阅读说明：本技术 液控阀的阀芯和阀套智能配研磨装置 (Intelligent matching grinding device for valve core and valve sleeve of hydraulic control valve ) 是由 朱西薇 熊力 李正睿 赵文峰 张东清 方兵 车飞 于 2019-07-26 设计创作，主要内容包括：本发明公开了一种液控阀的阀芯和阀套智能配研磨装置,其中,自动化配研磨设备中,阀套自动供料机构将阀套输送至定位槽中,机械手用于夹持并定位定位槽中的阀套；研磨棒自动供料机构将研磨棒顶起,研磨棒自动装/卸载机构将研磨棒取走,自动涂研磨膏机构用于将挤出研磨膏涂抹于研磨棒上；电主轴夹紧研磨棒,机械手将阀套套上研磨棒研磨至预设尺寸；自动化装配设备中,精密位移微调平台将研磨后的阀套进行固定并调节,导轨滑台上带动阀芯进行直线运动,并与阀套进行装配,测力计检测装配过程中的力。通过本发明的技术方案,保障研磨时运动平稳,采用高分辨率的测力计准确检测装配中的反馈力数据,从而得到配研磨质量高、一致性好的产品。(The invention discloses an intelligent valve core and valve sleeve lapping and grinding device of a hydraulic control valve, wherein in automatic lapping and grinding equipment, an automatic valve sleeve feeding mechanism conveys a valve sleeve to a positioning groove, and a manipulator is used for clamping and positioning the valve sleeve in the positioning groove; the automatic feeding mechanism of the grinding rod jacks up the grinding rod, the automatic loading/unloading mechanism of the grinding rod takes away the grinding rod, and the automatic grinding paste coating mechanism is used for coating the extruded grinding paste on the grinding rod; the electric main shaft clamps the grinding rod, and the mechanical arm grinds the grinding rod on the valve sleeve to a preset size; in the automatic assembly equipment, the valve sleeve after grinding is fixed and adjusted by the precision displacement fine adjustment platform, the valve core is driven to move linearly on the guide rail sliding table and is assembled with the valve sleeve, and the force in the assembly process is detected by the dynamometer. By the technical scheme, the motion stability during grinding is guaranteed, and the feedback force data in assembly is accurately detected by adopting the dynamometer with high resolution, so that a product with high matching and grinding quality and good consistency is obtained.)

1. The utility model provides a case and valve barrel intelligence of liquid accuse valve device of joined in marriage and grinding which characterized in that includes: automatic blending and grinding equipment and automatic assembling equipment;

The automatic matching and grinding equipment comprises a robot, an electric main shaft, a valve sleeve automatic feeding mechanism, a grinding rod automatic loading/unloading mechanism and an automatic grinding paste coating mechanism,

the automatic valve sleeve feeding mechanism conveys the valve sleeves to the positioning grooves, and the robot is provided with a manipulator which is used for clamping and positioning the valve sleeves in the positioning grooves;

The automatic feeding mechanism of the grinding rods is provided with a material ejecting device, the material ejecting device is driven by a jacking cylinder to eject the grinding rods, the automatic loading/unloading mechanism of the grinding rods takes away the grinding rods, and the material ejecting device is driven by the jacking cylinder to retract to the original position;

The automatic grinding paste coating mechanism is used for extruding grinding paste and coating the extruded grinding paste on the grinding rod taken away by the automatic grinding rod loading/unloading mechanism;

The electric spindle clamps the grinding rod of the automatic grinding rod loading/unloading mechanism, the mechanical arm sleeves the valve sleeve on the grinding rod, and the electric spindle drives the grinding rod to rotate so as to grind the valve sleeve to a preset size;

Automatic assembly equipment includes accurate displacement fine setting platform, guide rail slip table, dynamometer and controller, accurate displacement fine setting platform will grind after the valve barrel is fixed and is adjusted, set up the motor on the guide rail slip table and drive the case and follow the guide rail slip table carries out linear motion, and with on the accurate displacement fine setting platform the valve barrel assembles, the dynamometer set up in on the guide rail slip table, the dynamometer detects the power in the assembling process, the controller respectively with the dynamometer with linear displacement sensor is connected.

2. The intelligent valve core and valve sleeve lapping and grinding device of a pilot operated valve as claimed in claim 1, wherein the motion resolution of the automatic lapping and grinding equipment is not less than 0.001 mm, and the angular rotation precision is not less than 0.01 °.

3. The intelligent valve core and valve sleeve lapping and grinding device of a pilot operated valve as claimed in claim 1, wherein the feedback force detection accuracy of the automatic assembly equipment is not lower than 0.001N.

4. The intelligent valve core and valve sleeve lapping and grinding device of a pilot-controlled valve according to claim 1, wherein the size of the valve sleeve after being ground by the grinding rod is measured by a pneumatic gauge until the grinding rod grinds the valve sleeve to a preset size.

5. The intelligent valve element and valve sleeve lapping and grinding device of a hydraulic control valve according to claim 1, wherein the automatic lapping and grinding paste applying mechanism comprises a cylinder and a stepping motor, and the stepping motor rotates by a preset angle after the cylinder is jacked up, so that a piston of the cylinder moves upwards to extrude the lapping and grinding paste, and the lapping and grinding paste is applied to the grinding rod.

6. The intelligent valve core and valve sleeve lapping and grinding device of a hydraulic control valve according to claim 1, wherein the automatic assembly equipment further comprises a linear displacement sensor, and the linear displacement sensor is connected with the guide rail sliding table and used for detecting displacement in the assembly process.

7. The intelligent valve core and valve sleeve lapping and grinding device of a hydraulic control valve as claimed in claim 1, wherein the robot comprises a six-axis robot and a truss robot, the six-axis robot is used for clamping the shaft sleeve for primary grinding, and the truss robot is used for clamping the shaft sleeve for secondary grinding and tertiary grinding.

Technical Field

The invention relates to the technical field of grinding assembly, in particular to an intelligent matching and grinding device for a valve core and a valve sleeve of a hydraulic control valve.

Background

The clearance value between the valve core and the valve hole of the hydraulic control valve is usually only a few thousandths of millimeters and is difficult to ensure directly through part machining, so that the assembly of the hydraulic control valve is a process of matching grinding and repeated trial assembly. The size of the clearance between the valve core and the valve hole has a great influence on the performance of the valve core. The phenomena of clamping and even locking of a kinematic pair, aggravation of friction and abrasion and the like can be caused due to too small clearance, redundant materials generated by abrasion can pollute a system, the working efficiency of a product is influenced, and the performance is reduced and even the function is failed; if the clearance is too large, the internal leakage of the aviation hydraulic oil is increased, and the phenomena of abnormal rise of consumed current, heating aggravation and the like are caused. Meanwhile, the accurate positioning of the assembly object in the assembly process of the kinematic pair has great influence on the performance of the kinematic pair, and extremely small dislocation or vibration often causes overlarge assembly contact force in the assembly process of the jack, so that the assembled parts are clamped, wedged, scratched and even scrapped and damaged. This can greatly affect the stability of the servo valve.

The existing assembly process needs a worker to hold a part by hand to grind and perform repeated manual trial assembly for many times, and whether the part is in place for the finish grinding is judged by hand feeling during the trial assembly. The process method depends on the operation technology and hand feeling of workers, the overall dimension of the part is not accurately checked, the problems that the cylindricity does not meet the requirement and the like are easily caused, the consistency of the part is poor, the qualification rate is low, and meanwhile, the randomness and the consistency of the product are high because the quantitative check cannot be carried out and the qualification standard is not established.

Disclosure of Invention

Aiming at least one of the problems, the invention provides an intelligent matching and grinding device for a valve core and a valve sleeve of a hydraulic control valve, which is characterized in that automatic matching and grinding equipment and automatic assembly equipment are matched for use, the automation means such as a robot and the like are used for replacing manpower, the motion stability during grinding is ensured, and a high-resolution dynamometer is adopted for accurately detecting feedback force data in assembly, so that a product with high matching and grinding quality and good consistency is obtained.

in order to achieve the above object, the present invention provides an intelligent grinding device for a valve core and a valve sleeve of a hydraulic control valve, comprising: automatic blending and grinding equipment and automatic assembling equipment; the automatic matching and grinding equipment comprises a robot, an electric main shaft, an automatic valve sleeve feeding mechanism, an automatic grinding rod loading/unloading mechanism and an automatic grinding paste coating mechanism, wherein the automatic valve sleeve feeding mechanism conveys a valve sleeve into a positioning groove, the robot is loaded with a manipulator, and the manipulator is used for clamping and positioning the valve sleeve in the positioning groove; the automatic feeding mechanism of the grinding rods is provided with a material ejecting device, the material ejecting device is driven by a jacking cylinder to eject the grinding rods, the automatic loading/unloading mechanism of the grinding rods takes away the grinding rods, and the material ejecting device is driven by the jacking cylinder to retract to the original position; the automatic grinding paste coating mechanism is used for extruding grinding paste and coating the extruded grinding paste on the grinding rod taken away by the automatic grinding rod loading/unloading mechanism; the electric spindle clamps the grinding rod of the automatic grinding rod loading/unloading mechanism, the mechanical arm sleeves the valve sleeve on the grinding rod, and the electric spindle drives the grinding rod to rotate so as to grind the valve sleeve to a preset size; automatic assembly equipment includes accurate displacement fine setting platform, guide rail slip table, dynamometer and controller, accurate displacement fine setting platform will grind after the valve barrel is fixed and is adjusted, set up the motor on the guide rail slip table and drive the case and follow the guide rail slip table carries out linear motion, and with on the accurate displacement fine setting platform the valve barrel assembles, the dynamometer set up in on the guide rail slip table, the dynamometer detects the power in the assembling process, the controller respectively with the dynamometer with linear displacement sensor is connected.

in the above technical solution, preferably, the motion resolution of the automatic lapping and grinding device is not lower than 0.001 mm, and the angular rotation precision is not lower than 0.01 °.

In the above technical solution, preferably, the feedback force detection accuracy of the automated assembly equipment is not lower than 0.001N.

In the above technical solution, preferably, the size of the valve sleeve ground by the grinding rod is measured by a pneumatic measuring instrument until the grinding rod grinds the valve sleeve to a preset size.

In the above technical solution, preferably, the automatic paste applying mechanism includes an air cylinder and a stepping motor, and after the air cylinder is jacked up, the stepping motor rotates by a preset angle, so that a piston of the air cylinder moves upward to extrude the paste, thereby applying the paste to the grinding rod.

in the above technical scheme, preferably, the automatic assembling equipment further comprises a linear displacement sensor, and the linear displacement sensor is connected with the guide rail sliding table and used for detecting displacement in the assembling process.

In the above technical solution, preferably, the robot includes a six-axis robot and a truss robot, the six-axis robot is used for clamping the shaft sleeve to perform primary grinding, and the truss robot is used for clamping the shaft sleeve to perform secondary grinding and tertiary grinding.

Compared with the prior art, the invention has the beneficial effects that: through the cooperation of automatic joining in marriage and grinding equipment and automatic rigging equipment and use, replace artifical through automated means such as robots, motion stationary during the guarantee grinding adopts the dynamometer of high resolution to accurately detect the feedback force data in the assembly to obtain the product that joining in marriage and grinding high quality, the uniformity is good.

Drawings

FIG. 1 is a schematic structural diagram of an automated lapping and grinding apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an automated assembly apparatus according to an embodiment of the present disclosure;

Fig. 3 is a schematic view of an automatic assembly process of a valve core and a valve hole of a hydraulic control valve according to an embodiment of the invention.

In the drawings, the correspondence between each component and the reference numeral is:

1. the automatic grinding and matching device comprises 11 parts of a truss robot, 12 parts of a six-axis robot, 13 parts of an electric spindle, 14 parts of a manipulator, 15 parts of an automatic valve sleeve feeding structure, 16 parts of an automatic grinding rod feeding mechanism, 17 parts of an automatic grinding rod loading/unloading mechanism, 18 parts of an automatic grinding paste coating mechanism, 19 parts of a finished product discharging box, 2 parts of an automatic assembling device, 21 parts of a precise displacement fine-tuning platform, 22 parts of a linear displacement sensor, 23 parts of a guide rail sliding table, 24 parts of a controller and 25 parts of a dynamometer.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

The invention is described in further detail below with reference to the attached drawing figures:

As shown in fig. 1 and 2, the intelligent grinding device for the valve core and the valve sleeve of the pilot operated valve provided by the invention comprises: an automatic lapping and grinding device 1 and an automatic assembling device 2; the automatic matching and grinding equipment 1 comprises a robot, an electric main shaft 13, a valve sleeve automatic feeding mechanism 15, a grinding rod automatic feeding mechanism 16, a grinding rod automatic loading/unloading mechanism 17 and an automatic grinding paste coating mechanism 18, wherein the valve sleeve automatic feeding mechanism 15 conveys a valve sleeve into a positioning groove, the robot is loaded with a manipulator 14, and the manipulator 14 is used for clamping and positioning the valve sleeve in the positioning groove; the automatic feeding mechanism 16 of the grinding rods is provided with a material ejecting device which ejects the grinding rods under the driving of a jacking cylinder, the automatic loading/unloading mechanism 17 of the grinding rods takes away the grinding rods, and the material ejecting device retracts to the original position under the driving of the jacking cylinder; the automatic grinding paste coating mechanism 18 is used for extruding grinding paste and coating the extruded grinding paste on the grinding rod taken away by the automatic grinding rod loading/unloading mechanism 17; the electric spindle 13 clamps the grinding rod of the automatic grinding rod loading/unloading mechanism 17, the mechanical arm 14 sleeves the valve sleeve with the grinding rod, and the electric spindle 13 drives the grinding rod to rotate so as to grind the valve sleeve to a preset size; automatic change rigging equipment 2 includes precision displacement fine setting platform 21, guide rail slip table 23, dynamometer 25 and controller 24, the valve barrel after precision displacement fine setting platform 21 will grind is fixed and is adjusted, it carries out linear motion along guide rail slip table 23 to set up the motor on the guide rail slip table 23 and drive the case, and assemble with the valve barrel on the precision displacement fine setting platform 21, dynamometer 25 sets up on guide rail slip table 23, dynamometer 25 detects the power in the assembling process, controller 24 is connected with dynamometer 25 and linear displacement sensor respectively.

In this embodiment, as shown in fig. 3, when the valve sleeve is ground, the automatic feed mechanism for the grinding rod and the automatic feed mechanism for the valve sleeve 15 of the automatic lapping and grinding machine 1 are filled with enough material, and the start button is pressed. The grinding rod automatic loading/unloading mechanism 17 takes the material, and simultaneously the manipulator 14 on the robot takes the material to wait for the grinding work. The automatic grinding rod loading/unloading mechanism 17 feeds the grinding rods into the chucks of the motorized spindle 13, the motorized spindle 13 grips, and the automatic grinding rod loading/unloading mechanism 17 returns to the home position. The automatic paste applying mechanism is lifted to apply the grinding rod. Preferably, the automatic paste applying mechanism 18 includes a cylinder and a stepping motor, and the stepping motor rotates by a preset angle after the cylinder is lifted up, so that a piston of the cylinder moves upward to extrude the paste, thereby applying the paste to the grinding rod. After the smearing is finished, the automatic smearing grinding paste mechanism descends to the original position. The electric spindle 13 starts to work, the mechanical arm 14 sleeves the valve sleeve into the grinding rod, the valve sleeve is ground in the forward and reverse directions, and after the three-stage grinding, the mechanical arm 14 puts the valve sleeve into a finished product discharging box. After the grinding rod is scrapped for a plurality of times, the automatic grinding rod loading/unloading mechanism 17 takes the waste grinding rod out of the chuck of the electric spindle 13 and automatically puts the waste grinding rod into the waste grinding rod discharging box.

In the above embodiment, preferably, the robot includes a six-axis robot 12 and a truss robot 11, the six-axis robot 12 is used for clamping the shaft sleeve for primary grinding, and the truss robot 11 is used for clamping the shaft sleeve for secondary grinding and tertiary grinding. After the 12 centre gripping axle sleeves of six robots accomplished the one-level and grind, 11 centre gripping axle sleeves of truss robot carry out second grade and grind with tertiary grinding, adopt pneumatic measurement appearance to measure the size of the valve barrel after the grinding rod grinds after grinding the completion for the grinding rod grinds the valve barrel to preset size.

The grinded valve sleeve is loaded on a precise displacement fine-tuning platform 21 of the automatic assembly equipment 2, the guide rail sliding table 23 drives the valve core to move axially, when the valve core moves to an assembly point, the guide rail sliding table 23 is adjusted, manual intervention is performed to enable the valve sleeve to slightly contain the valve core, a certain guiding effect is achieved, and then the servo system drives the valve core to complete the assembly process. Preferably, the automated assembly equipment 2 further comprises a linear displacement sensor 22, and the linear displacement sensor 22 is connected with the guide rail sliding table 23 and used for detecting displacement in the assembly process.

during assembly, the controller 24 records the feedback force collected by the load cell 25 during the assembly process and the position information collected by the linear displacement sensor 22, and collates and analyzes the data. And judging whether the clearance between the valve core and the valve sleeve is qualified or not according to the magnitude of the feedback force in the assembling process. If the feedback force is within the preset range, the gap is qualified, the gap is proper, and the assembly is finished. If the feedback force is not within the preset range, the clearance is unqualified, and the valve sleeve needs to be ground and assembled again until the feedback force is qualified.

In the above embodiment, preferably, the motion resolution of the automatic lapping and grinding device 1 is not less than 0.001 mm, the angular rotation accuracy is not less than 0.01 °, and the feedback force detection accuracy of the automatic assembling device 2 is not less than 0.001N, so as to ensure the accuracy of the lapping and assembling process.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.