requirements of different workstations, adapt to the shape, size and texture differences of different parts of the urea pump, and meet the assembly requirements of the urea pump.

[0024] The present invention will be described in detail below with reference to the drawings and embodiments. Description of the Drawings

[0025] Figure 1 It is a front view schematic diagram of the overall assembly line structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the assembly line structure of the pressure sensor and PP pump installation workstations;

[0027] Figure 3 It is a schematic diagram of the assembly line structure of the SP pump installation workstations;

[0028] Figure 4 It is a schematic diagram of the assembly line structure of the pipe joint and fixing piece installation workstations;

[0029] Figure 5 Schematic structural diagram of the assembly line for the filter element rubber rod and the filter element cover installation station;

[0030] Figure 6 Top view schematic structural diagram of the overall assembly line of the present invention (the part gripping device is omitted);

[0031] Figure 7 Schematic three - dimensional structure diagram of the first manipulator (clamping part);

[0032] Figure 8 Schematic three - dimensional structure diagram of the second manipulator (clamping part);

[0033] Figure 9 Schematic three - dimensional structure diagram of the third manipulator (clamping part);

[0034] Figure 10 Schematic three - dimensional structure diagram of the fourth manipulator (clamping part);

[0035] Figure 11 Schematic three - dimensional structure diagram of the fifth manipulator (clamping part);

[0036] Figure 12 Schematic three - dimensional structure diagram of the sixth manipulator (clamping part);

[0037] Figure 13 Schematic three - dimensional structure diagram of the fixing piece feeding mechanism;

[0038] Figure 14 Schematic three - dimensional structure diagram of the filter element cover feeding mechanism;

[0039] Figure 15 Schematic three - dimensional structure diagram of the material rack;

[0040] Figure 16 Schematic three - dimensional structure diagram of the cap - screwing device.

[0041] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0042] 1. Gantry truss; 2. Pressure sensor and PP pump installation station; 201. First manipulator; 202. Second manipulator; 203. Housing feeding mechanism; 204. Pressure sensor feeding mechanism; 205. PP pump feeding mechanism; 206. First locking machine; 3. SP pump installation station; 301. Third manipulator; 302. SP pump feeding mechanism; 303. Second locking machine; 4. Pipe joint and fixing piece installation station; 401. Fourth manipulator; 402. Pipe joint feeding mechanism; 403. Fixing piece feeding mechanism; 4031. Lead screw slide rail; 4032. Stock plate; 4033. Pusher block; 4034. Support plate; 4035. Fixing piece limit plate; 4036. Fixing piece limit post; 404. Third locking machine; 405. First housing turning mechanism; 5. Filter element rubber rod and filter element cover installation station; 501. Fifth manipulator; 502. Sixth manipulator; 503. Filter element rubber rod feeding mechanism; 504. Filter element cover feeding mechanism; 5041. Frame; 5042. Material rack; 5043. Pushing cylinder; 5044. Belt conveyor; 5045. Intercepting cylinder; 5046. Clamping and positioning cylinder; 5047. Cover plate; 5048. Limiting rod; 505. Cap screwing device; 5051. Cap screwing motor; 5052. Pressing and resetting cylinder; 5053. Cap screwing fixture; 5054. Cylinder support frame; 5055. Connecting plate; 5056. Precision reducer; 5057. Stabilizing plate; 5058. First buffer; 506. Second housing turning mechanism. Detailed implementation manners

[0043] The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0044] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0045] Such as Figures 1-16As shown in the figure, a semi-automatic assembly line applicable to urea pump assembly includes a gantry truss 1 and a pressure sensor, a PP pump installation station 2, an SP pump installation station 3, a pipe joint and fixing piece installation station 4, and a filter element rubber rod and filter element cover installation station 5 sequentially arranged along the gantry truss 1. The pressure sensor and PP pump installation station 2 is used to complete the feeding, clamping and installation of the shell, pressure sensor and PP pump. The SP pump installation station 3 is used to complete the feeding, clamping and installation of the SP pump. The pipe joint and fixing piece installation station 4 is used to complete the feeding, clamping and installation of the pipe joint and fixing piece. The filter element rubber rod and filter element cover installation station 5 is used to complete the feeding, clamping and installation of the filter element rubber rod and filter element cover.

[0046] The pressure sensor and PP pump installation station 2 is used to clamp the shell and install the pressure sensor and PP pump on the shell. The SP pump installation station 3 is used to clamp the shell with the pressure sensor and PP pump installed on the pressure sensor and PP pump installation station 2 and install the SP pump on the shell. The pipe joint and fixing piece installation station 4 is used to clamp the shell with the SP pump installed on the SP pump installation station 3 and install the pipe joint and fixing piece on the shell. The filter element rubber rod and filter element cover installation station 5 is used to clamp the shell with the pipe joint and fixing piece installed on the pipe joint and fixing piece installation station 4 and install the filter element rubber rod and filter element cover on the shell. The filter element rubber rod and filter element cover installation station 5 is also used to clamp and move the shell with the filter element rubber rod and filter element cover installed to the next station.

[0047] As an implementation manner, the pressure sensor and PP pump installation station 2 includes a first manipulator 201, a second manipulator 202, a housing feeding mechanism 203, a pressure sensor feeding mechanism 204, a PP pump feeding mechanism 205, and a first locking machine 206. A pressure sensor clamping claw and a housing clamping claw are arranged on the first manipulator 201. The first manipulator 201 is used to first clamp the pressure sensor conveyed by the pressure sensor feeding mechanism 204 with the pressure sensor clamping claw and then lift and rotate to replace it with the housing clamping claw. The first manipulator 201 is used to clamp the housing with the housing clamping claw and place it on the first locking machine 206 after the housing feeding mechanism 203 detects that the conveyed housing reaches the clamping designated position. A PP pump clamping claw and a housing clamping claw are arranged on the second manipulator 202. The second manipulator 202 is used to clamp the PP pump conveyed by the PP pump feeding mechanism 205 with the PP pump clamping claw before the first manipulator 201 places the housing. The first locking machine 206 is used to fix the housing after detecting the housing. The first manipulator is used to first lift and rotate to replace it with the pressure sensor clamping claw after the housing is fixed and then place the pressure sensor on the housing with the pressure sensor clamping claw. The second manipulator 202 is used to place the PP pump on the housing with the pressure sensor placed thereon after the first locking machine 206 detects the installation of the pressure sensor. The first locking machine 206 is used to lock the pressure sensor and the PP pump to the housing with bolts after detecting that both the pressure sensor and the PP pump are placed on the housing.

[0048] As an implementation manner, the SP pump installation station 3 includes a third manipulator 301, an SP pump feeding mechanism 302, and a second locking machine 303. An SP pump clamping claw and a housing clamping claw are arranged on the third manipulator 301. The second manipulator 202 is also used to clamp the housing with the pressure sensor and the PP pump installed thereon at the pressure sensor and PP pump installation station 2 with the housing clamping claw and place it on the second locking machine 303. The third manipulator 301 is used to clamp the SP pump conveyed by the SP feeding mechanism with the SP pump clamping claw before the second manipulator 202 clamps and places the housing. The second locking machine 303 is used to fix the housing after detecting the housing. The third manipulator 301 is used to place the SP pump on the housing after the housing is fixed and then lift and rotate the clamping end to transform it into the housing clamping claw. The second locking machine 303 is also used to lock the SP pump to the housing with bolts after detecting the placement of the SP pump.

[0049] As an implementation manner, the pipe joint and fixing piece installation station 4 includes a fourth manipulator 401, a pipe joint feeding mechanism 402, a fixing piece feeding mechanism 403, a third locking machine 404, and a first housing turning mechanism 405.

[0050] On one side of the output end of the fixed piece feeding mechanism 403, there is a first housing flipping mechanism 405. On one side of the first housing flipping mechanism 405, there is a third locking machine 404. The fourth manipulator 401 is located above the first housing flipping mechanism 405. The fourth manipulator 401 realizes horizontal movement through a guide rail. The fourth manipulator includes a pipe joint clamping claw and a fixed piece clamping claw.

[0051] The fixed piece feeding mechanism 403 includes a screw rod slide rail 4031, a storage plate 4032, a push block 4033 and a support plate 4034. On both the left and right sides of the screw rod slide rail 4031, there are support plates 4034 parallel to the screw rod slide rail 4031. On the opposite sides of the upper surfaces of the two support plates 4034, there are horizontal chutes for supporting the two ends of the fixed piece. The two ends of the support plate 4034 are respectively the feeding end and the discharging end. Above the feeding end, there is a horizontally arranged storage plate 4032. In the middle of the storage plate 4032, there is a blanking through hole. On the front and back sides of the blanking through hole, there are respectively a fixed piece limiting plate 4035 and a fixed piece limiting column 4036. Between the fixed piece limiting plate 4035 and the fixed piece limiting column 4036, the fixed pieces are stacked and placed. The lowermost one of a stack of fixed pieces is located at the feeding end. Multiple fixed pieces are stacked on the chute inside the through hole. The screw rod slide rail 4031 is used to push the fixed piece at the feeding end forward along the chute to the discharging end through the push block 4033.

[0052] The third manipulator 301 is also used to clamp and pick up the housing with the SP pump installed at the SP pump installation station 3 using the housing clamping claws and place it on the first housing flipping mechanism 405 at the pipe joint and fixing plate installation station 4. The fourth manipulator is used to simultaneously pick up a set of three pipe joints on the pipe joint feeding mechanism 402 using the pipe joint clamping claws before the third manipulator places the housing, raise them, and rotate the clamping end to the fixing plate clamping claws. The fourth manipulator is also used to pick up the fixing plates conveyed by the fixing plate feeding mechanism 403 using the fixing plate clamping claws after picking up the pipe joints, raise them, and rotate the clamping end to the pipe joint clamping claws. The first housing flipping mechanism 405 is used to clamp and fix the housing; the first housing flipping mechanism 405 is also used to drive the housing to flip from a horizontal state to a vertical state after clamping and fixing the housing. The fourth manipulator 401 is used to install the three pipe joints at the corresponding positions on the housing simultaneously after detecting that the housing flipping is completed. The fourth manipulator 401 is also used to raise the clamping end and rotate it to the fixing plate clamping claws after installing the pipe joints and install the fixing plates on the outer side of the pipe joints on the housing. After the sensor at the discharging end of the fixing plate feeding mechanism 403 detects that the fixing plate is picked up, the first lead screw guide drives the push block 4033 to reset, and then pushes the next fixing plate to move to the discharging end, repeating the process of picking up and installing the fixing plates. The third locking machine 404 is used to lock the fixing plates to the housing with bolts to uniformly fix the three pipe joints. After the third locking machine 404 locks the fixing plates, the first housing flipping mechanism 405 flips the housing from a vertical state to a horizontal state and releases the fixation of the housing. The third manipulator 301 picks up the next housing and places it on the first housing flipping mechanism 405, repeating the process of picking up and installing the pipe joints.

[0053] As an implementation method, the filter element rubber rod and filter element cover installation station 5 includes a fifth manipulator 501, a sixth manipulator 502, a filter element rubber rod feeding mechanism 503, a filter element cover feeding mechanism 504, a cap screwing device 505, and a second housing flipping mechanism 506. The fifth manipulator is provided with housing clamping claws and filter element rubber rod clamping claws, and the sixth manipulator is only provided with housing clamping claws.

[0054] The filter element cover feeding mechanism 504 includes a frame 5041, a plurality of material racks 5042, a pushing cylinder 5043, a belt conveyor 5044, an intercepting cylinder 5045, a clamping and positioning cylinder 5046, a cover plate 5047, and a limiting rod 5048.

[0055] The cap screwing device 505 includes a cap screwing motor 5051, a pressing and resetting cylinder 5052, a cap screwing fixture 5053, a cylinder support frame 5054, a connecting plate 5055, a precision reducer 5056, a stabilizing plate 5057, and a first buffer 5058.

[0056] The fifth manipulator 501 is used to first pick up the filter element rubber rod conveyed by the filter element rubber rod feeding mechanism with the filter element rubber rod clamping claw and lift it, and then rotate the clamping end to replace it with the housing clamping claw. The fifth manipulator 501 is also used to pick up the housing installed with the pipe joint and the fixing piece at the pipe joint and fixing piece installation station 4 with the housing clamping claw, place it on the second housing flipping mechanism 506, lift it, and then rotate the clamping end to replace it with the filter element rubber rod clamping claw. The second housing flipping mechanism 506 is used to fix and lock the housing after detecting the housing and flip the housing from the horizontal state to the vertical state. The fifth manipulator 501 is used to place the filter element rubber rod on the housing after detecting that the housing is flipped to the vertical state. The pushing cylinder 5043 is used to push the filter element cover to the through hole and drop it onto the belt conveyor 5044 after the sensor detects the filter element cover. Sensors for detecting whether there is a filter element cover at the feeding end of the cylinder and for detecting whether the filter element cover passes through the discharging end of the cylinder are respectively arranged at the feeding end and the discharging end of the intercepting cylinder 5045. The intercepting cylinder 5045 is used to extend to intercept the subsequent filter element covers after both sensors detect the filter element cover, allowing only one filter element cover to pass through each time. A sensor for detecting whether the filter element cover reaches the clamping position is arranged at the clamping and positioning cylinder 5046. The clamping and positioning cylinder 5046 is used to extend to clamp and position the filter element cover to the clamping position after the sensor detects the filter element cover. The electric slide rail is used to drive the capping device 505 to move to the filter element cover picking position after the clamping and positioning cylinder 5046 clamps the filter element cover. The pressing and resetting cylinder 5052 is used to extend downward after moving to the filter element cover picking position to push the connecting plate 5055 to move a specified distance. The connecting plate is used to drive the capping fixture 5053 to move a specified distance and press it into the filter element cover. The pressing and resetting cylinder 5052 is used to contract upward after the capping fixture 5053 presses into the filter element cover to pull the connecting plate 5055 to reset and drive the capping fixture 5053 to pick up the filter element cover. The electric slide rail is used to drive the capping device 505 to move to the specified filter element cover installation position after the connecting plate 5055 resets. The pressing and resetting cylinder 5052 is used to extend downward after reaching the specified filter element cover installation position to drive the capping fixture 5053 to move downward to the specified position. The capping motor 5051 is used to drive the capping fixture 5053 to rotate to screw the filter element cover into the housing while the capping fixture 5053 moves downward. The pressing and resetting cylinder 5052 is used to contract upward after the filter element cover is screwed into the housing to drive the capping fixture 5053 to move out of the filter element cover and reset. The second housing flipping mechanism 506 is used to flip the housing back to the horizontal state and release the fixation of the housing after detecting that the filter element cover is screwed into the housing. The sixth manipulator 502 is used to pick up the housing installed with the filter element rubber rod and the filter element cover with the housing clamping claw and move it to the next station.

[0057] Specifically, the first housing flipping mechanism 405 and the second housing flipping mechanism 506 are both provided with a base, a mounting plate, a pressing cylinder, and a telescopic cylinder. The base is rotatably provided with a mounting plate for placing the housing. The mounting plate is provided with a pressing cylinder for fixing the housing. The base is provided with a telescopic cylinder for flipping the mounting plate. The first housing flipping mechanism 405 is further provided with a rotary cylinder and a fixing piece clamping rod. The bottom of the mounting plate is provided with a rotary cylinder for rotating the fixing piece clamping rod. The fixing piece clamping rod is used for rotating to clamp the fixing piece and the pipe joint.

[0058] As an implementation manner, a plurality of material racks 5042 for stacking and placing filter element covers are arranged side by side on the frame 5041. Pushing cylinders 5043 are arranged on the plurality of material racks 5042. A belt conveyor 5044 passing under the output ends of the plurality of material racks 5042 is arranged on the frame 5041. Through holes for dropping the filter element covers onto the belt conveyor 5044 are formed at the front ends of the material racks 5042. An intercepting cylinder 5045 and a clamping and positioning cylinder 5046 are sequentially installed at the tail end of the belt conveyor 5044. A cover plate 5047 located on the front side of the pushing end of the pushing cylinder 5043 is arranged on the material rack 5042. The cover plate 5047 is used for restricting the number of filter element covers pushed by the pushing cylinder 5043 at one time. A cavity is formed between the cover plate 5047 and the material rack 5042, and only one filter element cover can be accommodated in the cavity at a time. Leak holes for leaking the filter element covers are formed at the top of the cover plate 5047. A plurality of limiting rods 5048 for restricting the movement of the filter element covers are vertically arranged around the through holes. A plurality of filter element covers are stacked between the plurality of limiting rods 5048.

[0059] Specifically, a plurality of sensors for detecting the number of stacked filter element covers on the material rack 5042 are arranged on the belt conveyor 5044. When the number of filter element covers is less than the set number, the sensor controls the warning light to turn on.

[0060] As an implementation manner, an electric slide rail is provided at the bottom of the cap screwing device 505. A cylinder support frame 5054 is provided on the electric slide rail. A pressing and reset cylinder 5052 for pushing the connecting plate 5055 to rise or fall is provided on the cylinder support frame 5054. The connecting plate 5055 is slidably connected to multiple support columns of the cylinder support frame 5054. A cap screwing motor 5051 for driving the cap screwing fixture 5053 to rotate is provided on the connecting plate 5055. A cap screwing fixture 5053 for clamping the filter element cap is provided at the output end of the cap screwing motor 5051. A precision speed reducer 5056 for reducing the rotation speed of the cap screwing fixture 5053 is provided at the output end of the cap screwing motor 5051. A stabilizing plate 5057 is provided at the bottom of the connecting plate 5055. A first buffer 5058 is provided at the bottom of the cylinder support frame 5054. The stabilizing plate 5057 is used to reduce the descending speed of the cap screwing fixture 5053 after contacting the first buffer 5058 so that the cap screwing fixture 5053 can be stably pressed into the filter element cap. The outer surface of the cap screwing fixture 5053 is circular and adapted to the inner surface of the outer circle of the cap. A plurality of elastic metal sheets are provided on the outer surface of the cap screwing fixture 5053. When the cap screwing fixture 5053 is pressed into the filter element cap, the elastic metal sheets contact the inner surface of the filter element cap to generate an elastic squeezing force to clamp the filter element cap. The inner surface of the cap screwing fixture 5053 is a ring gear adapted to the outer surface of the inner circle of the filter element cap. When the cap screwing fixture 5053 rotates to screw the filter element cap into the housing, the ring gear can prevent relative sliding between the cap screwing fixture 5053 and the filter element cap.

[0061] As an implementation manner, the first manipulator 201, the second manipulator 202, the third manipulator 301, the fourth manipulator 401, the fifth manipulator 501 and the sixth manipulator 502 all achieve horizontal movement through electric slide rails. The first manipulator 201, the second manipulator 202, the third manipulator 301, the fourth manipulator 401 and the fifth manipulator 501 are all used to clamp the corresponding materials before clamping and placing the housing. Rotating cylinders are provided on all the manipulators. The first manipulator 201, the second manipulator 202, the third manipulator 301, the fourth manipulator 401 and the fifth manipulator 501 all rotate through the rotating cylinders to replace two clamping claws. After placing all the corresponding clamped materials, the first manipulator 201, the second manipulator 202, the third manipulator 301, the fourth manipulator 401 and the fifth manipulator 501 immediately re-clamp the materials and wait for the next housing.

[0062] As an implementation manner, the housing feeding mechanism 203 is a belt conveyor feeding mechanism. An intercepting device composed of a photoelectric sensor and a cylinder is arranged on the belt conveyor of the housing feeding mechanism 203, and only one material can pass through to the clamping position each time to ensure the orderly conveying of materials. The pressure sensor feeding mechanism 204, the PP pump feeding mechanism 205, the SP pump feeding mechanism 302, the pipe joint feeding mechanism 402, and the filter element rubber rod feeding mechanism 503 are all tray feeding mechanisms. The materials of the tray feeding mechanisms are all placed on the trays, and the materials are conveyed by the cyclic movement of the trays on the tray feeding mechanisms.

[0063] As an implementation manner, the fixing piece limiting post 4036 is adapted to the shape of the fixing piece. A groove is arranged at a corresponding position in the depression on the outer side of the fixing piece, and it can only be placed between the fixing piece limiting plate 4035 and the fixing piece limiting post 4036 when the fixing piece is placed correctly in the front-back direction. The cavity between the lower surface of the material storage plate 4032 and the upper surface of the chute at the feeding end can only accommodate one fixing piece. The upper surface of the push block 4033 is an inclined surface with the front end higher than the rear end, so that when the push block 4033 moves forward, it can smoothly push a fixing piece at the feeding end forward, and when moving backward, it can move under the fixing piece at the feeding end to the initial position without being blocked by the fixing piece at the feeding end.

[0064] The working process of the present invention:

[0065] First, place various materials on the corresponding feeding mechanisms, and all the feeding mechanisms start to convey the corresponding materials.

[0066] When this assembly line operates, the working process of the pressure sensor and the PP pump installation station 2:

[0067] The first manipulator 201 first uses the pressure sensor clamping jaws to pick up the pressure sensors conveyed by the pressure sensor feeding mechanism 204, raises them to a safe position, rotates the clamping end to replace it with the housing clamping jaws. At the same time, the second manipulator 202 uses the PP pump clamping jaws to pick up the PP pumps conveyed by the PP pump feeding mechanism 205. Then, the first manipulator 201 uses the housing clamping jaws to pick up the housings conveyed by the housing feeding mechanism 203, places the housings on the first locking machine 206, raises them to a safe position, rotates the clamping end to replace it with the pressure sensor clamping jaws. After detecting the housing, the first locking machine 206 fixes the housing. The first manipulator 201 places the pressure sensors on the fixed housings, resets and moves above the pressure sensor feeding mechanism 204 to pick up the next pressure sensor. Then, the second manipulator 202 moves above the first locking machine 206, places the PP pumps on the housings with pressure sensors placed on them, raises them to a safe position, rotates the clamping end to replace it with the housing clamping jaws. After the pressure sensors and PP pumps are both placed on the housings, the first locking machine 206 uses bolts to lock the pressure sensors and PP pumps to the housings. The second manipulator 202 uses the housing clamping jaws to pick up the housings with pressure sensors and PP pumps installed at the pressure sensor and PP pump installation station 2, places them on the second locking machine 303, resets and moves above the PP pump feeding mechanism to pick up the next PP pump.

[0068] Working process of the SP pump installation station 3:

[0069] Before the second manipulator 202 picks up the housing, the third manipulator 301 uses the SP pump clamping jaws to pick up the SP pumps conveyed by the SP pump feeding mechanism 302.

[0070] After detecting the housing, the second locking machine 303 fixes the housing. After the second manipulator 202 returns to the pressure sensor and PP pump installation station 2, the third manipulator 301 places the SP pumps on the fixed housings, raises them to a safe position, rotates the clamping end to replace it with the housing clamping jaws. The second locking machine 303 uses bolts to lock the SP pumps to the housings. The third manipulator 301 uses the housing clamping jaws to pick up the housings with SP pumps installed at the SP pump installation station 3, places them on the first housing flipping mechanism 405 at the pipe joint and fixing plate installation station 4, resets and moves above the SP pump feeding mechanism 302 to pick up the next SP pump.

[0071] Working process of the pipe joint and fixing plate installation station 4:

[0072] Before the third manipulator 301 clamps and places the housing, the fourth manipulator 401 first uses the pipe joint clamping claws to clamp a set of pipe joints conveyed by the pipe joint feeding mechanism 402 and raises them to a safe position, and then rotates the clamping end to replace it with the fixing plate clamping claws. When the sensors on the fourth manipulator 401 detect that the arrangement order of a set of three pipe joints on the pipe joint feeding mechanism 402 does not correspond to the order of the three tubular clamping claws, the fourth manipulator 401 skips this set of three pipe joints and clamps the next set of three pipe joints. Then, the fourth manipulator 401 uses the fixing plate clamping claws to clamp the fixing plates conveyed by the fixing plate feeding mechanism 403 and raises them to a safe position, and then rotates the clamping end to replace it with the pipe joint clamping claws.

[0073] After detecting the housing, the first housing turning mechanism 405 fixes and locks the housing and turns the housing from the horizontal state to the vertical state. After the fourth manipulator 401 detects that the housing has been turned to the vertical state and the third manipulator 301 returns to the SP pump installation station 3, the fourth manipulator 401 places the pipe joints on the housing, and then raises them to a safe position and rotates the clamping end to replace it with the fixing plate clamping claws.

[0074] When fixing plate feeding is required, the lead screw slide rail 4031 drives the push block 4033 to push the fixing plates to the grasping position. The push block 4033 can exactly push out one fixing plate during pushing. When the clamping sensor recognizes that the fourth manipulator 401 clamps the fixing plate, the lead screw slide rail 4031 retracts the push block 4033 to the initial position, and the remaining fixing plates are restricted by the stock plate 4032. After the push block 4033 pushes out one fixing plate, the next fixing plate falls onto the chute due to gravity. When the push block 4033 pushes the fixing plate to the specified position and returns and passes the fixing plate stock position again, the front-high and rear-low design of the push block 4033 prevents it from being stuck when it retracts and does not affect the position of the fixing plate. After reaching the initial position, the push block 4033 continues to wait for the next pushing signal from the front-end sensor of the support plate 4034. When the sensor detects that the number of fixing plates is insufficient, it triggers a signal to remind the worker to replenish the materials. The fourth manipulator 401 places the fixing plates on the housing and raises them to a safe position, rotates the clamping end to replace it with the pipe joint clamping claws, and moves above the pipe joint feeding mechanism 402 to clamp the next set of pipe joints. After the sensors on the first housing turning mechanism 405 recognize the fixing plates, the rotary cylinder rotates the fixing plate pressing rod to press the fixing plates.

[0075] After the three pipe joints and the fixing plates are in place, the third locking machine 404 sucks the bolts and then locks the fixing plates on the housing. After locking, the third locking machine 404 resets.

[0076] After the first housing turning mechanism 405 detects the reset of the third locking machine 404, the rotary cylinder drives the fixing plate pressing rod to reset, the telescopic cylinder extends the telescopic rod to push the mounting plate to turn and reset, and the pressing cylinder located on the mounting plate also resets to release the fixation of the housing at the same time.

[0077] Working process of the installation station 5 for the filter element rubber rod and the filter element cover:

[0078] The fifth manipulator 501 uses the filter element rubber rod clamping claws to pick up the filter element rubber rod conveyed by the filter element rubber rod feeding mechanism 503, raises it to a safe position, rotates the clamping end to replace it with the housing clamping claws, and then the fifth manipulator 501 uses the housing clamping claws to pick up the housing with the pipe joint and the fixing piece installed at the pipe joint and fixing piece installation station 4 and places it on the second housing flipping mechanism 506, raises it to a safe position, rotates the clamping end to replace it with the rubber rod clamping claws. After the second housing flipping mechanism 506 detects the housing, it fixes and locks the housing and flips the housing from the horizontal state to the vertical state. After the fifth manipulator 501 detects that the housing has been flipped to the vertical state, it places the filter element rubber rod on the housing and returns above the filter element rubber rod feeding mechanism 503 to pick up the filter element rubber rod. When it is necessary to convey the filter element cover, the pushing cylinder 5043 on the material rack 5042 near the tail end of the belt conveyor line 5044 gives priority to pushing. The sensor sends a signal to start pushing to the pushing cylinder 5043, and the pushing cylinder 5043 starts to push one filter element cover from the material rack 5042 to the belt conveyor line 5044 at a time. When the number of filter element covers is less than the specified number, the corresponding sensor lights up a red light to remind the staff to add filter element covers in time. After the filter element covers on the first material rack 5042 are pushed out, the sensor sends a signal to stop pushing to the pushing cylinder 5043, and the first material rack 5042 waits for the staff to add filter element covers. The sensor on the adjacent next material rack 5042 controls the pushing cylinder 5043 to start pushing the filter element covers until the filter element covers on the last material rack 5042 are pushed out, and a new round of pushing cycle starts.

[0079] The belt conveyor line 5044 sequentially conveys the filter element covers to the tail end. After the two sensors at the feeding end and the discharging end of the intercepting cylinder 5045 detect the filter element covers, the intercepting cylinder 5045 intercepts the filter element covers on the belt conveyor line 5044, and only allows one filter element cover to move to the clamping and positioning cylinder 5046 at a time. The clamping and positioning cylinder 5046 clamps and positions the filter element cover. After the filter element cover is positioned, it sends a clamping signal to the lead screw slide rail and the cap screwing device 505.

[0080] The electric slide rail drives the cap screwing device 505 to move to the clamping position at the front end of the lead screw slide rail. The pressing and resetting cylinder 5052 pushes the connecting plate 5055 to descend. After the stabilizing plate 5057 contacts the first buffer 5058, the descending speed of the cap screwing fixture 5053 is reduced. The pressing and resetting cylinder 5052 starts to drive the cap screwing fixture 5053 to press into the filter element cover. The elastic metal sheet on the cap screwing fixture 5053 clamps the filter element cover through elastic extrusion force. The pressing and resetting cylinder 5052 pushes the connecting plate 5055 to rise to clamp the filter element cover, and the intercepting cylinder 5045 releases one filter element cover to the clamping and positioning cylinder 5046.

[0081] After the installation of the filter element rubber rod is completed, the electric slide rail drives the cap screwing device 505 to move to the installation position at the rear end of the electric slide rail. The cap screwing fixture 5053 aligns with the installation position on the housing. The pressing and reset cylinder 5052 pushes the connecting plate 5055 to descend. The cap screwing motor drives the cap screwing fixture 5053 to screw the filter element cap into the housing and tighten it. The pressing and reset cylinder 5052 pushes the connecting plate 5055 to rise to pull out the cap screwing fixture 5053 from the filter element cap. After the second housing flipping mechanism 506 detects that the filter element cap is screwed into the housing, the telescopic cylinder pushes the flipping mounting plate to reset. The pressing cylinder releases the fixation of the housing. The sixth manipulator 502 uses the housing clamping claw to clamp and move the housing with the filter element rubber rod and the filter element cap installed to the next working station.

[0082] The above is an example of the best implementation mode of the present invention. The parts not described in detail are all common general knowledge of those of ordinary skill in the art. The protection scope of the present invention is subject to the content of the claims. Any equivalent transformation based on the technical inspiration of the present invention is also within the protection scope of the present invention.

Claims

1. A semi-automatic assembly line applicable to urea pump assembly, characterized in that, It includes a gantry truss (1) and, arranged in sequence along the gantry truss (1), a pressure sensor and a PP pump installation station (2), an SP pump installation station (3), a pipe joint and fixing piece installation station (4), and a filter element rubber rod and filter element cover installation station (5). The pressure sensor and PP pump installation station (2) is used to complete the feeding, clamping, and installation of the housing, pressure sensor, and PP pump. The SP pump installation station (3) is used to complete the feeding, clamping, and installation of the SP pump. The pipe joint and fixing piece installation station (4) is used to complete the feeding, clamping, and installation of the pipe joint and fixing piece. The filter element rubber rod and filter element cover installation station (5) is used to complete the feeding, clamping, and installation of the filter element rubber rod and filter element cover. The pressure sensor and PP pump installation station (2) is used to clamp the housing and install the pressure sensor and PP pump on the housing. The SP pump installation station (3) is used to clamp the housing with the pressure sensor and PP pump installed on the pressure sensor and PP pump installation station (2) and install the SP pump on the housing. The pipe joint and fixing piece installation station (4) is used to clamp the housing with the SP pump installed on the SP pump installation station (3) and install the pipe joint and fixing piece on the housing. The filter element rubber rod and filter element cover installation station (5) is used to clamp the housing with the pipe joint and fixing piece installed on the pipe joint and fixing piece installation station (4) and install the filter element rubber rod and filter element cover on the housing. The filter element rubber rod and filter element cover installation station (5) is also used to clamp and move the housing with the filter element rubber rod and filter element cover installed to the next station.

2. The semi-automatic assembly line applicable to urea pump assembly according to claim 1, wherein The pressure sensor and PP pump installation station (2) includes a first robot (201), a second robot (202), a housing loading mechanism (203), a pressure sensor loading mechanism (204), a PP pump loading mechanism (205) and a first locking machine (206). The first robot (201) is provided with a pressure sensor clamping jaw and a housing clamping jaw. The first robot (201) is used to first pick up the pressure sensor conveyed by the pressure sensor loading mechanism (204) with the pressure sensor clamping jaw and then lift and rotate to replace it with the housing clamping jaw. The first robot (201) is used to pick up the housing with the housing clamping jaw and place it on the first locking machine (206) after the housing loading mechanism (203) detects that the conveyed housing reaches the picking position. The second robot (202) is provided with a PP pump clamping jaw and a housing clamping jaw. The second robot (202) is used to pick up the PP pump conveyed by the PP pump loading mechanism (205) with the PP pump clamping jaw before the first robot (201) places the housing. The first locking machine (206) is used to fix the housing after detecting the housing. The first robot is used to first lift and rotate to replace it with the pressure sensor clamping jaw after the housing is fixed and then place the pressure sensor on the housing with the pressure sensor clamping jaw. The second robot (202) is used to place the PP pump on the housing with the pressure sensor placed thereon after the first locking machine (206) detects the installation of the pressure sensor. The first locking machine (206) is used to lock the pressure sensor and the PP pump to the housing with bolts after detecting that both the pressure sensor and the PP pump are placed on the housing.

3. The semi-automatic assembly line applicable to urea pump assembly according to claim 2, characterized in that, The SP pump installation station (3) includes a third robot (301), an SP pump loading mechanism (302) and a second locking machine (303). The third robot (301) is provided with an SP pump clamping jaw and a housing clamping jaw. The second robot (202) is also used to pick up the housing with the pressure sensor and the PP pump installed thereon at the pressure sensor and PP pump installation station (2) with the housing clamping jaw and place it on the second locking machine (303). The third robot (301) is used to pick up the SP pump conveyed by the SP loading mechanism with the SP pump clamping jaw before the second robot (202) picks up and places the housing. The second locking machine (303) is used to fix the housing after detecting the housing. The third robot (301) is used to place the SP pump on the housing after the housing is fixed and then lift and rotate the clamping end to transform it into the housing clamping jaw. The second locking machine (303) is also used to lock the SP pump to the housing with bolts after detecting the placement of the SP pump.

4. The semi-automatic assembly line applicable to urea pump assembly according to claim 3, characterized in that, The pipe joint and fixing piece installation station (4) includes a fourth robot (401), a pipe joint loading mechanism (402), a fixing piece loading mechanism (403), a third locking machine (404) and a first housing flipping mechanism (405). On one side of the output end of the fixed piece feeding mechanism (403), there is a first housing flipping mechanism (405). On one side of the first housing flipping mechanism (405), there is a third locking machine (404). The fourth manipulator (401) is located above the first housing flipping mechanism (405). The fourth manipulator (401) realizes horizontal movement through a guide rail. The fourth manipulator includes a pipe joint clamping claw and a fixed piece clamping claw. The fixed piece feeding mechanism (403) includes a lead screw slide rail (4031), a stock plate (4032), a push block (4033), and a support plate (4034). On both the left and right sides of the lead screw slide rail (4031), there are support plates (4034) parallel to the lead screw slide rail (4031). On the opposite sides of the upper surfaces of the two support plates (4034), there are horizontal chutes for supporting the two ends of the fixed piece. The two ends of the support plate (4034) are respectively the feeding end and the discharging end. Above the feeding end, there is a horizontally arranged stock plate (4032). In the middle of the stock plate (4032), there is a blanking through hole. On the front and rear sides of the blanking through hole, there are respectively a fixed piece limiting plate (4035) and a fixed piece limiting column (4036). Between the fixed piece limiting plate (4035) and the fixed piece limiting column (4036), fixed pieces are stacked and placed. The lowermost one of a stack of fixed pieces is located at the feeding end. Multiple fixed pieces are stacked on the chute inside the through hole. The lead screw slide rail (4031) is used to push the fixed piece at the feeding end forward along the chute to the discharging end through the push block (4033). The third manipulator (301) is further configured to use the housing clamping jaws to pick up and place the housing with the SP pump installed on the SP pump installation station (3) onto the first housing flipping mechanism (405) of the pipe joint and fixing piece installation station (4). The fourth manipulator is configured to, before the third manipulator places the housing, use the pipe joint clamping jaws to simultaneously pick up a set of three pipe joints on the pipe joint feeding mechanism (402) and lift them, and rotate the clamping end to replace it with the fixing piece clamping jaws. The fourth manipulator is further configured to, after picking up the pipe joints, use the fixing piece clamping jaws to pick up the fixing pieces conveyed by the fixing piece feeding mechanism (403) and lift them, and rotate the clamping end to replace it with the pipe joint clamping jaws. The first housing flipping mechanism (405) is configured to clamp and fix the housing; the first housing flipping mechanism (405) is further configured to drive the housing to flip from a horizontal state to a vertical state after clamping and fixing the housing. The fourth manipulator (401) is configured to install the three pipe joints at corresponding positions on the housing simultaneously after detecting that the housing flipping is completed. The fourth manipulator (401) is further configured to lift and rotate the clamping end to replace it with the fixing piece clamping jaws after installing the pipe joints and install the fixing pieces on the outer side of the pipe joints of the housing. After the sensor at the discharging end of the fixing piece feeding mechanism (403) detects that the fixing piece has been picked up, the first lead screw guide drives the push block (4033) to reset, and pushes the next fixing piece to move to the discharging end again, repeating the process of picking up and installing the fixing pieces. The third locking machine (404) is configured to lock the fixing piece and the housing with bolts to uniformly fix the three pipe joints. After the third locking machine (404) locks the fixing piece, the first housing flipping mechanism (405) flips the housing from a vertical state to a horizontal state and releases the fixation of the housing. The third manipulator (301) picks up the next housing and places it onto the first housing flipping mechanism (405), repeating the process of picking up and installing the pipe joints.

5. The semi-automatic assembly line applicable to urea pump assembly according to claim 4, characterized in that, The filter element rubber rod and filter element cover installation station (5) includes a fifth manipulator (501), a sixth manipulator (502), a filter element rubber rod feeding mechanism (503), a filter element cover feeding mechanism (504), a cap screwing device (505), and a second housing flipping mechanism (506). The fifth manipulator is provided with housing clamping jaws and filter element rubber rod clamping jaws, and the sixth manipulator is only provided with housing clamping jaws. The filter element cover feeding mechanism (504) includes a frame (5041), a plurality of material racks (5042), a pushing cylinder (5043), a belt conveyor (5044), an intercepting cylinder (5045), a clamping and positioning cylinder (5046), a cover plate (5047), and a limiting rod (5048). The cap screwing device (505) includes a cap screwing motor (5051), a pressing and resetting cylinder (5052), a cap screwing fixture (5053), a cylinder support frame (5054), a connecting plate (5055), a precision reducer (5056), a stabilizing plate (5057), and a first buffer (5058). The fifth manipulator (501) is used to first clamp and lift the filter element rubber rod conveyed by the filter element rubber rod feeding mechanism with the filter element rubber rod clamping claws, and rotate the clamping end to replace it with the housing clamping claws. The fifth manipulator (501) is also used to clamp and place the housing with the pipe joint and the fixing piece installed at the pipe joint and fixing piece installation station (4) with the housing clamping claws on the second housing flipping mechanism (506), and lift it to rotate the clamping end to replace it with the filter element rubber rod clamping claws. The second housing flipping mechanism (506) is used to fix and lock the housing after detecting the housing and flip the housing from the horizontal state to the vertical state. The fifth manipulator (501) is used to place the filter element rubber rod on the housing after detecting that the housing is flipped to the vertical state. The pushing cylinder (5043) is used to push the filter element cover to the through hole and drop it onto the belt conveyor (5044) after the sensor detects the filter element cover. Sensors for detecting whether there is a filter element cover at the feeding end of the cylinder and for detecting whether the filter element cover passes through the discharging end of the cylinder are respectively arranged at the feeding end and the discharging end of the intercepting cylinder (5045). The intercepting cylinder (5045) is used to extend to intercept the subsequent filter element covers after both sensors detect the filter element cover, allowing only one filter element cover to pass through each time. A sensor for detecting whether the filter element cover reaches the clamping position is arranged at the clamping and positioning cylinder (5046). The clamping and positioning cylinder (5046) is used to extend to clamp and position the filter element cover to the clamping position after the sensor detects the filter element cover. The electric slide rail is used to drive the capping device (505) to move to the filter element cover clamping position after the clamping and positioning cylinder (5046) clamps the filter element cover. The pressing and resetting cylinder (5052) is used to extend downward to push the connecting plate (5055) to move a specified distance after moving to the filter element cover clamping position. The connecting plate is used to drive the capping fixture (5053) to move a specified distance and press it into the filter element cover. The pressing and resetting cylinder (5052) is used to contract upward to pull the connecting plate (5055) back to drive the capping fixture (5053) to clamp the filter element cover after the capping fixture (5053) presses into the filter element cover. The electric slide rail is used to drive the capping device (505) to move to the specified filter element cover installation position after the connecting plate (5055) is reset. The pressing and resetting cylinder (5052) is used to extend downward to drive the capping fixture (5053) to move downward to the specified position after reaching the specified filter element cover installation position. The capping motor (5051) is used to drive the capping fixture (5053) to rotate while the capping fixture (5053) moves downward to screw the filter element cover into the housing. The pressing and resetting cylinder (5052) is used to contract upward to drive the capping fixture (5053) to move out of the filter element cover and reset after the filter element cover is screwed into the housing. The second housing flipping mechanism (506) is used to flip the housing back to the horizontal state and release the fixation of the housing after detecting that the filter element cover is screwed into the housing. The sixth manipulator (502) is used to clamp and move the housing with the filter element rubber rod and the filter element cover installed to the next station.

6. The semi-automatic assembly line applicable to urea pump assembly according to claim 5, characterized in that, A plurality of material racks (5042) for stacking filter element caps are arranged side by side on the frame (5041). Pushing cylinders (5043) are arranged on each of the plurality of material racks (5042). A belt conveyor line (5044) passing below the output ends of the plurality of material racks (5042) is arranged on the frame (5041). A through hole for dropping the filter element caps onto the belt conveyor line (5044) is formed at the front end of the material rack (5042). An intercepting cylinder (5045) and a clamping and positioning cylinder (5046) are sequentially installed at the tail end of the belt conveyor line (5044). A cover plate (5047) located on the front side of the pushing end of the pushing cylinder (5043) is arranged on the material rack (5042). The cover plate (5047) is used to limit the number of filter element caps pushed by the pushing cylinder (5043) at one time. A cavity is formed between the cover plate (5047) and the material rack (5042), and only one filter element cap can be accommodated in the cavity at a time. A leakage hole for leaking the filter element caps is formed at the top of the cover plate (5047). A plurality of limiting rods (5048) for restricting the movement of the filter element caps are vertically arranged around the through hole. A plurality of filter element caps are stacked between the plurality of limiting rods (5048).

7. The semi-automatic assembly line applicable to urea pump assembly according to claim 5, characterized in that, An electric slide rail is arranged at the bottom of the capping device (505). A cylinder support frame (5054) is arranged on the electric slide rail. A pressing and resetting cylinder (5052) for pushing the connecting plate (5055) to rise or fall is arranged on the cylinder support frame (5054). The connecting plate (5055) is slidably connected to a plurality of support columns of the cylinder support frame (5054). A capping motor (5051) for driving the capping fixture (5053) to rotate is arranged on the connecting plate (5055). A capping fixture (5053) for clamping the filter element cap is arranged at the output end of the capping motor (5051). A precision reduction gear (5056) for reducing the rotation speed of the capping fixture (5053) is arranged at the output end of the capping motor (5051). A stabilizing plate (5057) is arranged at the bottom of the connecting plate (5055). A first buffer (5058) is arranged at the bottom of the cylinder support frame (5054). The stabilizing plate (5057) is used to reduce the descending speed of the capping fixture (5053) after contacting the first buffer (5058) so that the capping fixture (5053) can stably press into the filter element cap. The outer surface of the capping fixture (5053) is circular and adapted to the inner surface of the capping outer ring. A plurality of elastic metal sheets are arranged on the outer surface of the capping fixture (5053). When the capping fixture (5053) presses into the filter element cap, the elastic metal sheets contact the inner surface of the filter element cap to generate an elastic squeezing force to clamp the filter element cap. The inner surface of the capping fixture (5053) is a ring gear adapted to the outer surface of the inner ring of the filter element cap. When the capping fixture (5053) rotates to screw the filter element cap into the housing, the ring gear can prevent relative sliding between the capping fixture (5053) and the filter element cap.

8. The semi-automatic assembly line applicable to urea pump assembly according to claim 5, characterized in that, The first manipulator (201), the second manipulator (202), the third manipulator (301), the fourth manipulator (401), the fifth manipulator (501) and the sixth manipulator (502) all achieve horizontal movement through electric slide rails. The first manipulator (201), the second manipulator (202), the third manipulator (301), the fourth manipulator (401) and the fifth manipulator (501) are all used to clamp the corresponding materials before clamping and placing the housing. Rotating cylinders are provided on all the manipulators. The first manipulator (201), the second manipulator (202), the third manipulator (301), the fourth manipulator (401) and the fifth manipulator (501) all rotate through the rotating cylinders to replace two clamping claws. After placing all the corresponding clamped materials, the first manipulator (201), the second manipulator (202), the third manipulator (301), the fourth manipulator (401) and the fifth manipulator (501) immediately re-clamp the materials and wait for the next housing.

9. The semi-automatic assembly line applicable to urea pump assembly according to claim 5, characterized in that, The housing loading mechanism (203) is a belt conveyor loading mechanism. An intercepting device composed of a photoelectric sensor and a cylinder is provided on the belt conveyor of the housing loading mechanism (203). Only one material can pass through to the clamping position each time to ensure the orderly conveying of the materials. The pressure sensor loading mechanism (204), the PP pump loading mechanism (205), the SP pump loading mechanism (302), the pipe joint loading mechanism (402) and the filter element rubber rod loading mechanism (503) are all tray loading mechanisms. The materials of the tray loading mechanisms are all placed on the trays, and the trays circulate on the tray loading mechanisms to convey the materials.

10. The semi-automatic assembly line applicable to urea pump assembly according to claim 4, characterized in that, The fixing piece limiting column (4036) is adapted to the shape of the fixing piece. A groove is provided at the corresponding position of the concave part on the outside of the fixing piece. And only when the fixing piece is placed correctly in the front and back directions, can it be placed between the fixing piece limiting plate (4035) and the fixing piece limiting column (4036). The cavity between the lower surface of the stock plate (4032) and the upper surface of the chute at the feeding end can only accommodate one fixing piece. The upper surface of the push block (4033) is an inclined surface with the front higher than the rear, so that when the push block (4033) moves forward, it can smoothly push a fixing piece at the feeding end forward. When moving backward, it can move under the fixing piece at the feeding end to the initial position without being blocked by the fixing piece at the feeding end.

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