Feeding, mounting and automatic assembly line for gas meter movement valve deck

Abstract

The invention provides a gas meter movement valve cover feeding installation automatic assembly line which comprises a material storage plate pushing machine, a first visual system, a first mechanical arm, a reverse face valve cover overturning mechanism, a valve cover secondary positioning mechanism, an eccentric gear installation mechanism, a second mechanical arm and a movement assembly line. The information is transmitted to the first mechanical arm, when the reverse side of the valve deck faces upwards, the first mechanical arm transfers the valve deck to the reverse side valve deck overturning mechanism, and after the reverse side valve deck overturning mechanism overturns the valve deck till the front side faces upwards, the first mechanical arm transfers the overturned valve deck to the valve deck secondary positioning mechanism. Compared with the prior art, according to the scheme, the first visual system can automatically judge the front face and the back face of the valve deck, and therefore scattered and disordered valve deck incoming materials with random front faces and random back faces are adjusted to be in a regular and ordered state with the front faces facing upwards, the manual pre-arrangement link is thoroughly replaced, and efficiency and safety are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of the skin type gas meter core, and particularly relates to a feeding and mounting automatic assembly line for a gas meter core valve cover. BACKGROUND

[0002] The valve cover installation of a gas meter core is one of key production processes in the production process of the gas meter core. Due to the special material and special process requirements of the special material of the valve cover material with double-face special shape and easy damage, in the existing production process of the gas meter core, the scattered valve cover material is manually selected and arranged one by one, the front and back are judged, and the valve cover material is accurately placed at the correct angle and installed at the correct position of the core. That is, the existing equipment can only process the valve cover material which is arranged neatly and correctly by manual pre-arrangement, and cannot automatically feed and install the scattered and disordered valve cover material. The assembly efficiency is low, and the manual operation near the equipment exists certain safety hazards. SUMMARY

[0003] Therefore, the technical problem to be solved by the present application is to overcome the defects that the existing equipment cannot automatically feed and install the scattered and disordered valve cover material, the assembly efficiency is low, and safety hazards exist, so as to provide a feeding and mounting automatic assembly line for a gas meter core valve cover, which has high assembly efficiency and high safety performance.

[0004] Therefore, the present application provides a feeding and mounting automatic assembly line for a gas meter core valve cover, which comprises a storage push plate machine, a first vision system, a first mechanical hand, a reverse valve cover turnover mechanism, a valve cover secondary positioning mechanism, an eccentric gear installation mechanism and a second mechanical hand which are sequentially arranged. The storage push plate machine is used for storing and outwardly conveying the valve cover. The first vision system photographs the valve cover of the incoming material to identify the front / reverse surface information of the valve cover, and transmits the information to the first mechanical hand. When the front surface of the valve cover faces upward, the first mechanical hand moves the valve cover to the valve cover secondary positioning mechanism. When the reverse surface of the valve cover faces upward, the first mechanical hand moves the valve cover to the reverse valve cover turnover mechanism. After the reverse valve cover turnover mechanism turns over the valve cover to the front surface facing upward, the first mechanical hand moves the turned over valve cover to the valve cover secondary positioning mechanism. The valve cover secondary positioning mechanism positions the valve cover twice and then moves it to the eccentric gear installation mechanism. The eccentric gear installation mechanism assembles the eccentric gear with the valve cover to form a valve cover assembly. The second mechanical hand installs the valve cover assembly on the core valve seat.

[0005] The first manipulator comprises a first manipulator body, a connecting seat driven to rotate by the first manipulator body, a first profiling gripper and a first suction disc respectively installed on two sides of the connecting seat, the first profiling gripper is used for grabbing the valve cover with the front face upward and moving it to the valve cover secondary positioning mechanism, and the first suction disc is used for sucking the valve cover with the back face upward and moving it to the back valve cover overturning mechanism.

[0006] The back valve cover overturning mechanism comprises a first valve cover profiling base, a second profiling gripper, a first rotary cylinder and a first vertical cylinder, the first valve cover profiling base is used for placing the valve cover; the second profiling gripper is arranged above the first valve cover profiling base and is used for clamping the valve cover; the first rotary cylinder has the second profiling gripper fixed at the front end thereof and is used for driving the second profiling gripper to perform an overturning action; and the first vertical cylinder has the first rotary cylinder arranged on the side surface thereof and is used for driving the second profiling gripper to move in a first direction.

[0007] The valve cover secondary positioning mechanism comprises a first support, a positioning profiling clamp, a fourth profiling gripper, a second vertical cylinder and a first translation guide rail, the first support has a second valve cover profiling base installed on the front face thereof and long strip holes located on both sides of the second valve cover profiling base, the second valve cover profiling base is used for placing the valve cover; the positioning profiling clamp comprises a clamping cylinder installed on the back face of the first support and a third profiling gripper driven by the clamping cylinder, the third profiling gripper extends from the long strip hole and is used for clamping and positioning the valve cover; the fourth profiling gripper is movably installed above the second valve cover profiling base and is used for clamping and moving the valve cover to the eccentric gear mounting mechanism; the second vertical cylinder is installed on the side surface of the first translation guide rail and has the fourth profiling gripper arranged on the side surface thereof, the second vertical cylinder is used for driving the fourth profiling gripper to move in a first direction; and the first translation guide rail is driven to move by a first servo motor and is used for driving the fourth profiling gripper to move in a second direction, the second direction is arranged perpendicularly to the first direction.

[0008] The eccentric gear mounting mechanism comprises a vibrating disc feeder, an eccentric gear moving assembly, a second support and a valve cover driving assembly. The vibrating disc feeder is used to store and outwardly deliver the eccentric gears. The eccentric gear moving assembly is arranged at the end of the delivery direction of the vibrating disc feeder. The eccentric gear moving assembly comprises an eccentric gear clamping jaw for clamping the eccentric gears and a clamping jaw driving assembly for driving the eccentric gear clamping jaw to move so as to mount the eccentric gears on the valve cover. The clamping jaw driving assembly comprises a third vertical air cylinder and a second translation guide rail. The third vertical air cylinder is mounted on the side of the second translation guide rail and is provided with the eccentric gear clamping jaw on the side thereof. The third vertical air cylinder is used to drive the eccentric gear clamping jaw to move in a first direction. The second translation guide rail is driven by a second servo motor and is used to drive the eccentric gear clamping jaw to move in a third direction. The third direction is arranged perpendicularly to the first direction. The second support has a waiting-to-mount area, a mounting area and a transfer area arranged in sequence. The waiting-to-mount area, the mounting area and the transfer area are all provided with a third valve cover profiling base matched with the valve cover. The valve cover driving assembly is used to drive the valve cover of the second support to switch between the areas.

[0009] The storage push plate machine comprises a storage bin, a stepped push plate mechanism and a C-shaped channel conveyor belt. The storage bin is used to store the valve covers. The bottom plate of the storage bin is arranged in an inclined manner. The stepped push plate mechanism comprises multiple push plates and multiple lifting air cylinders corresponding to the push plates. The multiple push plates are driven by the corresponding lifting air cylinders to lift the valve covers in the storage bin to the C-shaped channel conveyor belt. The C-shaped channel conveyor belt moves the valve covers to the identification area of the first vision system.

[0010] The storage push plate machine further comprises a first screening mechanism arranged above the push plates. The first screening mechanism comprises a first screening baffle and a screening air cylinder for driving the first screening baffle to screen. When the push plates of an upper stage lift multiple valve covers to the corresponding positions, the first screening baffle is driven by the screening air cylinder to push the excess valve covers on the push plates of the upper stage back to the push plates of a lower stage or into the storage bin.

[0011] The push plate at the uppermost position is provided with second screening baffles distributed at intervals along the length direction thereof.

[0012] The C-shaped channel conveyor belt comprises a first conveyor belt and a second conveyor belt arranged in a vertical manner, and a C-shaped channel connecting the first conveyor belt and the second conveyor belt. The inner cavity height of the C-shaped channel is less than the height of the valve cover arranged in a vertical manner.

[0013] The first conveyor belt is provided with a third baffle on the side away from the stepped push plate mechanism. The third baffle extends to the entrance of the C-shaped channel.

[0014] The second manipulator comprises a second manipulator body and a fifth gripper driven by the second manipulator body, the fifth gripper clamps the valve cover assembly and is installed on the movement valve seat.

[0015] Further comprising: a movement pipeline comprising a pipeline channel for conveying the movement valve seat and a jacking clamping cylinder assembly for positioning the movement valve seat; a second vision system arranged above the pipeline channel, taking photos of the incoming movement valve seat to identify coordinate information of the movement valve seat and guiding the second manipulator to assemble the valve cover assembly with the movement valve seat.

[0016] The technical scheme of the present application has the following advantages: 1. The gas meter movement valve cover feeding and installing automatic assembly pipeline provided by the present application comprises a storage pusher, a first vision system, a first manipulator, a reverse valve cover turnover mechanism, a valve cover secondary positioning mechanism, an eccentric gear installing mechanism and a second manipulator. In production, the valve cover is first poured into the storage pusher, the valve cover is conveyed by the storage pusher, the first vision system takes photos of the incoming valve cover to identify the front / reverse surface information of the valve cover and transmits the information to the first manipulator. When the front surface of the valve cover faces upward, the first manipulator moves the valve cover to the valve cover secondary positioning mechanism. When the reverse surface of the valve cover faces upward, the first manipulator moves the valve cover to the reverse valve cover turnover mechanism. After the valve cover is turned over to the front surface upward by the reverse valve cover turnover mechanism, the first manipulator moves the turned-over valve cover to the valve cover secondary positioning mechanism. After the valve cover is positioned by the valve cover secondary positioning mechanism, it is moved to the eccentric gear installing mechanism. After the eccentric gear is assembled with the valve cover to form a valve cover assembly, the second manipulator installs the valve cover assembly on the movement valve seat. Compared with the prior art, the scheme of the present application sets the first vision system, the first manipulator and the reverse valve cover turnover mechanism. The first vision system can automatically judge the front / reverse surface of the valve cover, so that the scattered and disordered valve cover incoming material with random front / reverse surface is adjusted to the regular and orderly state with the front surface facing upward, completely replacing the manual pre-arranging link and greatly improving the efficiency and safety.

[0017] 2. The gas meter movement valve cover feeding and installing automatic assembly pipeline provided by the present application, the first manipulator comprises a first manipulator body, a connecting seat driven to rotate by the first manipulator body, a first profiling gripper and a first suction cup respectively installed on both sides of the connecting seat. When the front surface of the valve cover faces upward, the first profiling gripper clamps the valve cover and moves it to the valve cover secondary positioning mechanism. When the reverse surface of the valve cover faces upward, the first suction cup sucks the valve cover and moves it to the reverse valve cover turnover mechanism. Since the first profiling gripper and the first suction cup are both driven by the same manipulator body, the structure is more simple and compact, reducing the production cost.

[0018] 3. The automatic assembly line for loading and installing the gas meter core valve cover provided by the present invention includes a valve cover flipping mechanism comprising a first valve cover conforming base, a second conforming gripper, a first rotary cylinder and a first vertical cylinder. After the second conforming gripper clamps the valve cover, the first rotary cylinder drives the second conforming gripper to flip the valve cover, thereby flipping the valve cover to face upwards.

[0019] 4. The automatic assembly line for loading and installing the gas meter core valve cover provided by the present invention includes a valve cover secondary positioning mechanism comprising a second valve cover contour base, a positioning contour fixture and a fourth contour gripper. The positioning contour fixture performs high-precision angle correction and positioning on the valve cover installed on the second valve cover contour base, thereby ensuring the subsequent assembly accuracy.

[0020] 5. The automatic assembly line for loading and installing gas meter core valve covers provided by the present invention, by setting up a screening mechanism, can actively push the excess overlapping valve covers on the upper-level push plate back to the lower-level push plate or the storage bin, ensuring that there are only a single layer and a small number of valve covers on the push plate, fundamentally avoiding material jamming and double-piece overlap entering the subsequent system, and ensuring the reliability of the process.

[0021] 6. The automatic assembly line for loading and installing the gas meter core valve cover provided by the present invention has a second screening baffle that is spaced apart along its length on the push plate at the top. The second screening baffle can further disperse and screen the valve cover, thereby enhancing the screening effect.

[0022] 7. The automatic assembly line for loading and installing gas meter core valve covers provided by the present invention has an inner cavity height of C-shaped material channel that is less than the height of the valve cover when it is set upright. This means that any valve cover that attempts to enter the material channel upright will be forcibly scraped down, thereby forcing all valve covers to enter the visual recognition area with their front or back facing up. Since only the front and back faces and the rotation angle need to be judged, this greatly simplifies the recognition algorithm of the first vision system and improves the recognition speed and reliability. Attached Figure Description

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

[0024] Figure 1 A perspective view of the automatic assembly line for valve cover loading and installation according to the present invention; Figure 2 for Figure 1 Top view; Figure 3A three-dimensional view of the material pusher and the first vision system; Figure 4 for Figure 3 A magnified structural diagram of part A in the middle; Figure 5 Side view of the material pusher after part of the door panel has been removed; Figure 6 A three-dimensional view of the C-shaped conveyor belt and the first vision system; Figure 7 This is a cross-sectional view of a C-type conveyor belt. Figure 8 A 3D view of the first robotic arm; Figure 9 A perspective view of the reverse valve cover flipping mechanism; Figure 10 A three-dimensional view of the valve cover secondary positioning mechanism; Figure 11 This is a three-dimensional view of the eccentric gear mounting mechanism; Figure 12 This is a 3D view of the second robotic arm; Figure 13 A 3D diagram of the movement assembly line; Figure 14 for Figure 13 A magnified structural diagram of part B.

[0025] Explanation of reference numerals in the attached drawings: 1. Material pusher; 2. First vision system; 3. First robotic arm; 4. Reverse valve cover flipping mechanism; 5. Valve cover secondary positioning mechanism; 6. Eccentric gear mounting mechanism; 7. Second robotic arm; 8. Valve cover; 9. Eccentric gear; 10. Valve cover assembly; 11. Core valve seat; 12. Main body of the first robotic arm; 13. Connecting seat; 14. First contouring gripper; 15. First suction cup; 16. First valve cover contouring base; 17. Second contouring gripper; 18. First rotary cylinder; 19. First vertical cylinder; 21. First support; 22. Second valve cover contouring base; 23. Elongated hole; 24. Positioning contouring fixture; 25. Clamping cylinder; 26. Third contouring gripper; 27. Fourth contouring gripper; 28. Second vertical cylinder; 29. ​​First translational guide rail; 30. First servo motor; 31. Vibratory feeder; 32. Eccentric gear transfer assembly; 33. Eccentric gear gripper; 34. Gripper drive assembly; 35. Third vertical cylinder; 36. Second translational guide rail; 37. Second bracket; 38. Installation area; 39. Installation area; 40. Transfer area; 41. First support plate; 42. Second support plate; 43. Third support plate; 44. First sliding cylinder; 45. Second sliding cylinder; 46. Third sliding cylinder; 47. Valve cover drive assembly; 48. Sixth contour gripper; 51. Storage bin; 52. Base plate; 53. Stepped pusher mechanism; 54. Pusher plate; 55. Lifting cylinder; 56. C-shaped conveyor belt; 58. First screening mechanism; 59. First screening baffle; 60. Screening cylinder; 61. First conveyor belt; 62. Second conveyor belt; 63. C-shaped material channel; 64. Third baffle; 65. Second screening baffle; 71. Second robot arm body; 72. Fifth gripper; 73. Mechanism assembly line; 74. Assembly line material channel; 75. Lifting and clamping cylinder assembly; 76. Second vision system. Detailed Implementation

[0026] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0030] Example This embodiment provides an automated assembly line for loading and installing the valve cover of a gas meter movement, such as... Figure 1 and Figure 2 As shown, it includes a material storage pusher 1, a first vision system 2, a first robotic arm 3, a reverse valve cover flipping mechanism 4, a valve cover secondary positioning mechanism 5, an eccentric gear mounting mechanism 6, a second robotic arm 7, and a machine core assembly line 73 arranged in sequence.

[0031] Storage pusher 1 is used to store and convey valve cover 8 outwards, such as Figure 3 and Figure 4 As shown, it includes a storage bin 51, a stepped pusher mechanism 53, a C-shaped material conveyor belt 56, and a first screening mechanism 58.

[0032] The storage hopper 51 is used to store the valve cover 8. The bottom plate 52 of the storage hopper 51 is inclined, so that the material in the valve cover slides down the inclined bottom plate 52 under its own gravity onto the bottom push plate 54. The storage hopper 51 is also equipped with a photoelectric sensor to provide an early warning when the hopper is low on material, reminding personnel to replenish the storage hopper 51. It should be noted that... Figure 5 The neat arrangement of the valve covers 8 on the bottom plate 52 is only for illustration. In actual production, the valve covers 8 dumped in the storage bin 51 are scattered and disorderly.

[0033] Stepped push plate mechanism 53, such as Figure 5 As shown, it includes multiple push plates 54 and lifting cylinders 55 corresponding to the multiple push plates 54. The push plates 54 have an initial position at the bottom and a lifting position at the top. Taking the bottommost push plate 54 as an example, when the push plate 54 is in the initial position, the height of the push plate 54 is lower than the bottom of the bottom plate 52 of the storage bin 51. In this way, the valve cover material will slide onto the push plate 54. Then, the push plate 54 moves upward to the lifting position under the drive of the lifting cylinders 55. In this way, the multiple push plates 54, driven by the corresponding lifting cylinders 55, gradually lift the valve cover 8 located in the storage bin 51 onto the C-shaped material conveyor belt 56.

[0034] The first screening mechanism 58 is installed above the push plate 54, such as... Figure 4 As shown, it includes a first screening baffle 59 and a screening cylinder 60 for driving the first screening baffle 59 to screen materials. When the upper-level push plate 54 lifts multiple valve covers 8 to the corresponding positions, the first screening baffle 59, driven by the screening cylinder 60, pushes the excess valve covers 8 on the upper-level push plate 54 back to the lower-level push plate 54 or the storage bin 51. This ensures that there are only a single layer and a small number of valve covers on the push plate, fundamentally avoiding material jamming and double-plate overlap entering the subsequent system, thus ensuring the reliability of the process. Furthermore, the uppermost push plate 54 has second screening baffles 65 spaced apart along its length. The second screening baffles can further disperse and screen the valve covers, thereby enhancing the screening effect.

[0035] The C-shaped conveyor belt 56 moves the valve cover 8 to the recognition area of ​​the first vision system 2, such as... Figure 6 As shown, the C-shaped material conveyor belt 56 includes a first conveyor belt 61 and a second conveyor belt 62 arranged vertically, and a C-shaped material channel 63 connecting the first conveyor belt 61 and the second conveyor belt 62, as shown. Figure 7 As shown, the inner cavity height H1 of the C-shaped material channel 63 is less than the height of the valve cover 8 when it is set upright. This forces any valve cover 8 attempting to enter the material channel upright to be forcibly knocked down, thus compelling all valve covers 8 to enter the visual recognition area with their front or back facing upwards. Since only the front / back orientation and rotation angle need to be determined, this greatly simplifies the recognition algorithm of the first vision system 2, improving recognition speed and reliability. A third baffle 64 is provided on the side of the first conveyor belt 61 away from the stepped pusher mechanism 53. The third baffle 64 extends to the entrance of the C-shaped material channel 63, preventing the valve cover 8 from falling off the first conveyor belt 61.

[0036] like Figure 1 and Figure 6As shown, the first vision system 2 takes a picture of the incoming valve cover 8 to identify its front / back information and transmits this information to the first robotic arm 3. When the valve cover 8 is facing up, the first robotic arm 3 moves the valve cover 8 to the valve cover secondary positioning mechanism 5. When the valve cover 8 is facing down, the first robotic arm 3 moves the valve cover 8 to the valve cover flipping mechanism 4. The valve cover flipping mechanism 4 flips the valve cover 8 to face up, and then the first robotic arm 3 moves the flipped valve cover 8 to the valve cover secondary positioning mechanism 5. It should be noted that in addition to identifying the front / back information, the system also identifies the random posture information of the valve cover 8, including its coordinates and rotation angle, which guides the subsequent grasping actions of the first robotic arm 3. The first vision system 2 also compares the image information of the incoming material 8 with the complete image information already recorded in the image library. When the material 8 is complete, it is transferred to the corresponding assembly area by the first robotic arm 3. When the material 8 is damaged, it is transferred to the waste area by the first robotic arm 3. When the material 8 is a mixture of multiple materials, the first vision system 2 compares the image information of the incoming material 8 with the image information of each type of material already recorded in the image library, and then transfers it to the corresponding area by the first robotic arm 3.

[0037] First robotic arm 3, such as Figure 8 As shown, it includes a first robotic arm body 12, a connecting seat 13 driven to rotate by the first robotic arm body 12, a first contouring gripper 14 and a first suction cup 15 respectively mounted on both sides of the connecting seat 13. The first contouring gripper 14 is used to grasp the valve cover 8 facing upwards and transfer it to the valve cover secondary positioning mechanism 5. The first suction cup 15 is used to pick up the valve cover 8 facing downwards and transfer it to the reverse valve cover flipping mechanism 4. Since the first contouring gripper 14 and the first suction cup 15 are both driven by the same robotic arm body, the structure is simpler and more compact, reducing production costs.

[0038] Reverse valve cover flipping mechanism 4, such as Figure 9 As shown, it includes: a first valve cover contour base 16 for placing the valve cover 8; a second contour gripper 17 disposed above the first valve cover contour base 16 for gripping the valve cover 8; a first rotary cylinder 18 with the second contour gripper 17 fixed at its front end for driving the second contour gripper 17 to perform a flipping action; and a first vertical cylinder 19 with the first rotary cylinder 18 disposed on its side for driving the second contour gripper 17 along a first direction ( Figure 9 (Moves along the Z-axis).

[0039] The valve cover secondary positioning mechanism 5 performs secondary positioning on the valve cover 8, and then moves it to the eccentric gear mounting mechanism 6, such as... Figure 10As shown, it includes: a first bracket 21 having a second valve cover contour base 22 mounted on its front side, and elongated holes 23 located on both sides of the second valve cover contour base 22, the second valve cover contour base 22 being used to place the valve cover 8; a positioning contour clamp 24 including a clamping cylinder 25 mounted on the back side of the first bracket 21, and a third contour clamp 26 driven by the clamping cylinder 25, the third contour clamp 26 extending from the elongated holes 23 for clamping and positioning the valve cover 8; and a fourth contour clamp 27 movably mounted on the... Above the second valve cover contour base 22, it is used to clamp the valve cover 8 and transfer it to the eccentric gear mounting mechanism 6; the second vertical cylinder 28 is installed on the side of the first translation guide rail 29, and the fourth contour gripper 27 is provided on its side. The second vertical cylinder 28 is used to drive the fourth contour gripper 27 to move along the first direction (Z-axis direction); the first translation guide rail 29 is driven to move by the first servo motor 30, and is used to drive the fourth contour gripper 27 to move along the second direction (X-axis direction). The second direction is perpendicular to the first direction.

[0040] The eccentric gear mounting mechanism 6 assembles the eccentric gear 9 with the valve cover 8 to form the valve cover assembly 10, as shown below. Figure 11As shown, it includes: a vibratory feeder 31 for storing and conveying eccentric gears 9; an eccentric gear transfer assembly 32, disposed at the end of the conveying direction of the vibratory feeder 31, comprising an eccentric gear gripper 33 for gripping the eccentric gear 9, and a gripper drive assembly 34 for driving the eccentric gear gripper 33 to move and install the eccentric gear 9 onto the valve cover 8, the gripper drive assembly 34 comprising a third vertical cylinder 35 and a second translational guide rail 36, the third vertical cylinder 35 being mounted on the side of the second translational guide rail 36, and the eccentric gear gripper 33 being disposed on its side, the third vertical cylinder 35 being used to drive the eccentric gear gripper 33 to move along a first direction, the second translational guide rail 36 being driven by a second servo motor to drive the eccentric gear gripper 33 to move along a third direction, the third direction being perpendicular to the first direction; and a second bracket 37 having a waiting area 38, an installation area 39, and a transfer area 4 arranged sequentially. 0. The installation area 38, the installation area 39, and the transfer area 40 are all provided with a third valve cover conformal base adapted to the valve cover 8; the valve cover drive assembly 47 is used to drive the valve cover 8 of the second bracket 37 to switch between various areas. The valve cover drive assembly 47 includes a first support plate 41, a second support plate 42, a third support plate 43, a first sliding cylinder 44, a second sliding cylinder 45, and a third sliding cylinder 46. Two clamping cylinders for gripping the valve cover 8 are installed on the first support plate 41. The valve cover assembly has a sixth contour gripper 48, and a first support plate 41 is slidably mounted on a second support plate and moves along a second direction (X-axis direction) under the drive of a first sliding cylinder 44, which is mounted on the second support plate 42; a second sliding cylinder 45 is mounted on a third support plate 43 and is used to drive the second support plate 42 to move along a first direction (Z-axis direction); a third sliding cylinder 46 is connected to the third support plate 43 and is used to drive the third support plate 43 to move along a third direction (Y-axis direction).

[0041] Second robotic arm 7, such as Figure 12 As shown, it includes a second robotic arm body 71 and a fifth gripper 72 driven by the second robotic arm body 71. The fifth gripper 72 grips the valve cover assembly 10 and installs it on the core valve seat 11.

[0042] Movement production line 73, such as Figure 13 and Figure 14As shown, it includes a conveyor channel 74 for conveying the movement valve seat 11, and a lifting and clamping cylinder assembly 75 for positioning the movement valve seat 11; a second vision system 76, disposed above the conveyor channel 74, photographs the incoming movement valve seat 11 to identify its coordinate information and guides the second robotic arm 7 to assemble the valve cover assembly 10 with the movement valve seat 11. It should be noted that in this embodiment, both the first vision system 2 and the second vision system 76 are CCD vision systems.

[0043] The working principle of the assembly line of this invention is as follows: S1, the valve cover material is manually poured directly into the storage bin 51. The valve cover material is lifted by the multi-stage push plate 54 of the stepped push plate mechanism 53 and then lifted onto the C-shaped material channel conveyor belt 56. The C-shaped material channel conveyor belt 56, driven by the drive motor, transports the valve cover material to the end. At this time, the photoelectric sensor is triggered, indicating that the valve cover material has arrived and triggering the next action. S2, after the valve cover 8 material arrives at the recognition area of ​​the first vision system 2, the first vision system 2 with a light source takes a picture of the incoming material and identifies the coordinate information of the valve cover 8 material. When the identified valve cover 8 material is face up, the first vision system 2 transmits the face-up information and key point coordinates to the first robotic arm 3. The first robotic arm body 12 drives the dedicated first contouring gripper 14 to accurately grasp the material according to the key point coordinates and transfer it to the contouring base of the valve cover secondary positioning mechanism 5. When the identified valve cover 8 material is face down, the first vision system 2 transmits the face-down information and key point coordinates to the first robotic arm 3. The first robotic arm body 12 drives the first suction... The disc 15 accurately picks up the valve cover 8 based on the key point coordinates and transfers it to the reverse valve cover flipping mechanism 4. The valve cover 8 with the reverse side facing up is placed into the first valve cover contour base 16 and clamped by the second contour gripper 17. The first vertical cylinder 19 moves along the first direction (upward) and is then flipped by the first rotary cylinder 18. After flipping 180 degrees, the valve cover with the reverse side facing up becomes the front side facing up. At this time, the first vertical cylinder 19 moves downward to reset. After resetting, the second contour gripper 17 releases, and the valve cover 8 with the front side facing up falls into the first valve cover contour base 16. Then, the first robotic arm 3 transfers the valve cover 8 with the front side facing up to the contour base of the valve cover secondary positioning mechanism 5. S3, after the valve cover 8 reaches the valve cover secondary positioning mechanism 5, it is placed on the second valve cover contour base 22, and the positioning contour clamp 24 performs secondary positioning and angle correction on it; after the fourth contour clamp 27 grabs the valve cover 8, the positioning contour clamp 24 is released, and at the same time the second vertical cylinder 28 moves upward, and the first servo motor 30 drives the first translation guide rail 29 to grab and translate the valve cover 8 into the contour base of the eccentric gear mounting mechanism 6 in the installation area 38. After the valve cover 8 material is placed, the valve cover secondary positioning mechanism 5 resets and repeats the cycle for the next material. S4, after the valve cover reaches the installation area 38, it first stays in the contour base of the installation area 38. The sixth contour gripper 48 picks up the valve cover 8 from the installation area 38, and the valve cover drive assembly 47 drives the sixth contour gripper 48 to move it to the installation area 39. The vibratory feeder 31 continuously feeds the eccentric gear 9. The eccentric gear gripper 33 picks up the eccentric gear 9 and is driven by the gripper drive assembly 34 to install the eccentric gear 9 on the valve cover 8 in the installation area 39. After the eccentric gear 9 is installed, the sixth contour gripper 48 picks up the valve cover 8 after the eccentric gear 9 is installed, and the valve cover drive assembly 47 drives it to move it to the contour base in the post-installation transfer area 40. S5, the fifth gripper 72 of the second robotic arm 7 takes out the material from the station of the eccentric gear mounting area 40, and guides the installation point coordinates guided by the second vision system 76 above the core assembly line 73 to accurately install the valve cover assembly 10 onto the core valve seat 11. S6, after the movement on the movement assembly line 73 completes the assembly of the valve cover assembly 10, the lifting and clamping cylinder assembly 75 is released, and the movement assembly flows to the downstream production process through the production line material channel 74; the newly arrived movement assembly to be assembled in the production line material channel repeats the above-mentioned fully automatic assembly action of feeding and installation.

[0044] This process is repeated continuously, enabling the automatic assembly of the entire process of feeding and installing gas meter cores without human intervention, even when the valve cover is in a scattered and disordered state. This breaks through the key bottlenecks in the automation of the entire gas meter core production process.

[0045] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An automated assembly line for loading and installing the valve cover of a gas meter movement, characterized in that, The system includes a material pusher (1), a first vision system (2), a first robotic arm (3), a reverse valve cover flipping mechanism (4), a valve cover secondary positioning mechanism (5), an eccentric gear mounting mechanism (6), and a second robotic arm (7), arranged in sequence. A storage pusher (1) is used to store and convey valve covers (8) to the outside. The first vision system (2) takes a picture of the incoming valve cover (8) to identify the front / back information of the valve cover (8) and transmits the information to the first robot (3). When the valve cover (8) is facing up, the first robot (3) moves the valve cover (8) to the valve cover secondary positioning mechanism (5). When the valve cover (8) is facing down, the first robot (3) moves the valve cover (8) to the reverse valve cover flipping mechanism (4). After the reverse valve cover flipping mechanism (4) flips the valve cover (8) to face up, the first robot (3) then moves the flipped valve cover (8) to the valve cover secondary positioning mechanism (5). The valve cover secondary positioning mechanism (5) performs secondary positioning on the valve cover (8) and then moves it to the eccentric gear mounting mechanism (6). An eccentric gear mounting mechanism (6) assembles an eccentric gear (9) with the valve cover (8) to form a valve cover assembly (10). The second robotic arm (7) installs the valve cover assembly (10) onto the core valve seat (11).

2. The automated assembly line for feeding and installing the gas meter core valve cover according to claim 1, characterized in that, The first robotic arm (3) includes a first robotic arm body (12), a connecting seat (13) driven to rotate by the first robotic arm body (12), a first contour gripper (14) and a first suction cup (15) respectively installed on both sides of the connecting seat (13). The first contour gripper (14) is used to grasp the valve cover (8) facing upward and transfer it to the valve cover secondary positioning mechanism (5). The first suction cup (15) is used to pick up the valve cover (8) facing downward and transfer it to the reverse valve cover flipping mechanism (4).

3. The automated assembly line for feeding and installing the gas meter movement valve cover according to claim 1, characterized in that, The reverse valve cover flipping mechanism (4) includes: First valve cover contour base (16) is used to place the valve cover (8); The second contour gripper (17) is positioned above the first valve cover contour base (16) and is used to grip the valve cover (8). The first rotary cylinder (18) has the second contour gripper (17) fixed at its front end, which is used to drive the second contour gripper (17) to perform a flipping action; The first vertical cylinder (19) has the first rotary cylinder (18) on its side, which is used to drive the second contour gripper (17) to move along the first direction.

4. The automated assembly line for feeding and installing the gas meter core valve cover according to claim 1, characterized in that, The valve cover secondary positioning mechanism (5) includes: The first bracket (21) has a second valve cover profiled base (22) mounted on its front side, and elongated holes (23) on both sides of the second valve cover profiled base (22), the second valve cover profiled base (22) being used to place the valve cover (8); The positioning and contouring fixture (24) includes a clamping cylinder (25) mounted on the back of the first bracket (21) and a third contouring gripper (26) driven by the clamping cylinder (25). The third contouring gripper (26) extends from the elongated hole (23) and is used to clamp and position the valve cover (8). The fourth contour gripper (27) is movably mounted above the second valve cover contour base (22) for gripping the valve cover (8) and transferring it to the eccentric gear mounting mechanism (6). The second vertical cylinder (28) is installed on the side of the first translation guide rail (29), and the fourth contour gripper (27) is provided on its side. The second vertical cylinder (28) is used to drive the fourth contour gripper (27) to move along the first direction. The first translation guide rail (29) is driven to move by the first servo motor (30) to drive the fourth contour gripper (27) to move along the second direction, which is perpendicular to the first direction.

5. The automated assembly line for feeding and installing the gas meter movement valve cover according to claim 1, characterized in that, The eccentric gear mounting mechanism (6) includes: Vibratory feeder (31) for storing and feeding out eccentric gears (9); An eccentric gear transfer assembly (32) is located at the end of the conveying direction of the vibratory feeder (31). It includes an eccentric gear gripper (33) for gripping the eccentric gear (9) and a gripper drive assembly (34) for driving the eccentric gear gripper (33) to move and install the eccentric gear (9) on the valve cover (8). The gripper drive assembly (34) includes a third vertical cylinder (35) and a second translation guide rail (36). The third vertical cylinder (35) is installed on the side of the second translation guide rail (36), and the eccentric gear gripper (33) is provided on its side. The third vertical cylinder (35) is used to drive the eccentric gear gripper (33) to move along a first direction. The second translation guide rail (36) is driven by a second servo motor and is used to drive the eccentric gear gripper (33) to move along a third direction. The third direction is perpendicular to the first direction. The second bracket (37) has a waiting area (38), an installation area (39) and a transfer area (40) arranged in sequence. The waiting area (38), the installation area (39) and the transfer area (40) are each provided with a third valve cover conformal base that is adapted to the valve cover (8). A valve cover drive assembly (47) is used to drive the valve cover (8) of the second bracket (37) to switch between various regions.

6. The automated assembly line for feeding and installing the gas meter movement valve cover according to claim 1, characterized in that, The material pusher (1) includes: The storage bin (51) is used to store the valve cover (8), and the bottom plate (52) of the storage bin (51) is inclined. The stepped push plate mechanism (53) includes multi-stage push plates (54) and lifting cylinders (55) corresponding to the multiple push plates (54). Under the drive of the corresponding lifting cylinders (55), the multi-stage push plates (54) lift the valve cover (8) located in the storage bin (51) onto the C-shaped material conveyor belt (56). The C-type conveyor belt (56) moves the valve cover (8) to the recognition area of ​​the first vision system (2).

7. The automated assembly line for feeding and installing the gas meter core valve cover according to claim 6, characterized in that, The material pusher (1) also includes: The first screening mechanism (58) is installed above the push plate (54). It includes a first screening baffle (59) and a screening cylinder (60) for driving the first screening baffle (59) to screen materials. When the push plate (54) of the upper level lifts multiple valve covers (8) to the corresponding positions, the first screening baffle (59) is driven by the screening cylinder (60) to push the excess valve covers (8) on the push plate (54) of the upper level back to the push plate (54) of the next level or into the storage bin (51).

8. The automated assembly line for loading and installing the gas meter core valve cover according to claim 6 or 7, characterized in that, The push plate (54) located at the top has second screen baffles (65) spaced apart along its length.

9. The automated assembly line for loading and installing the gas meter core valve cover according to claim 8, characterized in that, The C-shaped material conveyor belt (56) includes a first conveyor belt (61) and a second conveyor belt (62) arranged vertically, and a C-shaped material channel (63) connecting the first conveyor belt (61) and the second conveyor belt (62). The inner height of the C-shaped material channel (63) is less than the height of the valve cover (8) arranged on its side.

10. The automated assembly line for feeding and installing the gas meter movement valve cover according to claim 9, characterized in that, A third baffle (64) is provided on the side of the first conveyor belt (61) away from the stepped pusher mechanism (53), and the third baffle (64) extends to the entrance of the C-shaped material channel (63).

11. The automated assembly line for feeding and installing the gas meter movement valve cover according to claim 1, characterized in that, The second robotic arm (7) includes a second robotic arm body (71) and a fifth gripper (72) driven by the second robotic arm body (71), the fifth gripper (72) gripping the valve cover assembly (10) and mounting it on the core valve seat (11).

12. The automated assembly line for loading and installing the gas meter movement valve cover according to claim 1, characterized in that, Also includes: The movement assembly line (73) includes a conveyor channel (74) for conveying the movement valve seat (11) and a lifting clamping cylinder assembly (75) for positioning the movement valve seat (11). The second vision system (76) is set above the material channel (74) of the production line. It takes pictures of the incoming core valve seat (11) to identify the coordinate information of the core valve seat (11) and guides the second robot (7) to assemble the valve cover assembly (10) with the core valve seat (11).

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