A multifunctional cylinder assembly equipment

Abstract

The present invention discloses a multifunctional cylinder assembly equipment, comprising: a basic frame, the basic frame is provided with a workbench, the workbench is provided with a robot assembly, a quick-change gripper library, a cylinder assembly module A, a cylinder assembly module B and a buffer docking unit; the robot assembly includes a robot base, a robot and a gripper assembly, the robot is arranged on the robot base, the robot base is fixed to the workbench, and the gripper assembly is arranged at the execution end of the robot; the quick-change gripper library includes a sub-gripper cooperating with the gripper assembly and a mounting bracket for installing the sub-gripper; the cylinder assembly module A and the cylinder assembly module B are located on the side of the robot, and are used to assemble the cylinder assembly components provided by the robot; the buffer docking unit is used to transport the cylinder body, piston and assembled cylinder.

Description

Technical Field

[0001] The invention relates to multifunctional cylinder assembly equipment, belonging to the technical field of industrial control. Background Art

[0002] With the development of Industry 4.0, many repetitive and simplified processes are being automated, reducing labor intensity and significantly reducing labor costs. Consequently, companies are in need of highly skilled technicians capable of designing, assembling, operating, testing, and repairing equipment. In this context, there is a need to cultivate technicians with comprehensive capabilities in the design, assembly, development, and debugging of mechatronic equipment and robotics applications.

[0003] To address these needs, we designed a multifunctional cylinder assembly machine that can not only be used for frontline teaching and experimental training at secondary and higher vocational colleges and applied undergraduate institutions at different levels and skill levels, but can also be used as vocational skills training equipment for enterprises and industries. Currently, existing cylinder assembly equipment on the market is primarily used for actual factory assembly. It has a complex structure, large size, complex assembly processes, limited functions, and high costs, making it unsuitable for application and learning in the teaching field. Summary of the Invention

[0004] The purpose of the present invention is to provide a multifunctional cylinder assembly device to solve the defects of existing cylinder assembly equipment that is mainly used for actual assembly in factories, has a complex structure, a large size, and a relatively complicated assembly process.

[0005] A multifunctional cylinder assembly device, comprising:

[0006] A basic frame, wherein the basic frame is provided with a workbench, and the workbench is provided with a robot assembly, a quick-change gripper library, a cylinder assembly module A, a cylinder assembly module B and a buffer docking unit;

[0007] The robot assembly includes a robot base, a robot and a gripper assembly, wherein the robot is arranged on the robot base, the robot base is fixed to the workbench, and the gripper assembly is arranged at the execution end of the robot;

[0008] The quick-change gripper library includes a sub-gripper that cooperates with the gripper assembly and a mounting bracket for mounting the sub-gripper;

[0009] The cylinder assembly module A and the cylinder assembly module B are located on the side of the robot and are used to assemble the cylinder assembly components provided to the robot;

[0010] The buffer connection unit is used to transport the cylinder body, the piston and the assembled cylinder.

[0011] Furthermore, the sub-gripper includes a transport sub-gripper, a suction plate gripper, an electric screwdriver sub-gripper, a grinder brush sub-gripper, and a welding gun and glue gun sub-gripper. Each sub-gripper is provided with an electrode male socket that matches the electrode female socket installed on the gripper.

[0012] Furthermore, a component mounting plate with a slide rail is fixed on the upper layer inside the workbench, and a robot controller is arranged at the lower part of the mounting plate.

[0013] Furthermore, the cylinder assembly module A includes a support frame, on which a double-screw feeding unit, an upper cylinder head feeding unit and a lower cylinder head feeding unit are provided, and the upper cylinder head feeding unit and the lower cylinder head feeding unit have the same structure.

[0014] Furthermore, the double screw feeding unit includes a screw feeding mounting bracket, a pen-shaped cylinder, a push block, a screw feeding bin, a screw in place positioning block, screws and a screw detection sensor; the pen-shaped cylinder is fixed on the screw feeding mounting bracket, the push block is fixed on the pen-shaped cylinder, the screws are placed in the screw feeding bin, and the screw feeding bin is fixed on the screw feeding mounting bracket, the pen-shaped cylinder pushes the push block to push the screws in the screw feeding bin to the screw in place positioning block position, and the screw detection sensor is used to detect whether the screws are in place.

[0015] Furthermore, the upper cylinder head feeding unit includes an upper cylinder head feeding bracket, a second pen-shaped cylinder, a second push block, a cylinder head feeding bin, an upper end cover, an end cover positioning block and a cylinder head sensor; the second pen-shaped cylinder is fixed on the cylinder head feeding bracket, the second push block is fixed on the first pen-shaped cylinder, the upper end cover is placed in the cylinder head feeding bin, and the cylinder head feeding bin is fixed on the bracket, the second pen-shaped cylinder pushes the second push block to push the upper end cover in the cylinder head feeding bin to the position of the end cover positioning block, and the cylinder head sensor is used to detect whether the upper end cover is in place.

[0016] Furthermore, the cylinder assembly module B includes a support frame 2, on which a cylinder body positioning block, a clamping positioning block, a positioning block buffer area, a screw positioning block, a piston buffer area, a cylinder flipping platform and a cylinder assembly area are provided. The cylinder body positioning block and the pen-shaped cylinder 3 are respectively fixed on the support frame 2, the clamping positioning block is fixed to the pen-shaped cylinder 3, and the pen-shaped cylinder 3 drives the clamping positioning block to clamp the assembly cylinder to the cylinder body positioning block.

[0017] Furthermore, the buffer docking unit includes a docking support frame, a conveyor belt and a pallet. The pallet is placed on the conveyor belt. The pallet is used to place the piston, the cylinder body, the assembled cylinder and to transport the assembled cylinder.

[0018] Furthermore, the basic stand is provided with a touch screen component unit, and the touch screen component unit consists of a touch screen, buttons and a touch screen bracket.

[0019] Furthermore, double doors are used on both sides of the workbench, and a heat dissipation fan is provided. Organic glass is installed around the top of the workbench.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. This invention utilizes a modular design, with all functional modules fixed to a base frame for quick module replacement. By switching between different robotic application modules, the system can implement a variety of typical robotic application technologies, including robotic handling, simulated grinding and polishing, simulated welding, trajectory simulation, and cylinder assembly. This device integrates technologies such as automatic control, position control, motor control, pneumatic control, programmable controllers, touchscreen configuration software development, sensors, and robotics, making it a typical mechatronic control and robotic application device.

[0022] 2. This invention can complete a complete cylinder assembly process and also perform typical application training such as simulated welding, simulated polishing, simulated palletizing, and other professional processing training operations. It can also achieve more functions and applications based on existing equipment. This is based on actual production practices and meets the requirements of teaching principles, making it easier for teachers to lead students in conducting various professional teaching experiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is the overall structure of the equipment of the present invention;

[0024] Figure 2 It is a top view of the present invention;

[0025] Figure 3 It is a schematic diagram of the basic stand of the present invention;

[0026] Figure 4 is a schematic diagram of the robot assembly of the present invention;

[0027] Figure 5 This is a schematic diagram of the quick-change gripper library of the present invention;

[0028] Figure 6 This is a schematic diagram of the sub-gripper type of the present invention;

[0029] Figure 7 Schematic diagram of cylinder assembly module A of the present invention;

[0030] Figure 8 It is a schematic diagram of the double screw feeding unit of the present invention;

[0031] Figure 9 This is a diagram of the upper cylinder cover feeding unit of the present invention;

[0032] Figure 10 This is a diagram of the lower cylinder cover feeding unit of the present invention;

[0033] Figure 11 This is the cylinder assembly module B of the present invention

[0034] Figure 12 The buffer connection unit of the present invention

[0035] Figure 13 It is the touch screen component unit of the present invention. DETAILED DESCRIPTION

[0036] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0037] like Figures 1-13 As shown, a multifunctional cylinder assembly device is disclosed, comprising:

[0038] The basic frame 1 is built with industrial aluminum profiles, with heavy-duty casters 9 and supporting foot cups 10 installed underneath. The interior of the workbench adopts a layered design, with an electrical control system component mounting plate 11 with slide rails fixed on the upper part. The mounting plate 11 can be pulled out from the inside of the basic frame 1 for easy debugging; the robot controller 12 is placed under the mounting plate 11; at the same time, the left and right sides of the workbench adopt a double-door design, and are equipped with a cooling fan 13 at the back to facilitate the installation and heat dissipation of control cabinets such as robots; organic glass is installed all around the workbench to facilitate observation of the equipment operation process and working conditions.

[0039] The robot assembly 2 is composed of a robot base 14, a robot 15 and a gripper assembly 16. The gripper assembly 16 is equipped with an electrode female seat 17, which cooperates with the sub-gripper in the quick-change gripper library 3 to realize the corresponding functions of the robot.

[0040] The quick-change gripper library 3 is composed of a mounting bracket 18 and a sub-grip. The sub-grip includes a transport sub-grip 19, a plate suction gripper 20, an electric screwdriver sub-grip 21, a grinder paintbrush sub-grip 22, and a welding gun and glue gun sub-grip 23. Each sub-grip is equipped with an electrode male seat.

[0041] Cylinder assembly module A4 consists of a support frame 24, a dual-screw feeder 25, an upper cylinder head feeder 26, and a lower cylinder head feeder 27. Sensors are installed at the outlets of each of the three feeders to detect discharge. The three feeders provide screws 31, an upper cylinder head 39, and a lower cylinder head 42, respectively.

[0042] The dual screw feeding unit 25 consists of a screw feeding mounting bracket 32, a pen-shaped air cylinder 28, a push block 29, a screw feeding bin 30, a screw positioning block 34, screws 31, and a screw detection sensor 33. The pen-shaped air cylinder 28 is fixed to the screw feeding mounting bracket 32, the push block 29 is fixed to the pen-shaped air cylinder 28, the screws 31 are placed in the screw feeding bin 30, and the screw feeding bin 30 is fixed to the screw feeding mounting bracket 32. The pen-shaped air cylinder 28 pushes the push block 29 to push the screws 31 in the screw feeding bin 30 to the position of the screw positioning block 34. The screw detection sensor 33 is used to detect whether the screws 31 are in place.

[0043] The upper cylinder head feeding unit 26 is composed of an upper cylinder head feeding bracket 38, a second pen-shaped cylinder 35, a second push block 36, a cylinder head feeding bin 37, an upper end cover 39, an end cover positioning block 41, and a cylinder head sensor 40. The second pen-shaped cylinder 35 is fixed to the cylinder head feeding bracket 38, the second push block 36 is fixed to the second pen-shaped cylinder 35, the upper end cover 39 is placed in the cylinder head feeding bin 37, and the cylinder head feeding bin 37 is fixed to the bracket 38. The second pen-shaped cylinder 35 pushes the second push block 36 to push the upper end cover 39 in the cylinder head feeding bin 37 to the position of the end cover positioning block 41. The cylinder head sensor 40 is used to detect whether the upper end cover 39 is in place.

[0044] The lower cylinder cover feeding unit 27 has the same structure as the upper cylinder cover feeding unit 26 .

[0045] Cylinder assembly module B5 consists of a support frame 43, a positioning block buffer 47, a screw positioning block 48, a piston buffer 50, a cylinder tilting platform 51, and a cylinder assembly area. The cylinder body positioning block 44 and the third pen-shaped cylinder 46 in the cylinder assembly area are fixed to the support frame 43. The clamping positioning block 45 is fixed to the third pen-shaped cylinder 46. The third pen-shaped cylinder 46 drives the clamping positioning block 45 to clamp the assembly cylinder to the cylinder body positioning block 44.

[0046] The buffer docking unit 6 is composed of a docking support frame 52, a conveyor belt 53, and a tray 54. The tray 54 is placed on the conveyor belt 53, and the piston 49, cylinder body 58, and the assembled cylinder can be placed on the tray 54 for transporting the cylinder body 58, piston 49, and the assembled cylinder;

[0047] The touch screen assembly unit 7 is composed of a touch screen 55 , a button 56 and a touch screen bracket 57 .

[0048] The gas source assembly 8 is composed of a solenoid valve, a filter pressure reducing valve and a bracket.

[0049] The specific working mode of the multifunctional cylinder assembly equipment is:

[0050] First, the piston 49 and the cylinder 58 are placed in the tray 54 on the buffer docking unit 6 respectively. The buffer docking unit 6 starts to operate, and the tray 54 is transported to the designated position. The buffer docking unit 6 is paused.

[0051] The robotic arm on robot assembly 2 goes to the quick-change gripper library 3 to replace the transport gripper 19. Robot 15 drives the transport gripper 19 to the pallet 54 to grab the cylinder body 58 and place it on the support frame 43 of the assembly area of ​​cylinder assembly module B5. The pen-shaped cylinder 46 drives the clamping positioning block 45 to clamp the cylinder body 58 to the cylinder body positioning block 44. Robot 15 drives the transport gripper 19 to the pallet 54 to grab the piston 49 and place it in the piston buffer area 50 of cylinder assembly module B5.

[0052] The dual screw feeding unit 25, upper cylinder head feeding unit 26, and lower cylinder head feeding unit 27 of cylinder assembly module A4 all begin operation. In the dual screw feeding unit 25, the screw feeding bin 30 is first loaded with screws 31. The pen-shaped cylinder 28 drives the push block 29 to push the screws 31 in the screw feeding bin 30 two by two to the screw positioning block 34. The screw detection sensor 33 detects whether the screws 31 are in place. In the upper cylinder head feeding unit 26, the upper end cover 39 is first installed in the cylinder head feeding bin 37. The pen-shaped cylinder 35 drives the push block 36 to push the upper end cover to the end cover positioning block 41. The cylinder head sensor 40 detects whether the cylinder cover is in place. The lower cylinder head feeding unit 27 operates in the same manner as the upper cylinder head feeding unit 26.

[0053] The robot 15 drives the transporting sub-gripper 19 to the cylinder assembly module A4 to grab the lower end cover 42 and transport it to the cylinder body 58 of the cylinder assembly module B5; the transporting sub-gripper 19 goes to the positioning block buffer area 47 to grab the screw positioning block 48 and place the screw positioning block 48 on the lower cylinder cover 42 of the cylinder assembly module B5. The screw positioning block 48 has positioning holes to reposition the cylinder body 58 and the lower cylinder cover 42 of the cylinder assembly module B5. The screw positioning block 48 has 4 holes on the contact surface with the lower cylinder cover 42 for screw installation positioning. Next, the robotic arm on the robot assembly 2 places the transport gripper 19 on the designated position of the quick-change gripper library 3, and then replaces it with the plate suction gripper 20. The plate suction gripper 20 goes to the cylinder assembly module A4 to suck up four screws 31 at a time, and places the screws 31 into the mounting holes of the screw positioning block 48. The robot 15 gripper then goes to the quick-change gripper library 3 to replace it with the electric screwdriver gripper 21. The robot 15 drives the electric screwdriver gripper 21 to tighten the screws.

[0054] The gripper of robot 15 goes to the quick-change gripper warehouse 3 to replace the transport gripper 19, the pen-shaped cylinder 46 of the cylinder assembly module B5 retracts, the transport gripper 19 grabs the unassembled cylinder and places it on the cylinder turning platform 51, the manipulator rotates, and the transport gripper 19 grabs the unassembled cylinder vertically from the side, the manipulator drives the cylinder to rotate 180 degrees, and places the lower cylinder cover 42 downward on the cylinder turning platform 51; the transport gripper 19 grabs the cylinder again in the vertical direction and places it in the assembly area, the pen-shaped cylinder 46 drives the clamping positioning block 45 again to clamp the cylinder body 58 to the cylinder body positioning block 44; the transport gripper The gripper 19 places the piston 49 in the cylinder body 58 in the assembly area, then goes to the upper cylinder head feeding unit 26 to grab the upper end cover 39, places it on the cylinder body 58 in the assembly area, and then places the screw positioning block 48 on the upper end cover 39; the gripper of the robot 15 then goes to the quick-change gripper warehouse 3 to replace the upper suction plate gripper 20, and the suction plate gripper 20 goes to the cylinder assembly module A4 to suck up four screws 31 at a time, and places the screws 31 in the mounting holes of the screw positioning block 48. The gripper of the robot 15 then goes to the quick-change gripper warehouse 3 to replace the electric screwdriver gripper 21, and the robot 15 drives the electric screwdriver gripper 21 to tighten the screws;

[0055] After the entire cylinder is assembled, the robot 15 gripper goes to the quick-change gripper warehouse 3 to replace the transport gripper 19. The pen-shaped cylinder 46 of the cylinder assembly module B5 retracts, and the transport gripper 19 places the assembled cylinder on the pallet 54. The buffer docking unit 6 starts working and transports the cylinder out of the workstation.

[0056] After completing the above steps, the cylinder is assembled. The quick-change gripper library 3 can also be equipped with a grinder brush gripper 22 and a welding gun and glue gun gripper 23. Together with the robot assembly 2, this allows for typical application training, such as simulated welding, simulated polishing, simulated palletizing, and other specialized processing training. Furthermore, through PLC control, the touch screen assembly unit 7 can be operated independently or in conjunction with other equipment.

[0057] The present invention has a compact overall structure, small size, stable structure, and is convenient for teaching use. The device can also realize multiple functions such as cylinder assembly, simulated welding, simulated polishing, simulated palletizing, etc. Based on the functions of the device, more processing and applications can be developed.

[0058] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multifunctional cylinder assembly device, characterized in that: include: A basic platform (1), wherein the basic platform (1) is provided with a workbench, and the workbench is provided with a robot assembly (2), a quick-change gripper library (3), a cylinder assembly module A (4), a cylinder assembly module B (5) and a buffer connection unit (6); The robot assembly (2) comprises a robot base (14), a robot (15) and a gripper assembly (16), wherein the robot (15) is arranged on the robot base (14), the robot base (14) is fixed to a workbench, and the gripper assembly (16) is arranged at an execution end of the robot (15); The quick-change gripper library (3) includes a sub-gripper that cooperates with the gripper assembly (16) and a mounting bracket (18) for mounting the sub-gripper. The cylinder assembly module A (4) and the cylinder assembly module B (5) are located on the side of the robot (15) and are used to assemble the robot (15) with cylinder assembly components; The buffer docking unit (6) is used to transport the cylinder body (58), the piston (49) and the assembled cylinder; The sub-grippers include a transport sub-gripper (19), a plate suction gripper (20), an electric screwdriver sub-gripper (21), a grinder paintbrush sub-gripper (22), and a welding gun and glue gun sub-gripper (23), each of which is provided with an electrode male socket that matches the electrode female socket (17) of the gripper assembly (16); The cylinder assembly module A (4) includes a support frame (24), on which a double-screw feeding unit (25), an upper cylinder cover feeding unit (26) and a lower cylinder cover feeding unit (27) are provided, wherein the upper cylinder cover feeding unit (26) and the lower cylinder cover feeding unit (27) have the same structure; The cylinder assembly module B (5) includes a supporting frame 2 (43), on which a cylinder body positioning block (44), a clamping positioning block (45), a positioning block buffer area (47), a screw positioning block (48), a piston buffer area (50), a cylinder turning platform (51) and a cylinder assembly area are provided. The cylinder body positioning block (44) and the pen-shaped cylinder 3 (46) are respectively fixed on the supporting frame 2 (43), the clamping positioning block (45) is fixed to the pen-shaped cylinder 3 (46), and the pen-shaped cylinder 3 (46) drives the clamping positioning block (45) to clamp the assembly cylinder to the cylinder body positioning block (44).

2. The multifunctional cylinder assembly equipment according to claim 1, characterized in that: A component mounting plate (11) with a slide rail is fixed on the upper layer inside the workbench, and a robot controller (12) is provided at the lower part of the mounting plate (11).

3. The multifunctional cylinder assembly equipment according to claim 1, characterized in that: The double screw feeding unit (25) comprises a screw feeding mounting bracket (32), a pen-shaped air cylinder (28), a push block (29), a screw feeding bin (30), a screw in place positioning block (34), a screw (31) and a screw detection sensor (33); the pen-shaped air cylinder (28) is fixed on the screw feeding mounting bracket (32), the push block (29) is fixed on the pen-shaped air cylinder (28), the screw (31) is placed in the screw feeding bin (30), and the screw feeding bin (30) is fixed on the screw feeding mounting bracket (32), the pen-shaped air cylinder (28) pushes the push block (29) to push the screw (31) in the screw feeding bin (30) to the position of the screw in place positioning block (34), and the screw detection sensor (33) is used to detect whether the screw (31) is in place.

4. The multifunctional cylinder assembly equipment according to claim 3, characterized in that: The upper cylinder cover feeding unit (26) includes an upper cylinder cover feeding bracket (38), a second pen-shaped cylinder (35), a second push block (36), a cylinder cover feeding bin (37), an upper end cover (39), an end cover positioning block (41) and a cylinder cover sensor (40); the second pen-shaped cylinder (35) is fixed on the cylinder cover feeding bracket (38), the second push block (36) is fixed on the first pen-shaped cylinder (35), the upper end cover (39) is placed in the cylinder cover feeding bin (37), and the cylinder cover feeding bin (37) is fixed on the bracket (38), the second pen-shaped cylinder (35) pushes the second push block (36) to push the upper end cover (39) in the cylinder cover feeding bin (37) to the position of the end cover positioning block (41), and the cylinder cover sensor (40) is used to detect whether the upper end cover (39) is in place.

5. The multifunctional cylinder assembly equipment according to claim 1, characterized in that: The buffer docking unit (6) comprises a docking support frame (52), a conveyor belt (53) and a tray (54). The tray (54) is placed on the conveyor belt (53). The tray (54) is used to place the piston (49), the cylinder body (58), the assembled cylinder, and to transport the assembled cylinder.

6. The multifunctional cylinder assembly equipment according to claim 1, characterized in that: The basic stand (1) is provided with a touch screen component unit (7), and the touch screen component unit (7) is composed of a touch screen (55), a button (56), and a touch screen bracket (57).

7. The multifunctional cylinder assembly equipment according to claim 1, characterized in that: The workbench has double doors on both sides and is provided with a heat dissipation fan (13). Organic glass is installed around the top of the workbench.

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