A pump component assembly apparatus and method

Abstract

The application relates to the technical field of emulsion pump assembly, in particular to a pump part assembling device and method. The pump part assembling device comprises a vehicle body assembly, a first action assembly, a sleeve assembly, a second action assembly and a part placing assembly arranged on the vehicle body assembly. The sleeve assembly is arranged at the end of the first action assembly and is driven by the first action assembly to move and rotate. A sleeve sliding assembly is arranged in the sleeve assembly and slides along the axial direction of the sleeve assembly. The second action assembly drives a clamping manipulator to move and rotate. The part placing assembly comprises a to-be-assembled part placing box, an assembled part placing box and a sliding block pose adjusting mechanism. The sliding block pose adjusting mechanism is used to support the sliding block. The application realizes automatic feeding, positioning, assembling and discharging of parts, replaces the previous manual operation mode and improves the efficiency and quality of assembly.

Description

Technical Field

[0001] This invention relates to the field of emulsion pump assembly technology, and in particular to a pump parts assembly equipment and assembly method. Background Technology

[0002] Hydraulic supports, as one of the most important pieces of equipment in underground mining, have been widely used in recent years. Emulsion pumps, as the power source for hydraulic supports, are therefore particularly important. In the manufacturing process, assembling the components of an emulsion pump is a complex and tedious task, typically requiring a significant amount of manual labor and a lengthy assembly time. Emulsion pumps are usually three- or five-plunger pumps, meaning they are driven by three to five sets of crank-connecting rods. This crank-connecting rod mechanism consists of a crankshaft, connecting rods, connecting rod pins, and a slider. During assembly, the connecting rods, connecting rod pins, and sliders must first be assembled and fixed together, and then assembled with the crankshaft. Assembling these three components is the most complex, tedious, and crucial step in the entire assembly process. Currently, the assembly process is all done manually. First, iron filings, burrs, etc., must be removed from the surface of the workpiece. Then, the slider and connecting rod must be aligned, and finally, lubricating oil is applied to the connecting rod pins before they are inserted into the mating holes. Because the required precision of these fits is high, the assembly of these three components often requires careful operation by highly experienced technicians, which is time-consuming, labor-intensive, and inefficient. Subsequently, retaining pins coated with thread-locking adhesive are inserted at specific positions on the slider to secure the connecting rod pin. The entire assembly process of the emulsion pump crank-connecting rod mechanism is cumbersome and complex, resulting in very low production efficiency. Summary of the Invention

[0003] This invention aims to solve the above problems and provides a pump parts assembly device and assembly method, the technical solution of which is as follows: A pump parts assembly device includes a vehicle body assembly, and a first actuation assembly, a sleeve assembly, a second actuation assembly, and a parts placement assembly disposed on the vehicle body assembly. The sleeve assembly is located at the end of the first actuation assembly and is moved and rotated by the first actuation assembly. A sleeve sliding component is disposed inside the sleeve assembly and slides along the axial direction of the sleeve assembly. The second actuation assembly drives a gripping robot to move and rotate. The parts placement assembly includes a part placement box to be assembled, an assembled part placement box, and a slider position adjustment mechanism, which is used to support the slider.

[0004] Based on the above scheme, the sleeve assembly further includes an outer sleeve and an inner sleeve coaxially fixedly connected. The sleeve sliding assembly is slidably disposed in the inner sleeve cavity formed by the inner sleeve. A barometer is disposed in the inner sleeve cavity. The outer sleeve and the inner sleeve form a first outer sleeve chamber and a second outer sleeve chamber that are closed to each other and distributed axially. The second outer sleeve chamber is disposed on the opening side of the inner sleeve cavity. A liquid nitrogen vent hole communicating with the second outer sleeve chamber is disposed on the side wall of the inner sleeve, and the second outer sleeve chamber is connected to a liquid nitrogen supply pipeline for introducing liquid nitrogen. The sleeve sliding assembly includes a sliding sleeve and a sleeve partition plate fixedly connected and distributed axially. The device includes a sliding sleeve and a sleeve partition plate forming a sliding sleeve cavity. A sleeve air guide hole is provided on the sliding sleeve, and the sliding sleeve cavity communicates with the inner sleeve cavity through the sleeve air guide hole. A sleeve partition plate and a sleeve suction cup form a suction cup cavity, and a suction cup vent hole is provided on the sleeve suction cup, and the suction cup cavity communicates with the opening side of the inner sleeve cavity through the suction cup vent hole. A first branch air pipe and a second branch air pipe for air circulation are respectively provided in the sliding sleeve cavity and the suction cup cavity. The sleeve suction cup extends radially outward to form a suction cup extension surface, the outer diameter of which is consistent with the inner diameter of the inner sleeve. An infrared sensor and an electromagnet are provided on the suction cup extension surface.

[0005] Based on the above scheme, the inner wall of the inner sleeve protrudes radially inward to form a sleeve limiting surface, and the side of the suction cup extension surface away from the opening side of the inner sleeve cavity is fixedly connected to a sliding limiting plate along the axial direction. The outer diameter of the sliding limiting plate is larger than the inner diameter of the sleeve limiting surface.

[0006] Preferably, the first actuation assembly includes a first rotating chassis, a first motor, a first telescopic arm, a second motor, a second telescopic arm, a third motor, and a sleeve mounting base connected in sequence. The first rotating chassis is mounted on the vehicle body assembly and rotates in a horizontal plane. The first motor is mounted on the first rotating chassis and drives the first connecting frame to rotate. The first telescopic arm is fixedly mounted on the first connecting frame, and the moving end of the first telescopic arm is fixedly connected to the second connecting frame. The second motor is fixedly mounted on the second connecting frame, and the moving end of the second motor is connected to the fixed end of the second telescopic arm. The third motor is mounted on the moving end of the second telescopic arm, and the sleeve mounting base is fixedly connected to the movable end of the third motor. A first image recognition device and a sleeve assembly are fixedly connected to the sleeve mounting base. A sleeve motor is installed between the sleeve mounting base and the sleeve assembly. The movable end of the sleeve motor... The moving end is connected to the sleeve assembly and drives the sleeve assembly to rotate along the axis; the second actuation assembly includes a second rotating chassis, a fourth motor, a fourth telescopic arm, a fifth motor, a fifth telescopic arm, a sixth motor, a robot arm mounting base, and a gripping robot arm connected in sequence. The second rotating chassis is mounted on the vehicle body assembly and rotates in the horizontal plane. The fourth motor is mounted on the second rotating chassis and drives the fourth connecting frame to rotate. The fourth telescopic arm is fixedly mounted on the fourth connecting frame, and the moving end of the fourth telescopic arm is fixedly connected to the fifth connecting frame. The fifth motor is fixedly mounted on the fifth connecting frame, and the moving end of the fifth motor is connected to the fixed end of the fifth telescopic arm. The sixth motor is mounted on the moving end of the fifth telescopic arm. The gripping robot arm is mounted on the moving end of the sixth motor through the robot arm mounting base. A second image recognition device is also fixedly connected to the robot arm mounting base.

[0007] Preferably, the slider position adjustment mechanism includes a telescopic cylinder, a fixed chassis, a rotary motor, and a rotating tray. Multiple telescopic cylinders are vertically mounted on the vehicle body assembly. The fixed chassis is connected to the movable end of the telescopic cylinder. The rotary motor is mounted above the fixed chassis and drives the rotating tray to rotate horizontally. A pressure sensor is installed between the fixed chassis and the rotary motor. A linkage support mechanism is provided along the edge of the fixed chassis. Four linkage support mechanisms are evenly distributed around the fixed chassis. Each linkage support mechanism includes a first link, a second link, and a stop block connected sequentially. The lower end of the first link is hinged to the fixed chassis, and a linkage motor for driving the first link to rotate is installed at the hinge. The upper end of the first link is hinged to the lower end of the second link. The upper end of the second link is fixedly connected to the stop block. The inner surface of the stop block abuts against the side wall of the slider placed on the rotating tray. A linkage push rod is installed on the first link away from the sleeve assembly.

[0008] Preferably, the vehicle body assembly is further provided with a lubrication and adhesive application assembly, which includes a lubricating oil tank, a lubricating oil supply pipe, a threaded adhesive tank, a threaded adhesive supply pipe, a longitudinal telescopic pipe, a transverse telescopic pipe, and a nozzle. One end of the lubricating oil supply pipe is connected to the lubricating oil tank, and the other end is connected to the nozzle after passing through the longitudinal telescopic pipe and the transverse telescopic pipe. One end of the threaded adhesive supply pipe is connected to the threaded adhesive tank, and the other end is connected to the nozzle after passing through the longitudinal telescopic pipe and the transverse telescopic pipe.

[0009] Based on the above scheme, a converter is provided between the transverse telescopic tube and the nozzle. The nozzle includes a first nozzle outlet and a second nozzle outlet. The converter includes a first connecting part, a rotating connecting part, and a third connecting part connected sequentially along the axial direction. The rotating connecting part rotates relative to the first and third connecting parts about an axis. The first connecting part is provided with a first interface and a second interface respectively communicating with a lubricating oil supply pipe and a threaded adhesive supply pipe. The rotating connecting part is provided with a rotating connecting cavity. The third connecting part is provided with a third connecting cavity and a third connecting port that communicate with each other. The third connecting port communicates with the nozzle. When the rotating connecting part rotates relative to the first connecting part to a first position, the rotating connecting cavity communicates with both the first interface and the third connecting cavity. When the rotating connecting part rotates relative to the first connecting part to a second position, the rotating connecting cavity communicates with both the second interface and the third connecting cavity. The nozzle includes a nozzle fixing part and a nozzle rotating part connected along the axial direction. The nozzle fixing part is fixedly connected to a third connecting part. The nozzle rotating part rotates about an axis relative to the nozzle fixing part. The nozzle fixing part is provided with a nozzle connection port communicating with the third connection port. The nozzle rotating part is provided with a first connecting cavity, a first nozzle outlet, a second connecting cavity, and a second nozzle outlet. The first connecting cavity communicates with the first nozzle outlet. The first nozzle outlet is located at the center end of the nozzle rotating part on the side away from the nozzle fixing part. The second connecting cavity communicates with the second nozzle outlet. There are multiple second nozzle outlets, which are located on the outer peripheral surface of the nozzle rotating part. When the nozzle rotating part rotates relative to the nozzle fixing part to a third position, the nozzle connection port communicates with the first connecting cavity. When the nozzle rotating part rotates relative to the nozzle fixing part to a fourth position, the nozzle connection port communicates with the second connecting cavity.

[0010] Preferably, the vehicle body assembly includes a main body, wheels connected to the main body, and a controller and pump station installed on the main body.

[0011] Preferably, it further includes a gas-liquid supply assembly, which includes a gas supply assembly and a liquid nitrogen supply assembly; the gas supply assembly includes a gas pump and a main gas supply pipeline connected in sequence, the gas pump is equipped with a gas pump control valve to control the on / off state of the gas pump and the direction of gas flow, the main gas supply pipeline is connected to a first branch gas pipe and a second branch gas pipe, and the first branch gas pipe and the second branch gas pipe are respectively equipped with a first gas pipe valve and a second gas pipe valve for controlling the on / off state of the pipeline; the liquid nitrogen supply assembly includes a liquid nitrogen cylinder connected to the liquid nitrogen supply pipeline, and the liquid nitrogen supply pipeline is equipped with a liquid nitrogen control valve for controlling the on / off state of the pipeline.

[0012] A method for assembling pump parts, using the aforementioned pump parts assembly equipment, includes the following steps: S1. Clean the parts to be assembled: S1-1. The first image recognition device collects the relative position and posture of the sleeve assembly and the part to be assembled in real time and feeds it back to the controller. The controller drives the first motion assembly to move the sleeve assembly to a predetermined range of the part to be assembled, and the opening of the inner sleeve cavity faces the part to be assembled. S1-2. The gas in the air pump enters the suction cup cavity through the second branch air pipe, and then blows onto the parts to be assembled through the suction cup vent and inner sleeve cavity to remove impurities from the surface of the parts. S1-3. Repeat steps S1-1 and S1-2 until each part to be assembled has been cleaned in sequence; S2. Grab and place the slider: S2-1. The second image recognition device collects the relative pose of the gripping robot and the slider to be assembled in the assembly box in real time and feeds it back to the controller. The controller drives the second motion assembly to move, so that the gripping robot grabs the slider and places it at the slider pose adjustment mechanism. S2-2. The second image recognition device collects the direction of the slider mounting hole on the slider in real time and feeds it back to the controller. The controller drives the slider posture adjustment mechanism to move until the axis of the slider mounting hole is in the horizontal plane and parallel to the length direction of the vehicle body assembly. S3. Grab the connecting pin: S3-1. The first image recognition device collects the relative position of the sleeve assembly and the connecting rod pin to be assembled in the assembly box in real time and feeds it back to the controller. The controller drives the first action assembly to move so that the open end of the sleeve assembly faces downward and is coaxial with the connecting rod pin, and the lower surface of the open end of the sleeve assembly is not higher than the upper surface of the connecting rod pin. S3-2. The gas in the air pump enters the sliding sleeve cavity through the first branch air pipe, and then enters the inner sleeve cavity through the sleeve air guide hole, causing the sleeve sliding assembly to move towards the opening end of the inner sleeve cavity until the sleeve suction cup abuts against the upper end face of the connecting rod pin. S3-3. The first branch tube continues to introduce gas into the sliding sleeve cavity until the barometer detects that the gas pressure value has reached the predetermined inflation pressure value; S3-4. The second branch trachea draws air inward and attracts the connecting rod pin to the surface of the sleeve suction cup. At this time, the electromagnet acts and attracts the connecting rod pin. S3-5. The first branch tube draws air inward to reduce the pressure in the inner sleeve cavity and drives the sleeve sliding assembly and connecting rod pin to move into the inner sleeve cavity until the sliding limit plate abuts against the sleeve limit surface; continue drawing air until the barometer detects that the air pressure value has reached the predetermined drawing pressure value. S4. Liquid nitrogen cooling of connecting rod pin: Liquid nitrogen is introduced into the second chamber of the outer sleeve through the liquid nitrogen supply pipeline. The liquid nitrogen forms a liquid nitrogen spray through the liquid nitrogen vent hole and enters the inner sleeve cavity to cool the connecting rod pin until the infrared sensor detects that the temperature value has reached the predetermined cooling temperature value. S5. Adjust the position of the connecting rod pin: S5-1. The first actuating assembly drives the sleeve assembly and connecting rod pin to rotate and move until the axis of the connecting rod pin is horizontal; S5-2. The second image recognition device collects the position of the positioning groove on the connecting rod pin in real time and feeds it back to the controller. The controller drives the sleeve motor to move, and the sleeve assembly drives the connecting rod pin to rotate until the positioning groove is horizontal and upward. S6. Grab the link: S6-1. The second image recognition device collects the relative pose of the gripping robot and the connecting rod to be assembled in the assembly box in real time, and feeds it back to the controller. The controller drives the second motion assembly to move, so that the gripping robot grabs the connecting rod. S6-2. The gripping robot moves the connecting rod to above the slider in the slider position adjustment mechanism, and aligns the connecting rod with the connecting rod mounting hole of the slider. S6-3. The first image recognizer and the second image recognizer acquire the relative position and posture of the connecting pin and the connecting rod assembly hole in real time and feed it back to the controller. The controller drives the first action assembly and the second action assembly to move so that the connecting pin and the connecting rod assembly hole are aligned. S7. Lubrication assembly hole: S7-1. The controller determines the relative position between the nozzle and the slider assembly hole based on the image acquisition results of the first image recognizer and the second image recognizer, and controls the extension of the longitudinal telescopic tube and the transverse telescopic tube until the nozzle extends into one end of the slider assembly hole. S7-2. The lubricating oil in the lubricating oil tank is sprayed into the slider assembly hole after passing through the lubricating oil supply pipe and nozzle; S7-3. The transverse telescopic tube continues to extend until the nozzle head extends into the other end of the slider assembly hole; S7-4. The lubricating oil in the lubricating oil tank is sprayed into the slider assembly hole after passing through the lubricating oil supply pipe and nozzle; S7-5. The controller adjusts the movement and length of the longitudinal and transverse telescopic tubes until the nozzle head extends into the connecting rod assembly hole. S7-6. The lubricating oil in the lubricating oil tank is sprayed into the connecting rod assembly hole after passing through the lubricating oil supply pipe and nozzle; S8. Install the connecting rod and connecting rod pin: S8-1. Telescopic cylinder: The movable end of the telescopic cylinder extends, causing the slider to rise. During the rising process, the connecting rod is inserted into the connecting rod mounting hole. S8-2. The first image recognizer and / or the second image recognizer acquire the relative position and posture between the slider mounting hole and the connecting rod mounting hole in real time and feed it back to the controller. The controller drives the telescopic hydraulic cylinder and telescopic air cylinder to complete the action, so that the connecting rod pin, the connecting rod mounting hole and the slider mounting hole are aligned. S8-3. The connecting rod push rod moves, causing the stop block to abut against the end of the slider assembly hole away from the first action assembly; S8-4. The gas in the air pump enters the sliding sleeve cavity through the first branch air pipe, and then enters the inner sleeve cavity through the sleeve air guide hole, causing the sleeve sliding assembly to push the connecting rod pin to move towards the opening end of the inner sleeve cavity and insert it into the slider assembly hole until the end of the connecting rod pin abuts against the stop block. S8-5. Gas continues to be introduced into the sliding sleeve cavity through the first branch tube until the barometer detects that the gas pressure value has reached the predetermined inflation pressure value; the electromagnet is de-energized. S8-6. The first branch tube draws air inward to reduce the pressure in the inner sleeve cavity and drives the sleeve sliding assembly and connecting rod pin to move into the inner sleeve cavity until the sliding limit plate abuts against the sleeve limit surface; continue drawing air until the barometer detects that the air pressure value has reached the predetermined drawing pressure value. S9. Assembly gap detection: After the connecting rod pin is assembled, at a predetermined interval, the first action assembly and the second action assembly drive the first image recognition device and the second image recognition device to align with the two ends of the slider assembly hole respectively, collect the gap between the connecting rod pin and the edge of the slider assembly hole, and feed it back to the controller. The controller determines whether the gap exceeds the threshold. If it exceeds the threshold, it sends an alarm to the host computer. If it does not exceed the threshold, it proceeds to the next step. S10. Install the fixing pin: S10-1. The second image recognition device collects the relative pose of the gripping robot and the fixing pin to be assembled in the assembly box in real time and feeds it back to the controller. The controller drives the second motion assembly to move, so that the gripping robot grabs the fixing pin and moves it above the fixing pin mounting hole. S10-2. The controller determines the relative position between the nozzle and the fixing pin based on the image acquisition results of the first image recognizer and the second image recognizer, and controls the extension of the longitudinal telescopic tube and the transverse telescopic tube until the nozzle and the fixing pin are in close contact. S10-3. The thread adhesive in the thread adhesive box is sprayed onto the surface of the fixing pin after passing through the thread adhesive supply pipe and nozzle; S10-4. The gripping robot inserts the fixing pin into the fixing pin mounting hole; S10-5. Repeat steps S10-1 to S10-4 to complete the installation of the other fixing pin; S11. Assembly part unloading: The gripping robot grips the assembled part from the slider position adjustment mechanism, and the second motion assembly drives the gripping robot to move the part to the assembled part placement box to complete the unloading.

[0013] The beneficial effects of this invention are as follows: Various equipment for assembling parts are installed on the vehicle body assembly, allowing the assembly equipment to be moved flexibly according to installation needs; The sleeve assembly integrates multiple functions, and can perform actions such as cleaning parts, adsorption, pushing, and cooling of connecting rod pins. The first action assembly drives the sleeve assembly to perform actions, automatically completing the cleaning of parts and the positioning and installation of connecting rod pins. The second motion assembly drives the gripping robot to complete the gripping and installation of the slider, connecting rod and fixing pin; By using image recognition, temperature sensing and other methods to provide real-time parameter feedback during the operation, the assembly process is ensured to be completed accurately, avoiding assembly failure or damage to components. It enables automatic feeding, positioning, assembly, and unloading of parts, improving assembly efficiency and quality, and replacing the previous manual operation methods. Attached Figure Description

[0014] Figure 1 : Schematic diagram of the structure of the present invention; Figure 2 This invention Figure 1 Enlarged view of part A in the middle; Figure 3 : Cross-sectional view of the sleeve assembly of the present invention; Figure 4 : A cross-sectional view of the sleeve sliding assembly of the present invention; Figure 5 : Schematic diagram of the lubrication and adhesive application assembly and slider position adjustment mechanism of the present invention; Figure 6 : A magnified view of a partial structure of the lubrication coating assembly of this invention; Figure 7 : Schematic diagram of the converter structure of the present invention; Figure 8 : Cross-sectional view of the converter structure of the present invention; Figure 9 : Schematic diagram of the nozzle structure of this invention; Figure 10 : A cross-sectional view of the nozzle structure of this invention; Figure 11 : A cross-sectional view of the rotating part of the nozzle of the present invention; Figure 12 : Schematic diagram of the assembled parts of this invention. Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments: In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0016] In the description of this invention, it should be understood that the terms "center," "length," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," and "inner," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0017] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0018] like Figure 1 and Figure 12As shown, the parts to be assembled in this scheme include a slider 11, a connecting rod 12, a connecting rod pin 13, and a fixing pin 14. The slider 11 is provided with a slider assembly hole 111 for mounting the connecting rod pin 13, a connecting rod mounting hole 113 for mounting the connecting rod 12, and a fixing pin mounting hole 112 for mounting the fixing pin 14. The connecting rod 12 is provided with a connecting rod assembly hole 121 for mounting the connecting rod pin 13. The connecting rod pin 13 is provided with a positioning groove along the axial direction. The fixing pin 14 is installed in the fixing pin mounting hole 112 along the axial direction of the slider 11, and there are two fixing pins 14, which are symmetrically arranged about the axis of the slider 11. When assembling the above parts, the connecting rod 12 needs to be installed in the connecting rod mounting hole 113 first, and the slider mounting hole 111 should be aligned with the connecting rod mounting hole 121. Then, the connecting rod pin 13 should be inserted into the slider mounting hole, i.e. the connecting rod mounting hole 121, and the positioning groove should be kept facing upward. Finally, the two fixing pins 14 should be inserted into the fixing pin mounting holes 112 in sequence to complete the installation.

[0019] like Figures 1 to 6 As shown, a pump parts assembly device includes a vehicle body assembly, and a first actuation assembly, a sleeve assembly, a second actuation assembly, and a parts placement assembly disposed on the vehicle body assembly. The sleeve assembly is disposed at the end of the first actuation assembly and is moved and rotated by the first actuation assembly. A sleeve sliding component is disposed inside the sleeve assembly and slides along the axial direction of the sleeve assembly. The second actuation assembly drives the gripping robot 68 to move and rotate. The parts placement assembly includes a part placement box 81 to be assembled, an assembled part placement box 82, and a slider position adjustment mechanism, which is used to support the slider 11.

[0020] Specifically, such as Figure 1 As shown, the vehicle body assembly includes a vehicle body 21, with wheels 22 connected to the vehicle body 21. A controller 23 and a pump station 24 are installed on the vehicle body 21. The vehicle body assembly is moved by the wheels 22. The controller 23 is communicatively connected to various detection elements, moving parts, and a host computer. It receives signals collected by various detection elements, analyzes them, drives the moving parts to move, and transmits the information to the host computer.

[0021] like Figure 3 and Figure 4As shown, the sleeve assembly also includes an outer sleeve 411 and an inner sleeve 421 coaxially fixedly connected. The sleeve sliding assembly is slidably disposed in the inner sleeve cavity formed by the inner sleeve 421. A barometer 424 is disposed in the inner sleeve cavity to detect the air pressure value in the inner sleeve cavity. The outer sleeve 411 and the inner sleeve 421 form a first outer sleeve chamber 412 and a second outer sleeve chamber 413 that are closed to each other and distributed axially. The second outer sleeve chamber 413 is disposed on the opening side of the inner sleeve cavity. A liquid nitrogen vent hole 423 communicating with the second outer sleeve chamber 413 is disposed on the side wall of the inner sleeve 421, and the second outer sleeve chamber 413 is connected to a liquid nitrogen supply pipe 522 for introducing liquid nitrogen.

[0022] The sleeve sliding assembly includes a sliding sleeve 431, a sleeve partition 433, and a sleeve suction cup 434, which are fixedly connected and distributed axially. The sliding sleeve 431 and the sleeve partition 433 enclose a sliding sleeve cavity. A sleeve vent hole 432 is provided on the sliding sleeve 431, and the sliding sleeve cavity communicates with the inner sleeve cavity through the sleeve vent hole 432. The sleeve partition 433 and the sleeve suction cup 434 enclose a suction cup cavity 435. A suction cup vent hole 436 is provided on the sleeve suction cup 434, and the suction cup cavity 435 is vented by suction... The vent hole 436 of the disc is connected to the opening side of the inner sleeve cavity; the sliding sleeve cavity and the suction cup cavity 435 are respectively provided with a first branch air pipe 514 and a second branch air pipe 516 for air circulation; the sleeve suction cup 434 extends radially outward to form a suction cup extension surface 437, the suction cup extension surface 437 is flush with the surface of the sleeve suction cup 434, the outer diameter of the suction cup extension surface 437 is the same as the inner diameter of the inner sleeve 421, and an infrared sensor 439 and an electromagnet are provided on the suction cup extension surface 437 to detect temperature and adsorb the connecting rod pin 13, respectively.

[0023] Furthermore, the inner wall of the inner sleeve 421 protrudes radially inward to form a sleeve limiting surface 422, and the suction cup extension surface 437 is axially fixedly connected to a sliding limiting plate 438 on the side away from the opening of the inner sleeve cavity. The outer diameter of the sliding limiting plate 438 is larger than the inner diameter of the sleeve limiting surface 422, thereby achieving axial limiting of the sleeve sliding assembly through the contact between the sleeve limiting surface 422 and the sliding limiting plate 438.

[0024] The gas-liquid supply assembly includes a gas supply assembly and a liquid nitrogen supply assembly. The gas supply assembly includes a gas pump 511 and a main gas supply pipeline 513 connected in sequence. The gas pump 511 is equipped with a gas pump control valve 512 to control the on / off state of the gas pump and the direction of gas flow. The main gas supply pipeline 513 is connected to a first branch gas pipe 514 and a second branch gas pipe 516. The first branch gas pipe 514 and the second branch gas pipe 516 are respectively equipped with a first gas pipe valve 515 and a second gas pipe valve 517 to control the on / off state of the pipeline. The liquid nitrogen supply assembly includes a liquid nitrogen cylinder 521 connected to a liquid nitrogen supply pipeline 522. The liquid nitrogen supply pipeline 522 is equipped with a liquid nitrogen control valve 523 to control the on / off state of the pipeline. All of the above pipelines are flexible pipes with variable lengths, such as corrugated pipes, so that the pipelines can move, extend, or shorten with the movement of components such as the sleeve sliding assembly.

[0025] like Figure 1 As shown, the first actuation assembly includes a first rotating chassis 31, a first motor 32, a first telescopic arm 33, a second motor 34, a second telescopic arm 35, a third motor 36, and a sleeve mounting base 37 connected in sequence. The first rotating chassis 31 is mounted on the vehicle body assembly and rotates in a horizontal plane. The first motor 32 is mounted on the first rotating chassis 31 and drives the first connecting frame to rotate. The first telescopic arm 33 is fixedly mounted on the first connecting frame, and the moving end of the first telescopic arm 33 is fixedly connected to the second connecting frame. The second motor 34 is fixedly mounted on the second connecting frame, and the moving end of the second motor 34 is connected to the fixed end of the second telescopic arm 35. The third motor 36 is mounted on the moving end of the second telescopic arm 35, and the sleeve mounting base 37 is fixedly connected to the moving end of the third motor 36. A first image recognizer 38 and the sleeve assembly are fixedly connected to the sleeve mounting base 37. The first image recognizer 38 can be used to identify the relative position and direction relationship between the sleeve assembly and the target part or target position, and can also be used to identify the position of the target object, acquire images of the target object, etc. By setting the rotation axis and movement direction of each motor and the movable end of the telescopic arm to different directions, the sleeve assembly can complete positional movement and angular rotation in three-dimensional space. A sleeve motor 414 is installed between the sleeve mounting base 37 and the sleeve assembly. The movable end of the sleeve motor 414 is connected to the sleeve assembly and drives the sleeve assembly to rotate along the axis.

[0026] The second actuation assembly includes a second rotating chassis 61, a fourth motor 62, a fourth telescopic arm 63, a fifth motor 64, a fifth telescopic arm 65, a sixth motor 66, a robot arm mounting base 67, and a gripping robot 68, all connected in sequence. The second rotating chassis 61 is mounted on the vehicle body assembly and rotates in a horizontal plane. The fourth motor 62 is mounted on the second rotating chassis 61 and drives the fourth connecting frame to rotate. The fourth telescopic arm 63 is fixedly mounted on the fourth connecting frame, and its moving end is fixedly connected to the fifth connecting frame. The fifth motor 64 is fixedly mounted on the fifth connecting frame, and its moving end is connected to the fixed end of the fifth telescopic arm 65. The sixth motor 66 is mounted on the moving end of the fifth telescopic arm 65. The gripping robot 68 is mounted on the moving end of the sixth motor 66 via the robot arm mounting base 67. A second image recognizer 69 is also fixedly connected to the robot arm mounting base 67. The second image recognizer 69 can be used to identify the relative position and orientation between the gripping robot 68 and the target part or target position, and can also be used to identify the position of the target object, acquire images of the target object, etc. By setting the rotation axis and movement direction of each motor and the movable end of the telescopic arm to different directions, the gripping robot 68 can complete position movement and angle rotation in three-dimensional space. In conjunction with the gripping and opening actions of the gripping robot 68, the target parts can be picked up and put down.

[0027] like Figure 5 As shown, the slider position adjustment mechanism includes a telescopic cylinder 831, a fixed base 832, a rotary motor 834, and a rotating tray 835. Multiple telescopic cylinders 831 are vertically mounted on the vehicle body assembly. The fixed base 832 is connected to the movable end of the telescopic cylinder 831. The rotary motor 834 is mounted above the fixed base 832 and drives the rotating tray 835 to rotate horizontally. A pressure sensor 833 is installed between the fixed base 832 and the rotary motor 834 to detect the pressure on the rotating tray 835, determine the presence and weight of parts, and further determine the part type and specifications based on the part weight. A linkage support mechanism is provided along the edge of the fixed base 832. The linkage support mechanism comprises four components, evenly distributed around the fixed base 832. The linkage support mechanism includes a first linkage 836, a second linkage 837, and a stop block 839 connected in sequence. The lower end of the first linkage 836 is hinged to the fixed base 832, and a linkage motor is provided at the hinge to drive the first linkage 836 to rotate. The linkage motor drives the first linkage 836 and the second linkage 837 to open and close. The upper end of the first linkage 836 is hinged to the lower end of the second linkage 837, and the upper end of the second linkage 837 is fixedly connected to the stop block 839. The inner surface of the stop block 839 abuts against the side wall of the slider 11 placed on the rotating tray 835. A linkage push rod 838 is provided on the first linkage 836 away from the sleeve assembly.

[0028] like Figure 5 and Figure 6 As shown, the vehicle body assembly also includes a lubrication and adhesive application assembly, which comprises a lubricating oil tank 711, a lubricating oil supply pipe 712, a threaded adhesive tank 721, a threaded adhesive supply pipe 722, a longitudinal telescopic pipe 73, a transverse telescopic pipe 74, and a nozzle 76. One end of the lubricating oil supply pipe 712 is connected to the lubricating oil tank 71, and the other end is connected to the nozzle 76 via the longitudinal telescopic pipe 73 and the transverse telescopic pipe 74. One end of the threaded adhesive supply pipe 722 is connected to the threaded adhesive tank 721, and the other end is connected to the nozzle 76 via the longitudinal telescopic pipe 73 and the transverse telescopic pipe 74. The lengths of the longitudinal telescopic pipe 73 and the transverse telescopic pipe 74 are adjustable, thereby adjusting the position of the nozzle.

[0029] Specifically, such as Figures 7 to 11As shown, a converter 75 is provided between the transverse telescopic tube 74 and the nozzle 76. The nozzle 76 includes a first nozzle outlet 7622 and a second nozzle outlet 7624. The converter 75 includes a first connecting part 751, a rotating connecting part 752, and a third connecting part 753 connected sequentially along the axial direction. The rotating connecting part 752 rotates about an axis relative to the first connecting part 751 and the third connecting part 753. The first connecting part 751 is provided with a first interface 7511 and a second interface 7512 respectively communicating with the lubricating oil supply tube 712 and the threaded adhesive supply tube 722. The rotating connecting part 752... The first connecting part 752 has a rotating connecting cavity 7521, and the third connecting part 753 has a third connecting cavity 7531 and a third connecting port 7532 that are interconnected. The third connecting port 7532 is connected to the nozzle 76. When the rotating connecting part 752 rotates relative to the first connecting part 751 to a first position, the rotating connecting cavity 7521 is simultaneously connected to the first interface 7511 and the third connecting cavity 7531. When the rotating connecting part 752 rotates relative to the first connecting part 751 to a second position, the rotating connecting cavity 7521 is simultaneously connected to the second interface 7512 and the third connecting cavity 7531. The nozzle... 76 includes a nozzle fixing part 761 and a nozzle rotating part 762 connected axially. The nozzle fixing part 761 is fixedly connected to the third connecting part 753. The nozzle rotating part 762 rotates about an axis relative to the nozzle fixing part 761. The nozzle fixing part 761 is provided with a nozzle connection port 7611 communicating with the third connection port 7532. The nozzle rotating part 762 is provided with a first connecting cavity 7621, a first nozzle outlet 7622, ​​a second connecting cavity 7623, and a second nozzle outlet 7624. The first connecting cavity 7621 communicates with the first nozzle outlet 7622. The first nozzle... The outlet 7622 is located at the center end of the nozzle rotating part 762 on the side away from the nozzle fixing part 761. The second connecting cavity 7623 communicates with the second nozzle outlet 7624. There are multiple second nozzle outlets 7624, which are located on the outer peripheral surface of the nozzle rotating part 762. When the nozzle rotating part 762 rotates relative to the nozzle fixing part 761 to the third position, the nozzle connection port 7611 communicates with the first connecting cavity 7621. When the nozzle rotating part 762 rotates relative to the nozzle fixing part 761 to the fourth position, the nozzle connection port 7611 communicates with the second connecting cavity 7623.

[0030] A method for assembling pump parts, using the aforementioned pump parts assembly equipment, includes the following steps: S1. Clean the parts to be assembled: S1-1. The first image recognition device 38 collects the relative position and posture of the sleeve assembly and the part to be assembled in real time and feeds it back to the controller 23. The controller 23 drives the first action assembly to move the sleeve assembly to a predetermined range of the part to be assembled, and the opening of the inner sleeve cavity faces the part to be assembled. S1-2. The gas in the air pump 511 enters the suction cup cavity 435 through the second branch air pipe 516, and then blows onto the parts to be assembled through the suction cup vent 436 and the inner sleeve cavity to remove impurities from the surface of the parts. S1-3. Repeat steps S1-1 and S1-2 until each part to be assembled has been cleaned in sequence; S2. Grab and place slider 11: S2-1. The second image recognition device 69 collects the relative pose of the gripping robot 68 and the slider 11 to be assembled in the assembly box 81 in real time, and feeds it back to the controller 23. The controller 23 drives the second motion assembly to move, so that the gripping robot 68 grabs the slider 11 and places it at the slider pose adjustment mechanism. When placing slider 11, the first link 836 and the second link 837 are driven by the linkage motor to open outward, providing the space required for placing slider 11 and avoiding interference; after slider 11 is placed, the first link 836 and the second link 837 are driven by the linkage motor to close inward, and the position of slider 11 is limited by the closing of the stop block 839. S2-2. The second image recognition device 69 collects the direction of the slider mounting hole 111 on the slider 11 in real time and feeds it back to the controller 23. The controller 23 drives the slider posture adjustment mechanism to move until the axis of the slider mounting hole 111 is in the horizontal plane and parallel to the length direction of the vehicle body assembly; the pressure sensor 833 detects the weight of the parts on the rotating tray 835, thereby determining whether to place the slider 11 and the specifications of the slider 11. S3. Grab link pin 13: S3-1. The first image recognition device 38 collects the relative position of the sleeve assembly and the connecting rod pin 13 to be assembled in the assembly box 81 in real time, and feeds it back to the controller 23. The controller 23 drives the first action assembly to move, so that the open end of the sleeve assembly faces downward and is coaxial with the connecting rod pin 13, and the lower surface of the open end of the sleeve assembly is not higher than the upper surface of the connecting rod pin 13. S3-2. The gas in the air pump 511 enters the sliding sleeve cavity through the first branch air pipe 514, and then enters the inner sleeve cavity through the sleeve air guide hole 432, causing the sleeve sliding assembly to move towards the opening end of the inner sleeve cavity until the sleeve suction cup 434 abuts against the upper end face of the connecting rod pin 13. S3-3. The first branch air pipe 514 continues to introduce gas into the sliding sleeve cavity until the barometer 424 detects that the air pressure value reaches the predetermined inflation pressure value, indicating that the sleeve suction cup 434 and the connecting rod pin 13 are in tight contact. S3-4. The second branch trachea 516 draws air inward and attracts the connecting rod pin 13 to the surface of the sleeve suction cup 434. At this time, the electromagnet acts and attracts the connecting rod pin 13. S3-5. The first branch air pipe 514 draws air inward to reduce the pressure in the inner sleeve cavity and drives the sleeve sliding assembly and connecting rod pin 13 to move into the inner sleeve cavity until the sliding limit plate 438 abuts against the sleeve limit surface 422; continue to draw air until the barometer 424 detects that the air pressure value reaches the predetermined air drawing pressure value, indicating that the connecting rod pin 13 has completely entered the inner sleeve 421 and moved into place; S4. Liquid nitrogen cooling of connecting rod pin 13: Liquid nitrogen is introduced into the second chamber 413 of the outer sleeve through the liquid nitrogen supply pipe 522. The liquid nitrogen forms a liquid nitrogen spray through the liquid nitrogen vent 423 and is introduced into the inner sleeve cavity to cool the connecting rod pin 13 until the infrared sensor 439 detects that the temperature value has reached the predetermined cooling temperature value, indicating that the cooling of the connecting rod pin 13 is complete. The liquid nitrogen spray avoids the problems of excessive internal stress and changes in local structure caused by directly immersing the metal parts in liquid nitrogen, which would affect the assembly accuracy. S5. Adjust the linkage pin to position 13: S5-1. The first actuating assembly drives the sleeve assembly and connecting rod pin 13 to rotate and move until the axis of the connecting rod pin 13 is horizontal; S5-2. The second image recognition device 69 collects the position of the positioning groove on the connecting rod pin 13 in real time and feeds it back to the controller 23. The controller 23 drives the sleeve motor 414 to move, and the sleeve assembly drives the connecting rod pin 13 to rotate until the positioning groove is horizontal and upward. S6. Grab link 12: S6-1. The second image recognition device 69 collects the relative pose of the gripping robot 68 and the link 12 to be assembled in the assembly box 81 in real time, and feeds it back to the controller 23. The controller 23 drives the second motion assembly to move, so that the gripping robot 68 grabs the link 12. S6-2. The gripping robot 68 moves the connecting rod 12 to above the slider 11 in the slider position adjustment mechanism, and aligns the connecting rod 12 with the connecting rod mounting hole 113 of the slider 11. S6-3. The first image recognizer 38 and the second image recognizer 69 acquire the relative pose of the connecting pin 13 and the connecting rod mounting hole 121 in real time and feed it back to the controller 23. The controller 23 drives the first action assembly and the second action assembly to move so that the connecting pin 13 and the connecting rod mounting hole 121 are aligned. S7. Lubrication assembly hole: S7-1. The controller 23 determines the relative position of the nozzle 76 and the slider assembly hole 111 based on the image acquisition results of the first image recognizer 38 and the second image recognizer 69, and controls the longitudinal telescopic tube 73 and the transverse telescopic tube 74 to extend until the nozzle 76 extends into one end of the slider assembly hole 111. S7-2. The lubricating oil in the lubricating oil tank 711 is sprayed into the slider assembly hole 111 after passing through the lubricating oil supply pipe 712 and the nozzle 76; specifically, at this time, the rotating connecting part 752 rotates to the first position relative to the first connecting part 751, and the lubricating oil in the lubricating oil supply pipe 712 enters the nozzle 76 after passing through the first interface 7511, the rotating connecting cavity 7521, the third connecting cavity 7531 and the third connecting port 7532. The nozzle rotating part 762 rotates to the fourth position relative to the nozzle fixing part 761, and the lubricating oil is sprayed after passing through the nozzle connecting port 7611, the second connecting cavity 7623 and the second nozzle outlet 7624; S7-3. The transverse telescopic tube 74 continues to extend until the nozzle 76 extends into the other end of the slider assembly hole 111; S7-4. The lubricating oil in the lubricating oil tank 711 is sprayed into the slider assembly hole 111 after passing through the lubricating oil supply pipe 712 and the nozzle 76; S7-5. The controller 23 adjusts the movement and length of the longitudinal telescopic tube 73 and the transverse telescopic tube 74 until the nozzle 76 extends into the connecting rod assembly hole 121. S7-6. The lubricating oil in the lubricating oil tank 711 is sprayed into the slider assembly hole 111 after passing through the lubricating oil supply pipe 712 and the nozzle 76; S8. Install connecting rod 12 and connecting rod pin 13: S8-1. The movable end of the telescopic cylinder 831 extends, causing the slider 11 to rise. During the rising process, the connecting rod 12 is inserted into the connecting rod mounting hole 113. S8-2. The first image recognizer 38 and / or the second image recognizer 69 acquire the relative position and posture between the slider mounting hole 111 and the connecting rod mounting hole 121 in real time and feed it back to the controller 23. The controller 23 drives the telescopic hydraulic cylinder 831 to complete the action, so that the connecting rod pin 13, the connecting rod mounting hole 121 and the slider mounting hole 111 are aligned. S8-3 linkage push rod 838 actuates, causing stop block 839 to abut against the end of slider assembly hole 111 away from the first actuation assembly; S8-4. The gas in the air pump 511 enters the sliding sleeve cavity through the first branch air pipe 514, and then enters the inner sleeve cavity through the sleeve air guide hole 432, causing the sleeve sliding assembly to push the connecting rod pin 13 to move towards the opening end of the inner sleeve cavity and insert it into the slider assembly hole 111 until the end of the connecting rod pin 13 abuts against the stop block 839. S8-5. The first branch air pipe 514 continues to introduce gas into the sliding sleeve cavity until the barometer 424 detects that the air pressure value has reached the predetermined inflation pressure value, indicating that the connecting rod pin 13 is assembled in place and tightly abuts against the stop block 839; the electromagnet is de-energized. S8-6. The first branch air pipe 514 draws air inward to reduce the pressure in the inner sleeve cavity and drives the sleeve sliding assembly and connecting rod pin 13 to move into the inner sleeve cavity until the sliding limit plate 438 abuts against the sleeve limit surface 422; continue to draw air until the barometer 424 detects that the air pressure value reaches the predetermined air drawing pressure value. S9. Assembly gap detection: After the connecting pin 13 is assembled, at a predetermined interval, the first action assembly and the second action assembly drive the first image recognition device 38 and the second image recognition device 69 to align with the two ends of the slider assembly hole 111 respectively, collect the gap between the connecting pin 13 and the edge of the slider assembly hole 111, and feed it back to the controller 23. The controller 23 determines whether the gap exceeds the threshold. If it exceeds the threshold, it sends an alarm to the host computer, and the operator performs manual inspection or repair. If it does not exceed the threshold, it proceeds to the next step. S10. Install fixing pin 14: S10-1. The second image recognition device 69 collects the relative pose of the gripping robot 68 and the fixing pin 14 to be assembled in the assembly box 81 in real time, and feeds it back to the controller 23. The controller 23 drives the second motion assembly to move, so that the gripping robot 68 grabs the fixing pin 14 and moves it above the fixing pin mounting hole 112. S10-2. The controller 23 determines the relative position between the nozzle 76 and the fixing pin 14 based on the image acquisition results of the first image recognizer 38 and the second image recognizer 69, and controls the longitudinal telescopic tube 73 and the transverse telescopic tube 74 to extend until the nozzle 76 and the fixing pin 14 are in close contact. S10-3. The thread adhesive in the thread adhesive box 721 is sprayed onto the surface of the fixing pin 14 after passing through the thread adhesive supply pipe 722 and the nozzle 76; specifically, at this time, the rotating connection part 752 rotates to the second position relative to the first connection part 751, and the thread adhesive in the thread adhesive supply pipe 722 enters the nozzle 76 after passing through the second interface 7512, the rotating connection cavity 7521, the third connection cavity 7531 and the third connection port 7532. The nozzle rotating part 762 rotates to the third position relative to the nozzle fixing part 761, and the thread adhesive is sprayed after passing through the nozzle connection port 7611, the first connection cavity 7621 and the first nozzle outlet 7622; S10-4. The gripping robot 68 inserts the fixing pin 14 into the fixing pin mounting hole 112; S10-5. Repeat steps S10-1 to S10-4 to complete the installation of the other fixing pin 14; S11. Assembly part unloading: The gripping robot 68 grips the assembled part from the slider position adjustment mechanism, and the second motion assembly drives the gripping robot 68 to move the part to the assembled part placement box 82 to complete the unloading.

[0031] The present invention has been described above by way of example, but the present invention is not limited to the specific embodiments described above. Any modifications or variations made based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A pump parts assembly device, characterized in that, The system includes a vehicle body assembly, and a first action assembly, a sleeve assembly, a second action assembly, and a parts placement assembly disposed on the vehicle body assembly. The sleeve assembly is disposed at the end of the first action assembly and is moved and rotated by the first action assembly. A sleeve sliding component is disposed inside the sleeve assembly and slides along the axial direction of the sleeve assembly. The second action assembly drives the gripping robot (68) to move and rotate. The parts placement assembly includes a part placement box (81) to be assembled, an assembled part placement box (82), and a slider position adjustment mechanism. The slider position adjustment mechanism is used to support the slider (11). The sleeve assembly further includes an outer sleeve (411) and an inner sleeve (421) coaxially fixedly connected. The sleeve sliding assembly is slidably disposed in the inner sleeve cavity formed by the inner sleeve (421). A barometer (424) is disposed in the inner sleeve cavity. The outer sleeve (411) and the inner sleeve (421) form a first outer sleeve chamber (412) and a second outer sleeve chamber (413) that are closed to each other and distributed axially. The chamber (413) is located on the opening side of the inner sleeve cavity. A liquid nitrogen vent (423) communicating with the second chamber (413) of the outer sleeve is provided on the side wall of the inner sleeve (421), and the second chamber (413) of the outer sleeve is connected to a liquid nitrogen supply pipeline (522) for introducing liquid nitrogen. The sleeve sliding assembly includes a sliding sleeve (431), a sleeve partition (433), and a sleeve suction cup (434) that are fixedly connected and distributed along the axial direction. The sliding sleeve (431) 1) A sliding sleeve cavity is formed by the sleeve partition (433). A sleeve air guide hole (432) is provided on the sliding sleeve (431). The sliding sleeve cavity is connected to the inner sleeve cavity through the sleeve air guide hole (432). The sleeve partition (433) and the sleeve suction cup (434) form a suction cup cavity (435). A suction cup vent hole (436) is provided on the sleeve suction cup (434). The suction cup cavity (435) is connected to the inner sleeve cavity through the suction cup vent hole (436). 6) Connected to the opening side of the inner sleeve cavity; the sliding sleeve cavity and the suction cup cavity (435) are respectively provided with a first branch air pipe (514) and a second branch air pipe (516) for air circulation; the sleeve suction cup (434) extends radially outward to form a suction cup extension surface (437), the outer diameter of the suction cup extension surface (437) is consistent with the inner diameter of the inner sleeve (421), and an infrared sensor (439) and an electromagnet are provided on the suction cup extension surface (437).

2. The pump parts assembly equipment according to claim 1, characterized in that, The inner wall of the inner sleeve (421) protrudes radially inward to form a sleeve limiting surface (422). The suction cup extension surface (437) is fixedly connected to the sliding limiting plate (438) on the side away from the opening of the inner sleeve cavity along the axial direction. The outer diameter of the sliding limiting plate (438) is larger than the inner diameter of the sleeve limiting surface (422).

3. The pump parts assembly equipment according to claim 2, characterized in that, The first actuation assembly includes a first rotating chassis (31), a first motor (32), a first telescopic arm (33), a second motor (34), a second telescopic arm (35), a third motor (36), and a sleeve mounting base (37) connected in sequence. The first rotating chassis (31) is mounted on the vehicle body assembly and rotates in the horizontal plane. The first motor (32) is mounted on the first rotating chassis (31) and drives the first connecting frame to rotate. The first telescopic arm (33) is fixedly mounted on the first connecting frame, and the actuating end of the first telescopic arm (33) is fixed. A second connecting frame is fixedly connected, and the second motor (34) is fixedly mounted on the second connecting frame. The moving end of the second motor (34) is connected to the fixed end of the second telescopic arm (35). A third motor (36) is mounted on the moving end of the second telescopic arm (35), and a sleeve mounting base (37) is fixedly connected to the moving end of the third motor (36). A first image recognition device (38) and a sleeve assembly are fixedly connected to the sleeve mounting base (37). A sleeve motor (414) is installed between the sleeve mounting base (37) and the sleeve assembly. The sleeve motor (414) has... The movable end is connected to the sleeve assembly and drives the sleeve assembly to rotate along the axis; the second actuation assembly includes a second rotating chassis (61), a fourth motor (62), a fourth telescopic arm (63), a fifth motor (64), a fifth telescopic arm (65), a sixth motor (66), a robot arm mounting base (67), and a gripping robot arm (68) connected in sequence. The second rotating chassis (61) is mounted on the vehicle body assembly and rotates in the horizontal plane. The fourth motor (62) is mounted on the second rotating chassis (61) and drives the fourth connecting frame to rotate. The four telescopic arms (63) are fixedly installed on the fourth connecting frame, and the moving end of the fourth telescopic arm (63) is fixedly connected to the fifth connecting frame. The fifth motor (64) is fixedly installed on the fifth connecting frame, and the moving end of the fifth motor (64) is connected to the fixed end of the fifth telescopic arm (65). The sixth motor (66) is installed on the moving end of the fifth telescopic arm (65). The gripping robot (68) is installed on the moving end of the sixth motor (66) through the robot mounting base (67). The second image recognizer (69) is also fixedly connected to the robot mounting base (67).

4. The pump parts assembly equipment according to claim 3, characterized in that, The slider position adjustment mechanism includes a telescopic cylinder (831), a fixed chassis (832), a rotary motor (834), and a rotating tray (835). Multiple telescopic cylinders (831) are vertically mounted on the vehicle body assembly. The fixed chassis (832) is connected to the movable end of the telescopic cylinder (831). The rotary motor (834) is mounted above the fixed chassis (832) and drives the rotating tray (835) to rotate horizontally. A pressure sensor (833) is installed between the fixed chassis (832) and the rotary motor (834). Four linkage support mechanisms are provided along the edge of the fixed chassis (832). The chassis (832) is evenly distributed around the circumference. The linkage support mechanism includes a first linkage (836), a second linkage (837), and a stop (839) connected in sequence. The lower end of the first linkage (836) is hinged to the fixed chassis (832), and a linkage motor for driving the first linkage (836) to rotate is provided at the hinge. The upper end of the first linkage (836) is hinged to the lower end of the second linkage (837). The upper end of the second linkage (837) is fixedly connected to the stop (839). The inner surface of the stop (839) abuts against the side wall of the slider (11) placed on the rotating tray (835). A linkage push rod (838) is provided on the first linkage (836) away from the sleeve assembly.

5. The pump parts assembly equipment according to claim 4, characterized in that, The vehicle body assembly is also equipped with a lubrication and adhesive application assembly, which includes a lubricating oil tank (711), a lubricating oil supply pipe (712), a threaded adhesive tank (721), a threaded adhesive supply pipe (722), a longitudinal telescopic pipe (73), a transverse telescopic pipe (74), and a nozzle (76). One end of the lubricating oil supply pipe (712) is connected to the lubricating oil tank (711), and the other end is connected to the nozzle (76) after passing through the longitudinal telescopic pipe (73) and the transverse telescopic pipe (74). One end of the threaded adhesive supply pipe (722) is connected to the threaded adhesive tank (721), and the other end is connected to the nozzle (76) after passing through the longitudinal telescopic pipe (73) and the transverse telescopic pipe (74).

6. The pump parts assembly equipment according to claim 5, characterized in that, A converter (75) is provided between the transverse telescopic tube (74) and the nozzle (76). The nozzle (76) includes a first nozzle outlet (7622) and a second nozzle outlet (7624). The converter (75) includes a first connecting part (751), a rotating connecting part (752), and a third connecting part (753) connected sequentially along the axial direction. The rotating connecting part (752) rotates about an axis relative to the first connecting part (751) and the third connecting part (753). The first connecting part (751) is provided with a first interface (7511) and a second interface (7512) respectively communicating with the lubricating oil supply pipe (712) and the threaded adhesive supply pipe (722). A rotating connecting cavity (7521) is provided in the connecting part (752), and a third connecting cavity (7531) and a third connecting port (7532) that are connected to each other are provided in the third connecting part (7533). The third connecting port (7532) is connected to the nozzle (76). When the rotating connecting part (752) rotates to the first position relative to the first connecting part (751), the rotating connecting cavity (7521) is simultaneously connected to the first interface (7511) and the third connecting cavity (7531). When the rotating connecting part (752) rotates to the second position relative to the first connecting part (751), the rotating connecting cavity (7521) is simultaneously connected to the second interface (7512) and the third connecting cavity (7531). The nozzle (76) includes a nozzle fixing part (761) and a nozzle rotating part (762) connected axially. The nozzle fixing part (761) is fixedly connected to the third connecting part (753). The nozzle rotating part (762) rotates about an axis relative to the nozzle fixing part (761). The nozzle fixing part (761) is provided with a nozzle connection port (7611) communicating with the third connection port (7532). The nozzle rotating part (762) is provided with a first connecting cavity (7621), a first nozzle outlet (7622), a second connecting cavity (7623), and a second nozzle outlet (7624). The first connecting cavity (7621) communicates with the first nozzle outlet (7622). A nozzle outlet (7622) is located at the center end of the nozzle rotating part (762) on the side away from the nozzle fixing part (761). The second connecting cavity (7623) is connected to the second nozzle outlet (7624). There are multiple second nozzle outlets (7624), which are located on the outer peripheral surface of the nozzle rotating part (762). When the nozzle rotating part (762) rotates relative to the nozzle fixing part (761) to the third position, the nozzle connecting port (7611) is connected to the first connecting cavity (7621). When the nozzle rotating part (762) rotates relative to the nozzle fixing part (761) to the fourth position, the nozzle connecting port (7611) is connected to the second connecting cavity (7623).

7. The pump parts assembly equipment according to claim 5, characterized in that, The vehicle body assembly includes a vehicle body (21), wheels (22) connected to the vehicle body (21), and a controller (23) and a pump station (24) installed on the vehicle body (21).

8. The pump parts assembly equipment according to claim 7, characterized in that, It also includes a gas-liquid supply assembly, which includes a gas supply assembly and a liquid nitrogen supply assembly; the gas supply assembly includes a gas pump (511) and a main gas supply pipeline (513) connected in sequence, the gas pump (511) is provided with a gas pump control valve (512) for controlling the on / off state of the gas pump (511) and the direction of gas flow, the main gas supply pipeline (513) is connected to a first branch gas pipe (514) and a second branch gas pipe (516), and a first gas pipe valve (515) and a second gas pipe valve (517) for controlling the on / off state of the pipeline are respectively provided on the first branch gas pipe (514) and the second branch gas pipe (516); the liquid nitrogen supply assembly includes a liquid nitrogen cylinder (521) connected to the liquid nitrogen supply pipeline (522), and a liquid nitrogen control valve (523) for controlling the on / off state of the pipeline is provided on the liquid nitrogen supply pipeline (522).

9. A method for assembling pump parts, characterized in that, The assembly equipment using the pump parts as described in claim 8 includes the following steps: S1. Clean the parts to be assembled: S1-1. The first image recognition device (38) collects the relative pose of the sleeve assembly and the part to be assembled in real time and feeds it back to the controller (23). The controller (23) drives the first action assembly to move the sleeve assembly to a predetermined range of the part to be assembled, and the opening of the inner sleeve cavity faces the part to be assembled. S1-2. The gas in the air pump (511) enters the suction cup cavity (435) through the second branch air pipe (516), and then blows onto the parts to be assembled through the suction cup vent (436) and the inner sleeve cavity to remove impurities from the surface of the parts; S1-3. Repeat steps S1-1 and S1-2 until each part to be assembled has been cleaned in sequence; S2. Grab and place slider (11): S2-1. The second image recognition device (69) collects the relative pose of the gripping robot (68) and the slider (11) to be assembled in the assembly box (81) in real time and feeds it back to the controller (23). The controller (23) drives the second motion assembly to move, so that the gripping robot (68) grabs the slider (11) and places it at the slider pose adjustment mechanism. S2-2. The second image recognizer (69) collects the direction of the slider mounting hole (111) on the slider (11) in real time and feeds it back to the controller (23). The controller (23) drives the slider pose adjustment mechanism to move until the axis of the slider mounting hole (111) is in the horizontal plane and parallel to the length direction of the vehicle body assembly. S3. Grab the connecting pin (13): S3-1. The first image recognition device (38) collects the relative position of the sleeve assembly and the connecting rod pin (13) to be assembled in the assembly box (81) in real time and feeds it back to the controller (23). The controller (23) drives the first action assembly to move so that the opening end of the sleeve assembly faces downward and is coaxial with the connecting rod pin (13), and the lower surface of the opening end of the sleeve assembly is not higher than the upper surface of the connecting rod pin (13). S3-2. The gas in the air pump (511) enters the sliding sleeve cavity through the first branch air pipe (514), and then enters the inner sleeve cavity through the sleeve guide hole (432), causing the sleeve sliding assembly to move towards the opening end of the inner sleeve cavity until the sleeve suction cup (434) abuts against the upper end face of the connecting rod pin (13). S3-3. The first branch air tube (514) continues to introduce gas into the sliding sleeve cavity until the barometer (424) detects that the air pressure value has reached the predetermined inflation pressure value; S3-4. The second branch trachea (516) draws air inward and attracts the connecting rod pin (13) to the surface of the sleeve suction cup (434). At this time, the electromagnet acts and attracts the connecting rod pin (13). S3-5. The first branch air tube (514) draws air inward to reduce the pressure in the inner sleeve cavity and drives the sleeve sliding assembly and connecting rod pin (13) to move into the inner sleeve cavity until the sliding limit plate (438) abuts against the sleeve limit surface (422); continue to draw air until the barometer (424) detects that the air pressure value reaches the predetermined air drawing pressure value; S4. Liquid nitrogen cooling of connecting rod pin (13): Liquid nitrogen is introduced into the second chamber (413) of the outer sleeve through the liquid nitrogen supply pipeline (522). The liquid nitrogen forms a liquid nitrogen spray through the liquid nitrogen vent (423) and enters the inner sleeve cavity to cool the connecting rod pin (13) until the infrared sensor (439) detects that the temperature value has reached the predetermined cooling temperature value. S5. Adjust the position of the connecting rod pin (13): S5-1. The first action assembly drives the sleeve assembly and the connecting rod pin (13) to rotate and move until the axis of the connecting rod pin (13) is horizontal; S5-2. The second image recognition device (69) collects the position of the positioning groove on the connecting rod pin (13) in real time and feeds it back to the controller (23). The controller (23) drives the sleeve motor (414) to move, and the sleeve assembly drives the connecting rod pin (13) to rotate until the positioning groove is horizontal and upward. S6. Grab the link (12): S6-1. The second image recognition device (69) collects the relative pose of the gripping robot (68) and the connecting rod (12) to be assembled in the assembly box (81) in real time and feeds it back to the controller (23). The controller (23) drives the second motion assembly to move so that the gripping robot (68) grabs the connecting rod (12). S6-2. The gripping robot (68) drives the connecting rod (12) to move above the slider (11) in the slider position adjustment mechanism, and aligns the connecting rod (12) with the connecting rod mounting hole (113) of the slider (11); S6-3. The first image recognizer (38) and the second image recognizer (69) collect the relative pose of the connecting pin (13) and the connecting rod mounting hole (121) in real time and feed it back to the controller (23). The controller (23) drives the first action assembly and the second action assembly to move so that the connecting pin (13) and the connecting rod mounting hole (121) are aligned. S7. Lubrication assembly hole: S7-1. The controller (23) determines the relative position between the nozzle (76) and the slider assembly hole (111) based on the image acquisition results of the first image recognizer (38) and the second image recognizer (69), and controls the longitudinal telescopic tube (73) and the transverse telescopic tube (74) to extend until the nozzle (76) extends into one end of the slider assembly hole (111). S7-2. The lubricating oil in the lubricating oil tank (711) is sprayed into the slider assembly hole (111) after passing through the lubricating oil supply pipe (712) and the nozzle (76); S7-3. The transverse telescopic tube (74) continues to extend until the nozzle (76) extends into the other end of the slider assembly hole (111); S7-4. The lubricating oil in the lubricating oil tank (711) is sprayed into the slider assembly hole (111) after passing through the lubricating oil supply pipe (712) and the nozzle (76); S7-5. The controller (23) adjusts the action and length of the longitudinal telescopic tube (73) and the transverse telescopic tube (74) until the nozzle (76) extends into the connecting rod assembly hole (121); S7-6. The lubricating oil in the lubricating oil tank (711) is sprayed into the connecting rod assembly hole (121) after passing through the lubricating oil supply pipe (712) and the nozzle (76); S8. Install connecting rod (12) and connecting rod pin (13): S8-1. The movable end of the telescopic cylinder (831) extends, causing the slider (11) to rise. During the rising process, the connecting rod (12) is inserted into the connecting rod mounting hole (113). S8-2. The first image recognizer (38) and / or the second image recognizer (69) acquire the relative pose between the slider mounting hole (111) and the connecting rod mounting hole (121) in real time and feed it back to the controller (23). The controller (23) drives the telescopic cylinder (831) to complete the action, so that the connecting rod pin (13), the connecting rod mounting hole (121) and the slider mounting hole (111) are aligned. S8-3. The connecting rod push rod (838) moves, causing the stop block (839) to abut against the end of the slider mounting hole (111) away from the first action assembly; S8-4. The gas in the air pump (511) enters the sliding sleeve cavity through the first branch air pipe (514), and then enters the inner sleeve cavity through the sleeve air guide hole (432), causing the sleeve sliding assembly to push the connecting rod pin (13) to move towards the opening end of the inner sleeve cavity and insert into the slider assembly hole (111) until the end of the connecting rod pin (13) abuts against the stop block (839); S8-5. The first branch air tube (514) continues to introduce gas into the sliding sleeve cavity until the barometer (424) detects that the air pressure value has reached the predetermined inflation pressure value; the electromagnet is de-energized; S8-6. The first branch trachea (514) draws air inward to reduce the pressure in the inner sleeve cavity and drives the sleeve sliding assembly and connecting rod pin (13) to move into the inner sleeve cavity until the sliding limit plate (438) abuts against the sleeve limit surface (422); continue to draw air until the barometer (424) detects that the air pressure value has reached the predetermined air drawing pressure value; S9. Assembly gap detection: After the connecting pin (13) is assembled, at a predetermined interval, the first action assembly and the second action assembly drive the first image recognition device (38) and the second image recognition device (69) to align with the two ends of the slider assembly hole (111) respectively, collect the gap between the connecting pin (13) and the edge of the slider assembly hole (111), and feed it back to the controller (23). The controller (23) determines whether the gap exceeds the threshold. If it exceeds the threshold, it sends an alarm to the host computer. If it does not exceed the threshold, it proceeds to the next step. S10. Install fixing pin (14): S10-1. The second image recognition device (69) collects the relative pose of the gripping robot (68) and the fixed pin (14) to be assembled in the assembly box (81) in real time, and feeds it back to the controller (23). The controller (23) drives the second motion assembly to move, so that the gripping robot (68) grabs the fixed pin (14) and moves it above the fixed pin mounting hole (112). S10-2. The controller (23) determines the relative position between the nozzle (76) and the fixing pin (14) based on the image acquisition results of the first image recognizer (38) and the second image recognizer (69), and controls the longitudinal telescopic tube (73) and the transverse telescopic tube (74) to extend until the nozzle (76) and the fixing pin (14) are in close contact. S10-3. The thread adhesive in the thread adhesive box (721) is sprayed onto the surface of the fixing pin (14) after passing through the thread adhesive supply pipe (722) and the nozzle (76); S10-4. The gripping robot (68) inserts the fixing pin (14) into the fixing pin mounting hole (112). S10-5. Repeat steps S10-1 to S10-4 to complete the installation of the other fixing pin (14); S11. Assembly part unloading: The gripping robot (68) grips the assembled part from the slider position adjustment mechanism, and the second motion assembly drives the gripping robot (68) to move the part to the assembled part placement box (82) to complete the unloading.

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