Water jet end cap mounting device

Abstract

The utility model relates to valve body assembling technical field especially relates to water jet end cover mounting device, the utility model discloses water jet end cover mounting device through integrated conveying mechanism, end cover feeding mechanism, second manipulator, visual inspection mechanism and waste recovery mechanism, realize the full process automation from preloading, detection to assembly of end cover, and the efficiency is improved significantly. End cover feeding mechanism completes the preloading of O ring and end cover, avoids the O ring tensile deformation or lip damage due to manual operation, the visual inspection mechanism can real -time screening unqualified end cover, and is collected centrally through waste recovery mechanism, and effectively guarantees the assembly quality, and the second manipulator accurately positions end cover and valve body, reduces manual positioning error, and the modular design is convenient for adapting different specifications water jet end cover, and the versatility is strong.

Description

Technical Field

[0001] This utility model relates to the field of valve body assembly technology, and in particular to a water jet end cap mounting device. Background Technology

[0002] Water ejectors are key components in fluid systems such as plumbing and air conditioning. The assembly precision of their end caps and valve bodies directly affects the sealing performance and service life of the water ejector. Currently, the installation of water ejector end caps mostly relies on manual labor or semi-automatic equipment, which presents the following problems: In existing assembly methods, the pre-assembly of the end cap and O-ring requires manual work. Due to uneven force and angle deviations when manually opening the O-ring, it is easy to cause the O-ring to stretch and deform or the lip to be damaged. Furthermore, there is a lack of effective inspection after pre-assembly, and unqualified end caps go directly into the assembly process, which can easily cause valve body sealing failure. In addition, the relative position of the valve body and the end cap needs to be manually positioned during end cap installation, which is inefficient and has large positioning deviations, resulting in a high rework rate after assembly. Utility Model Content

[0003] To solve the above-mentioned technical problems, this utility model provides a water jet ejector end cap mounting device, comprising: frame; A conveying mechanism, which is mounted on the frame and is used to convey and fix the valve body; End cap feeding mechanism: The end cap feeding mechanism is used to complete the pre-assembly of O-rings and end caps and output the pre-assembled end caps; The second robotic arm is capable of gripping the end caps output from the end cap feeding mechanism and installing them into the valve body on the conveying mechanism; The frame is also equipped with a vision inspection mechanism, which is used to detect whether the end cap held by the second robotic arm meets the assembly requirements. The vision inspection mechanism is electrically connected to the second robotic arm. The frame is also equipped with a waste recycling mechanism, which can receive unqualified end caps transferred by the second robotic arm.

[0004] In some possible embodiments, the end cap feeding mechanism includes a first feeding component, a second feeding component, and a positioning and spreading component; both the first feeding component and the second feeding component are mounted on the frame; the positioning and spreading component is mounted on the frame, and a first robotic arm is provided on the frame. The first robotic arm can sequentially transfer the O-rings output by the first feeding component and the end caps output by the second feeding component to the positioning and spreading component, respectively. The positioning and spreading component can spread the O-rings and fit them onto the end caps.

[0005] In some possible embodiments, the positioning and opening assembly includes a support and an opening and closing cylinder mounted on the support. The support is mounted on the frame. The opening and closing end of the opening and closing cylinder is upwardly positioned and has a pair of grippers. A pushing assembly is provided on the support. The first robot arm can fit the O-ring output by the first feeding assembly onto the upper end of the pair of grippers. The first robot arm can fasten the end cap output by the second feeding assembly onto the upper end of the pair of grippers. The opening and closing cylinder can drive the pair of grippers to open the O-ring. The pushing assembly can push the O-ring opened on the pair of grippers and fit it onto the end cap.

[0006] In some possible embodiments, the pushing assembly includes a lifting cylinder mounted on the support, an L-shaped support plate provided on the output end of the lifting cylinder, a through hole provided on the horizontal section of the L-shaped support plate, and the upward ends of the two grippers movably passing through the through hole. The lifting cylinder can drive the L-shaped support plate to push the O-rings spread on the pair of grippers toward and fit them onto the end cap.

[0007] In some possible embodiments, an oil spraying assembly is also included, which includes an oil spraying gun and an oil shield. The oil spraying gun is mounted on the positioning and spreading assembly or the frame and is positioned upwards. The oil shield is fitted onto the oil spraying gun and extends through the bottom of the oil shield. The first robotic arm can place the end caps output by the second feeding assembly into the oil shield. The oil spraying gun can spray oil onto the end caps inside the oil shield. The first robotic arm can transfer the oil-sprayed end caps inside the oil shield to the positioning and spreading assembly.

[0008] In some possible embodiments, the first feeding assembly includes a vibratory feeder and a first CCD camera, the vibratory feeder being mounted on a frame, the first CCD camera being mounted on the frame directly above the vibratory feeder, and the first CCD camera being connected to a first robotic arm.

[0009] In some possible embodiments, the visual inspection mechanism includes a first bracket and a second CCD camera mounted on the first bracket, the first bracket being mounted on the frame and located below the working area of ​​the second robotic arm.

[0010] In some possible embodiments, the waste recycling mechanism includes a base, a receiving cylinder disposed on the base, and a receiving box mounted on the extended end of the receiving cylinder. The base is mounted on a frame and located on one side of the vision inspection mechanism. The receiving cylinder is capable of driving the receiving box to move to receive defective end caps transferred by the second robotic arm.

[0011] In some possible embodiments, the second manipulator includes a frame mounted on a machine frame, a horizontal slide mounted on the frame, a main lifting cylinder mounted on the horizontal slide, a mounting base mounted on the output end of the main lifting cylinder, and a secondary lifting cylinder mounted on the mounting base. The telescopic end of the secondary lifting cylinder is provided with a gripping hand, which is capable of gripping or releasing the end caps output by the end cap feeding mechanism.

[0012] Compared with existing technologies, the advantages of this utility model are as follows: The water jet ejector end cap installation device of this utility model achieves full automation of the end cap from pre-assembly and inspection to final assembly by integrating a conveying mechanism, an end cap feeding mechanism, a second robotic arm, a vision inspection mechanism, and a waste recycling mechanism, thereby improving assembly efficiency. Specifically, the end cap feeding mechanism completes the pre-assembly of the O-ring and end cap, avoiding O-ring stretching deformation or lip damage caused by manual operation; the vision inspection mechanism can screen out unqualified end caps in real time and collect them centrally through the waste recycling mechanism, effectively ensuring assembly quality; the second robotic arm accurately positions the end cap and valve body, reducing manual positioning errors, and its modular design facilitates adaptation to different specifications of water jet ejector end caps, making it highly versatile. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A three-dimensional structural schematic diagram of the water jet ejector end cap mounting device provided in this embodiment of the utility model; Figure 2 A partial structural schematic diagram of the water jet ejector end cap mounting device provided in this embodiment of the utility model; Figure 3 This is a schematic diagram of the positioning and spreading component provided in an embodiment of the present utility model; Figure 4 This is a schematic diagram of the structure of the second robotic arm provided in an embodiment of the present invention.

[0015] Reference numerals: Frame 100, Conveying mechanism 200, End cap feeding mechanism 300, First feeding assembly 310, Vibratory feeder 311, First CCD camera 312, Second feeding assembly 320, Positioning and opening assembly 330, Support 331, Opening and closing cylinder 332, Gripper 333, Pushing assembly 340, Lifting cylinder 341, L-shaped support plate 342, Through hole 343, Oil spraying assembly 350, Oil spraying gun 351, Oil shield 352, First robotic arm 360, Second robotic arm 400, Frame 410, Horizontal slide 420, Main lifting electric cylinder 430, Mounting base 440, Auxiliary lifting electric cylinder 450, Clamping gripper 460, Vision inspection mechanism 500, First bracket 510, Second CCD camera 520, Waste recycling mechanism 600, Base 610, Receiving cylinder 620, Receiving box 630. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Reference Figures 1 to 4 The water jet ejector end cap installation device shown includes a frame 100, a conveying mechanism 200, an end cap feeding mechanism 300, a second robot arm 400, a vision inspection mechanism 500, and a waste recycling mechanism 600. The conveying mechanism 200 is mounted on the frame 100 and is used to convey and fix the valve body. The end cap feeding mechanism 300 is used to pre-assemble the O-ring and end cap and output the pre-assembled end cap. The second robot arm 400 can clamp the end cap output from the end cap feeding mechanism 300 and install it into the valve body on the conveying mechanism 200. The frame 100 is equipped with a vision inspection mechanism 500, which is used to detect whether the end cap clamped by the second robot arm 400 meets the assembly requirements. The vision inspection mechanism 500 is electrically connected to the second robot arm 400. The frame 100 is equipped with a waste recycling mechanism 600, which can receive unqualified end caps transferred by the second robot arm 400.

[0018] Specifically, the frame 100 is a welded profile structure, providing the installation foundation for each mechanism; the conveying mechanism 200 is a chain conveyor with positioning fixtures spaced apart on it to fix the valve body and ensure the stability of the valve body position during assembly; the end cap feeding mechanism 300, the vision inspection mechanism 500, and the waste recycling mechanism 600 are arranged sequentially along the conveying direction of the conveying mechanism 200; the second robot arm 400 is straddling the conveying mechanism 200 and can move between the mechanisms to realize the actions between different workstations.

[0019] This device achieves full automation from pre-assembly to final assembly of end caps through the coordinated operation of various mechanisms. The combination of visual inspection and waste recycling ensures assembly quality and solves the problems of low efficiency and unstable quality in traditional assembly.

[0020] Reference Figure 1 , Figure 2 and Figure 3 The end cap feeding mechanism 300 includes a first feeding component 310, a second feeding component 320, and a positioning and spreading component 330. The first feeding component 310 and the second feeding component 320 are both mounted on the frame 100. O-rings are fed from the first feeding component 310, and end caps are fed from the second feeding component 320. The positioning and spreading component 330 is mounted on the frame 100. A first robot arm 360 is provided on the frame 100. The first robot arm 360 can sequentially transfer the O-rings output from the first feeding component 310 and the end caps output from the second feeding component 320 to the positioning and spreading component 330. The positioning and spreading component 330 can spread the O-rings and fit them onto the end caps. The second robot arm 400 can clamp the assembled end caps on the positioning and spreading component 330 and install them into the valve body on the conveying mechanism 200. The first robotic arm 360 is equipped with grippers or vacuum suction cups at its end that are compatible with O-rings and end caps, and can switch gripping methods according to the shape of the material.

[0021] In the above embodiments, the first feeding assembly 310 includes a vibratory feeder 311 and a first CCD camera 312. The vibratory feeder 311 transports O-rings to the output end in an orderly manner via a spiral track. The first CCD camera 312 is mounted directly above the output end to identify the orientation and position of the O-rings and transmits the signal to the first robotic arm 360 to ensure that the first robotic arm 360 accurately grasps the O-rings. If the O-rings are oriented incorrectly, the screening mechanism of the vibratory feeder 311 will return them to the hopper for reordering. Furthermore, the second feeding assembly 320 may adopt a vibratory feeder structure similar to the first feeding assembly 310, or it may use a linear vibration method to output the end caps one by one according to their shape, ensuring that the end caps are output in an orderly manner and with consistent orientation, facilitating grasping by the first robotic arm 360.

[0022] Reference Figure 2 and Figure 3The positioning and opening component 330 includes a support 331 and an opening and closing cylinder 332 mounted on the support 331. The support 331 is mounted on the frame 100. The opening and closing end of the opening and closing cylinder 332 is set upward and is provided with a pair of grippers 333. The support 331 is provided with a pushing component 340. The first robot arm 360 can put the O-ring output by the first feeding component 310 onto the upper end of the pair of grippers 333. The first robot arm 360 can fasten the end cap output by the second feeding component 320 onto the upper end of the pair of grippers 333. The opening and closing cylinder 332 can drive the pair of grippers 333 to open the O-ring. The pushing component 340 can push the O-ring opened on the pair of grippers 333 and put it onto the end cap.

[0023] During operation, the first robotic arm 360 first places the O-ring on the upper end of the gripper 333, and the opening and closing cylinder 332 drives the gripper 333 to open, expanding the O-ring to a size that matches the end cap groove. Then, the first robotic arm 360 fastens the end cap onto the upper end of the gripper 333, and the pushing component 340 pushes the O-ring upward, causing the O-ring to detach from the gripper 333 and fit into the groove of the end cap or the preset installation position, completing the pre-installation.

[0024] Reference Figure 3 The pushing assembly 340 includes a lifting cylinder 341 and an L-shaped support plate 342. The lifting cylinder 341 is vertically mounted on the side of the support 331. The vertical section of the L-shaped support plate 342 is connected to the output end of the lifting cylinder 341, and the horizontal section has a through hole 343 through which the gripper 333 passes. When the O-ring is opened and the end cap is in place, the lifting cylinder 341 drives the L-shaped support plate 342 to rise, and the horizontal section pushes the O-ring to slide upward along the gripper 333 until it is fitted into the groove or a preset position of the end cap. The diameter of the through hole 343 is slightly larger than the maximum opening size of the gripper 333 to avoid interference with the opening and closing action of the gripper 333.

[0025] Reference Figure 3 This device also includes an oil spraying assembly 350, used to spray lubricant before fitting the O-ring onto the end cap, reducing frictional damage during assembly and improving subsequent sealing performance. The oil spraying assembly 350 includes an oil spray gun 351 and an oil shield 352; the oil spray gun 351 is mounted on a support 331 and extends upwards through the bottom of the oil shield 352, which prevents lubricant splashing during spraying. During operation, the first robotic arm 360 transfers the end cap from the second loading assembly 320 into the oil shield 352, and the oil spray gun 351 sprays an appropriate amount of lubricant into the groove of the end cap; after completion, the first robotic arm 360 transfers the end cap to the positioning and spreading assembly 330 for O-ring fitting. The addition of lubricant reduces frictional damage during O-ring fitting and improves the sealing performance of the end cap and valve body assembly in the later stages.

[0026] In the above embodiment, the vibratory feeder 311 of the first feeding component 310 orderly conveys the O-rings to the output end and adjusts the position and spatial orientation of the O-rings. The first CCD camera 312 identifies and confirms the position and orientation of the O-rings. The first robotic arm 360 grasps the O-rings and mounts them onto the gripper 333 of the positioning and opening component 330. The opening and closing cylinder 332 drives the gripper 333 to open, opening the O-rings to a preset size. The output end of the second feeding component 320 is covered, and the first robotic arm... The first robotic arm 360 grips the end cap and transfers it into the oil shield 352 of the oil spraying assembly 350. The oil spray gun 351 sprays oil onto the groove or mounting position of the end cap. The first robotic arm 360 then attaches the oiled end cap to the upper end of the gripper 333. The lifting cylinder 341 drives the L-shaped support plate 342 to rise, pushing the O-ring into the groove or mounting position of the end cap. The opening and closing cylinder 332 drives the gripper 333 to close, and the first robotic arm 360 grips the pre-installed end cap and transfers it to the next process.

[0027] Reference Figure 4 To better clamp and assemble the end caps into the valve body of the conveying mechanism 200, the second robotic arm 400 includes a frame 410 mounted on the frame 100, a horizontal slide 420 mounted on the frame 410, a main lifting cylinder 430 mounted on the horizontal slide 420, a mounting base 440 mounted on the output end of the main lifting cylinder 430, and an auxiliary lifting cylinder 450 mounted on the mounting base 440. The telescopic end of the auxiliary lifting cylinder 450 is equipped with a gripper 460, which can grip or release the end caps output from the end cap feeding mechanism 300. Specifically, the gripper 460 can grip or release the end caps that have already been assembled on the gripper 333, and then assemble them onto the valve body of the conveying mechanism 200. Both the auxiliary lifting cylinder 450 and the main lifting cylinder 430 adopt a two-stage telescopic structure, which can achieve precise displacement control through a servo motor controller. During the assembly process described above, the second robotic arm 400 needs to grip the pre-assembled end cap and move it to the working area of ​​the vision inspection mechanism 500. After the vision inspection mechanism 500 detects no errors, the horizontal slide 420 drives the main lifting cylinder 430, the auxiliary lifting cylinder 450, the gripper 460, and the assembled end cap together to the valve body of the conveying mechanism 200. If the vision inspection mechanism 500 fails the inspection, the horizontal slide 420 drives the main lifting cylinder 430, the auxiliary lifting cylinder 450, the gripper 460, and the assembled end cap together to the waste recycling mechanism 600, and then the assembly of the next end cap begins.

[0028] Reference Figure 1 and Figure 4The visual inspection mechanism 500 includes a first support 510 and a second CCD camera 520. The first support 510 is fixed on the frame 100 and located below the working area of ​​the second robotic arm 400. The second CCD camera 520 is mounted on the first support 510 with its lens facing upwards, and is used to photograph the end caps held by the second robotic arm 400. The second CCD camera 520 is electrically connected to the second robotic arm 400 and can identify whether the end caps have problems such as missing O-rings, misaligned O-rings, or damaged end caps. If a defective end cap is detected, the second robotic arm 400 will transfer it to the waste recycling mechanism 600. The electrical connection between the second CCD camera 520 and the second robotic arm 400 is a conventional electrical connection. Its control system can refer to the control system in patent CN202022386725.2 - a six-axis robotic arm CCD bonding adhesive film device or CN201710520048.9 - a two-axis robotic arm handling device based on a CCD intelligent vision scanning and acquisition system. This application will not describe it in detail here.

[0029] Reference Figure 1 , Figure 2 and Figure 4 To better receive defective end caps installed on the end cap feeding mechanism 300, the waste recycling mechanism 600 includes a base 610, a receiving cylinder 620, and a receiving box 630. The base 610 is fixed on the frame 100 and located on one side of the vision inspection mechanism 500. The receiving cylinder 620 is horizontally mounted on the base 610, and the receiving box 630 is mounted on the extended end of the receiving cylinder 620 for receiving defective end caps. When the second robotic arm 400 clamps a defective end cap and moves it above the waste recycling mechanism 600, the receiving cylinder 620 drives the receiving box 630 to extend directly below the end cap, and the second robotic arm 400 releases the end cap, allowing it to fall into the receiving box 630. Subsequently, the receiving cylinder 620 drives the receiving box 630 to retract, facilitating regular cleaning by staff and avoiding interference with the movement of the second robotic arm 400.

[0030] The above description is only a preferred embodiment of the present utility model. The scope of protection of the present utility model is determined by the claims. All modifications, equivalent substitutions, etc., made within the scope of the technical solution of the present utility model should be included within the scope of protection of the present utility model.

Claims

1. A water jet ejector end cap mounting device, characterized in that, include: frame; A conveying mechanism, which is mounted on the frame and is used to convey and fix the valve body; End cap feeding mechanism: The end cap feeding mechanism is used to complete the pre-assembly of O-rings and end caps and output the pre-assembled end caps; The second robotic arm is capable of gripping the end caps output from the end cap feeding mechanism and installing them into the valve body on the conveying mechanism; The frame is also equipped with a vision inspection mechanism, which is used to detect whether the end cap held by the second robotic arm meets the assembly requirements. The vision inspection mechanism is electrically connected to the second robotic arm. The frame is also equipped with a waste recycling mechanism, which can receive unqualified end caps transferred by the second robotic arm.

2. The water jet ejector end cap mounting device according to claim 1, characterized in that, The end cap feeding mechanism includes a first feeding component, a second feeding component, and a positioning and spreading component; both the first feeding component and the second feeding component are mounted on the frame; the positioning and spreading component is mounted on the frame, and a first robotic arm is provided on the frame. The first robotic arm can sequentially transfer the O-rings output by the first feeding component and the end caps output by the second feeding component to the positioning and spreading component, respectively. The positioning and spreading component can spread the O-rings and fit them onto the end caps.

3. The water jet ejector end cap mounting device according to claim 2, characterized in that, The positioning and opening assembly includes a support and an opening and closing cylinder mounted on the support. The support is mounted on the frame. The opening and closing end of the opening and closing cylinder is upward and has a pair of grippers. The support is provided with a pushing assembly. The first robot arm can put the O-ring output by the first feeding assembly onto the upper end of the pair of grippers. The first robot arm can fasten the end cap output by the second feeding assembly onto the upper end of the pair of grippers. The opening and closing cylinder can drive the pair of grippers to open the O-ring. The pushing assembly can push the O-ring opened on the pair of grippers and put it onto the end cap.

4. The water jet ejector end cap mounting device according to claim 3, characterized in that, The jacking assembly includes a lifting cylinder mounted on the support. An L-shaped support plate is provided on the output end of the lifting cylinder. A through hole is provided on the horizontal section of the L-shaped support plate. The upward ends of the two grippers both extend through the through hole. The lifting cylinder can drive the L-shaped support plate to push the O-rings spread on the pair of grippers toward and fit them onto the end cap.

5. The water jet ejector end cap mounting device according to claim 2, characterized in that, It also includes an oil spraying assembly, which includes an oil spraying gun and an oil shield. The oil spraying gun is mounted on the positioning and spreading assembly or the frame and is positioned upwards. The oil shield is fitted onto the oil spraying gun and extends through the bottom of the oil shield. The first robotic arm can place the end caps output by the second feeding assembly into the oil shield. The oil spraying gun can spray oil onto the end caps inside the oil shield. The first robotic arm can transfer the oil-sprayed end caps inside the oil shield to the positioning and spreading assembly.

6. The water jet ejector end cap mounting device according to claim 2, characterized in that, The first feeding assembly includes a vibratory feeder and a first CCD camera. The vibratory feeder is mounted on a frame, and the first CCD camera is mounted on the frame directly above the vibratory feeder. The first CCD camera is connected to a first robotic arm.

7. The water jet ejector end cap mounting device according to claim 1, characterized in that, The visual inspection mechanism includes a first bracket and a second CCD camera mounted on the first bracket. The first bracket is mounted on the frame and located below the working area of ​​the second robotic arm.

8. The water jet ejector end cap mounting device according to claim 1, characterized in that, The waste recycling mechanism includes a base, a receiving cylinder mounted on the base, and a receiving box mounted on the extended end of the receiving cylinder. The base is mounted on a frame and located on one side of the vision inspection mechanism. The receiving cylinder can drive the receiving box to move to receive the defective end caps transferred by the second robotic arm.

9. The water jet ejector end cap mounting device according to claim 1, characterized in that, The second robotic arm includes a frame mounted on a machine frame, a horizontal slide table mounted on the frame, a main lifting electric cylinder mounted on the horizontal slide table, a mounting base mounted on the output end of the main lifting electric cylinder, and a secondary lifting electric cylinder mounted on the mounting base. The telescopic end of the secondary lifting electric cylinder is provided with a gripping hand, which can grip or release the end caps output by the end cap feeding mechanism.

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