Valve assembling mechanism

Abstract

The invention relates to automatic valve assembling, and discloses a valve assembling mechanism. The mechanism is installed at the tail end executing end of the multi-axis mechanical arm and comprises a vacuum rotating sleeve, a servo rotating driving mechanism, a vacuum pump, a distance sensor and a PLC. A vacuum cavity is formed in the vacuum rotary sleeve, an inner hexagonal clamping groove matched with an outer hexagon of the valve is formed in the bottom of the vacuum rotary sleeve, and vacuum adsorption and fixation of the valve are achieved through air exhaust of a vacuum pump. The servo rotation driving mechanism drives the sleeve to rotate, and reverse alignment and forward screwing are completed under the instruction of the PLC. The distance sensor is used for detecting the change of the assembly position, and automatic alignment of the valve and assembly body threads is achieved. The mechanism is compact in structure and high in assembly precision, valve deviation and thread damage are avoided, the assembly efficiency and stability are remarkably improved, and the mechanism is suitable for automatic batch production scenes.

Description

Technical Field

[0001] This invention relates to valve assembly, and more specifically to a valve assembly mechanism. Background Technology

[0002] Figure 1 A valve 1, which is a prior art, has an external hexagon 11 in the middle of the valve, and a closed sleeve 12 and an external thread 13 on the upper and lower sides of the external hexagon 11 respectively.

[0003] In some automation applications, valve 1 needs to be screwed into an assembly. Ensuring proper alignment of the threads between valve 1 and the assembly, allowing for accurate and rapid screwing, presents a significant challenge. Summary of the Invention

[0004] This invention provides a valve assembly mechanism. The valve has an external hexagonal valve and closed sleeves and external threads located on the upper and lower sides of the external hexagonal valve. The valve assembly mechanism is used to tighten and install the valve at the threaded hole of the assembly body. The valve assembly mechanism is installed at the execution end of the end of a multi-axis robotic arm. The valve assembly mechanism includes a vacuum rotary sleeve, a servo rotary drive mechanism, a vacuum pump, a distance sensor, and a PLC controller.

[0005] The vacuum rotary sleeve is used to load the valve. A vacuum chamber is provided inside the vacuum rotary sleeve. The bottom of the vacuum chamber has an opening and is equipped with an internal hexagonal groove that matches the external hexagonal corner of the valve.

[0006] The servo rotary drive mechanism is connected to the vacuum rotary sleeve and is used to drive the vacuum rotary sleeve to rotate.

[0007] The servo rotary drive mechanism is connected to the vacuum chamber via a vacuum pipeline to extract air from the vacuum chamber.

[0008] The distance sensor is mounted on the multi-axis robotic arm and is used to sense the distance between the actuator of the multi-axis robotic arm and the assembly.

[0009] The servo rotary drive mechanism, vacuum pump, and distance sensor are all connected to the PLC controller. The PLC controller controls the forward and reverse rotation of the servo rotary drive mechanism based on the distance between the actuator end of the multi-axis robotic arm and the assembly, so as to align and tighten the threads of the valve and the assembly.

[0010] Furthermore, the multi-axis robotic arm is equipped with an adapter frame at its execution end. The servo rotary drive mechanism, vacuum pump, and distance sensor are all mounted on the adapter frame, and a vacuum rotary sleeve is rotatably mounted at the bottom of the adapter frame.

[0011] Furthermore, the top inner side of the vacuum rotating sleeve is provided with a hole for connecting to the vacuum pipeline, and a bearing is connected between the vacuum rotating sleeve and the vacuum pipeline.

[0012] Furthermore, the distance sensor is either a laser displacement sensor or a TOF sensor.

[0013] Furthermore, a sealing gasket is provided between the internal hexagonal slot and the external hexagonal of the valve.

[0014] The technical advantages of this invention are as follows:

[0015] 1. Achieve automatic alignment and tightening of valve and assembly threads: Through the coordinated operation of servo rotary drive mechanism and distance sensor, PLC controller can automatically identify the timing of thread alignment and complete the switch from reverse to forward rotation, effectively solving the problem of difficult alignment and low efficiency of valve threads under manual or traditional mechanical methods.

[0016] 2. Vacuum adsorption fixation ensures stable valve clamping: The vacuum rotating sleeve and vacuum chamber structure are adopted. The vacuum pump draws air to form an adsorption force, which, together with the internal hexagonal groove and the external hexagonal of the valve, achieves reliable fixation of the valve, avoids loosening and displacement of the valve during the assembly process, and improves the stability and reliability of the assembly.

[0017] 3. Rotation and vacuuming do not interfere with each other: By installing a bearing between the vacuum rotating sleeve and the vacuum pipeline, the vacuum pumping and rotation actions can be carried out independently, ensuring the stability of the adsorption and rotation functions, extending the life of the device and reducing the failure rate.

[0018] 4. High assembly precision and reduced risk of damage: Distance sensors (such as laser displacement or TOF sensors) monitor the position changes of the assembly and valve in real time, and can switch the drive mode at the best time, effectively avoiding thread damage caused by misalignment or excessive force, thus improving assembly precision.

[0019] 5. Modular design for easy installation and expansion: The servo drive mechanism, vacuum pump, and sensors are all mounted on the adapter frame, resulting in a compact overall structure that facilitates installation at the end effector of a multi-axis robotic arm. The modular structure also facilitates maintenance and upgrades, making it suitable for flexible production line applications.

[0020] 6. Strong applicability and versatility: The internal hexagonal groove matches the external hexagonal of the valve, and the optional sealing gasket design ensures compatibility with valves of different specifications. Furthermore, this mechanism can be used with various types of robotic arms, making it widely applicable.

[0021] 7. Improve production efficiency and automation level: This assembly mechanism realizes automatic valve picking, alignment and tightening, greatly reducing manual intervention, improving production efficiency and consistency, and is particularly suitable for batch and automated production scenarios.

[0022] In summary, the valve assembly mechanism of the present invention not only improves the accuracy and efficiency of valve assembly, but also takes into account structural reliability, versatility and automation level, and can significantly solve the problems of low valve assembly efficiency, difficult alignment and poor stability in the prior art. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional view of a valve based on existing technology;

[0025] Figure 2 A schematic diagram of the valve assembly mechanism of the present invention installed on a robotic arm;

[0026] Figure 3 This is a schematic diagram of the valve assembly mechanism of the present invention;

[0027] Figure 4 This is a schematic diagram of the valve and vacuum rotary sleeve before assembly.

[0028] Figure 5 This is a schematic diagram of a valve being installed inside a vacuum rotating sleeve. Detailed Implementation

[0029] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0030] To fully understand this invention, detailed steps and structures will be presented in the following description to illustrate the technical solution of this invention. Preferred embodiments of the invention are described in detail below; however, in addition to these detailed descriptions, the invention may have other embodiments.

[0031] Reference Figure 1-5 As shown, the present invention provides a valve assembly mechanism 100. The valve 1 has an external hexagonal 11 and closed sleeves 12 and external threads 13 located on the upper and lower sides of the external hexagonal 11. The valve assembly mechanism 100 is used to tighten the valve 1 onto the threaded hole (not shown in the figure) of the assembly body. Figure 2-3As shown, the valve assembly mechanism 100 is installed at the execution end of the multi-axis robotic arm 200. The valve assembly mechanism 100 includes a vacuum rotary sleeve 110, a servo rotary drive mechanism 120, a vacuum pump 130, a distance sensor 140, and a PLC controller.

[0032] A vacuum rotary sleeve 110 is used to load valve 1. A vacuum chamber 112 is provided inside the vacuum rotary sleeve 110. The bottom of the vacuum chamber 112 has an opening and is fitted with an internal hexagonal groove 114 that mates with the external hexagonal 11 of the valve. A servo rotary drive mechanism 120 is connected to the vacuum rotary sleeve 110 and is used to drive the vacuum rotary sleeve 110 to rotate. The servo rotary drive mechanism 120 is connected to the vacuum chamber 112 via a vacuum line 131 to extract air from the vacuum chamber 112. A distance sensor 140 is mounted on the multi-axis robotic arm 200 and is used to sense the distance between the actuator of the multi-axis robotic arm 200 and the assembly.

[0033] The servo rotary drive mechanism 120, vacuum pump 130, and distance sensor 140 are all connected to the PLC controller. The PLC controller controls the forward and reverse rotation of the servo rotary drive mechanism 120 based on the distance between the actuator of the multi-axis robotic arm 200 and the assembly, as sensed by the distance sensor 140, to align and tighten the threads of the valve 1 with the assembly. The control logic of the PLC controller is prior art known in the art and can be implemented by those skilled in the art using conventional programming methods; therefore, it will not be described in detail here.

[0034] In an optional embodiment, the execution end of the multi-axis robotic arm 200 is equipped with an adapter frame 210, and the servo rotary drive mechanism 120, vacuum pump 130, and distance sensor 140 are all mounted on the adapter frame 210. A vacuum rotary sleeve 110 is rotatably mounted at the bottom of the adapter frame 210.

[0035] In an optional embodiment, a sealing gasket 113 is provided between the internal hexagonal slot and the external hexagonal corner 11 of the valve (e.g., Figure 4 (As shown), to ensure a good seal during vacuuming, while avoiding excessive negative pressure that could damage valve 1.

[0036] In an optional embodiment, a connecting sleeve 111 is fixedly connected to the top of the vacuum rotating sleeve 110. A vacuum line 131 passes through the connecting sleeve 111 and connects to a small hole at the top inner side of the vacuum rotating sleeve 110 to extract air from the vacuum chamber 112 and create a vacuum. A bearing is provided between the outer wall of the vacuum line 131 and the connecting sleeve 111, ensuring that the evacuation of the vacuum line 131 and the rotation of the vacuum rotating sleeve 110 do not interfere with each other, while simultaneously guaranteeing the airtightness of the vacuum chamber 112.

[0037] In an optional embodiment, the distance sensor 140 is a sensor with high detection accuracy, such as a laser displacement sensor or a TOF sensor.

[0038] The working principle of this invention is as follows:

[0039] 1) Insert valve 1 upward into vacuum rotating sleeve 110, so that the outer hexagon 11 of the valve is engaged in the inner hexagonal slot 114 of vacuum chamber 112, thus achieving initial positioning.

[0040] 2) Vacuum pump 130 starts to draw a vacuum, extracting the air from the vacuum chamber 112 to vacuum-adsorb valve 1 into the vacuum rotating sleeve 110, ensuring clamping stability.

[0041] 3) The multi-axis robotic arm 200 drives the valve assembly mechanism 100 to move to the top of the threaded hole of the assembly body and makes the valve 1 coaxially overlap the top of the threaded hole of the assembly body, thus completing the pre-positioning before assembly.

[0042] 4) The servo rotary drive mechanism 120 first drives the vacuum rotary sleeve 110 to reverse (the rotation direction of the vacuum rotary sleeve 110 is opposite to that of the tightening). At the same time, the multi-axis robotic arm 200 provides a slight downward pressure to the valve assembly mechanism 100. During this process, the distance sensor 140 senses the distance between itself and the assembly in real time. When the vacuum rotary sleeve 110 reverses to a certain angle so that the threads of the vacuum rotary sleeve 110 are aligned with those of the assembly, the vacuum rotary sleeve 110 descends slightly under the downward pressure applied by the multi-axis robotic arm 200, thus being detected by the distance sensor 140.

[0043] 5) When the distance sensor 140 senses a certain range of distance change, it sends a signal to the PLC controller. The PLC controller stops the reverse rotation of the servo rotary drive mechanism 120 and then switches to forward rotation. In conjunction with the downward pressure applied by the multi-axis robotic arm 200, the valve 1 is tightened onto the assembly.

[0044] Through the above process, the present invention can complete the adsorption, alignment and tightening of valves under fully automatic working conditions, ensuring high precision and high stability in the assembly process, while effectively avoiding thread damage caused by valve misalignment or uneven force.

[0045] The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and the devices and structures not described in detail should be understood as being implemented in a conventional manner in the art. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the present invention. This does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the present invention's technical solutions still fall within the protection scope of the present invention.

Claims

1. A valve assembly mechanism, wherein the valve has an external hexagonal fin and closed sleeves and external threads located on the upper and lower sides of the external hexagonal fin, the valve assembly mechanism being used to tighten the valve into the threaded hole of an assembly body, the valve assembly mechanism being installed at the actuator end of a multi-axis robotic arm, characterized in that, The valve assembly mechanism includes a vacuum rotary sleeve, a servo rotary drive mechanism, a vacuum pump, a distance sensor, and a PLC controller. The vacuum rotary sleeve is used to load the valve. A vacuum chamber is provided inside the vacuum rotary sleeve. The bottom of the vacuum chamber has an opening and is equipped with an internal hexagonal groove that matches the external hexagonal corner of the valve. The servo rotary drive mechanism is connected to the vacuum rotary sleeve and is used to drive the vacuum rotary sleeve to rotate. The servo rotary drive mechanism is connected to the vacuum chamber via a vacuum pipeline to extract air from the vacuum chamber. The distance sensor is mounted on the multi-axis robotic arm and is used to sense the distance between the actuator of the multi-axis robotic arm and the assembly. The servo rotary drive mechanism, vacuum pump, and distance sensor are all connected to the PLC controller. The PLC controller controls the forward and reverse rotation of the servo rotary drive mechanism based on the distance between the actuator end of the multi-axis robotic arm and the assembly, so as to align and tighten the threads of the valve and the assembly.

2. The valve assembly mechanism as described in claim 1, characterized in that, The multi-axis robotic arm is equipped with an adapter frame at its execution end. The servo rotary drive mechanism, vacuum pump, and distance sensor are all mounted on the adapter frame, and a vacuum rotary sleeve is rotatably mounted at the bottom of the adapter frame.

3. The valve assembly mechanism as described in claim 1, characterized in that, The top inner side of the vacuum rotating sleeve is provided with a hole for connecting to the vacuum pipeline, and a bearing is connected between the vacuum rotating sleeve and the vacuum pipeline.

4. The valve assembly mechanism as described in claim 1, characterized in that, The distance sensor is either a laser displacement sensor or a TOF sensor.

5. A valve assembly mechanism as described in claim 1, characterized in that, A sealing gasket is provided between the internal hexagonal slot and the external hexagonal corner of the valve.

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