A knuckle seal ring flexible press fitting device based on a six-axis robot

Abstract

The application discloses a kind of based on six-axis robot knuckle seal ring flexible press fitting device, it is related to automobile steering knuckle assembly technical field, including rack and the six-axis robot of arrangement in the rack one side, the gripper of the six-axis robot picks up and adjusts the position of steering knuckle, the top of the rack is fixed with sequentially arranged feeding mechanism, push mechanism and press fitting mechanism, the feeding mechanism is used to convey multiple seal rings, the push mechanism is located below feeding mechanism, the push mechanism is used to sequentially push multiple seal rings in feeding mechanism to press fitting mechanism, the press fitting mechanism is used to convey and press fit seal ring to steering knuckle, the technical scheme of the application can realize the control of seal ring press fitting quality, degree of automation is high, saves production cost and labor cost.

Description

Technical Field

[0001] This invention relates to the field of automotive steering knuckle assembly technology, specifically to a flexible press-fitting device for steering knuckle seals based on a six-axis robot. Background Technology

[0002] In the modern automotive steering knuckle assembly industry, the assembly of sealing rings is completed manually with the help of specialized assembly tooling. This is labor-intensive, cannot effectively guarantee assembly accuracy, has low workshop capacity, and high manufacturing costs. Summary of the Invention

[0003] To address the shortcomings of the existing technologies, the present invention aims to provide a flexible press-fitting device for steering knuckle seals based on a six-axis robot. This device solves the technical problems of existing seal assembly relying on manual operation with specialized assembly fixtures, which results in high labor intensity, ineffective guarantee of assembly accuracy, low workshop productivity, and high manufacturing costs.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A flexible pressing device for steering knuckle seals based on a six-axis robot includes a frame and a six-axis robot arranged on one side of the frame. The grippers of the six-axis robot pick up and adjust the position of the steering knuckle. A feeding mechanism, a pushing mechanism, and a pressing mechanism are sequentially arranged on the top of the frame. The feeding mechanism is used to convey multiple seals. The pushing mechanism is located below the feeding mechanism and is used to push the multiple seals in the feeding mechanism to the pressing mechanism in sequence. The pressing mechanism is used to convey and press the seals into the steering knuckle.

[0006] Preferably, the feeding mechanism includes a disc-shaped sealing ring feeding platform fixed to the top of the frame. The sealing ring feeding platform is driven by a servo motor, which is fixed inside the frame. Multiple material cylinders are equidistantly arranged along the circumference of the top of the sealing ring feeding platform. The bottoms of the multiple material cylinders are fixedly connected to the top of the sealing ring feeding platform by bolts. Each material cylinder has a set of symmetrical through holes, and the multiple sets of through holes are in the same position.

[0007] Preferably, a sealing ring picking position is provided on one side of the sealing ring feeding platform. The sealing ring picking position is fixed to the top of the frame by a bracket, and the starting position of the sealing ring feeding platform corresponds to the sealing ring picking position.

[0008] Preferably, it also includes a through-beam switch, wherein the receiving end and the transmitting end of the through-beam switch are respectively fixed to the top of the frame by support columns, and the height of the receiving end and the transmitting end corresponds to the position of the through hole.

[0009] Preferably, the pushing mechanism includes a rodless cylinder fixed to the top of the frame, a first lifting cylinder connected to the rodless cylinder, and a second lifting cylinder provided on one side of the rodless cylinder. The second lifting cylinder is fixed to the top of the frame and located below the sealing ring pickup position.

[0010] Preferably, the pressing mechanism includes a pressing rotary table fixed to the top of the frame. The pressing rotary table is driven by a servo motor, which is fixed inside the frame. Multiple sets of clamping cylinders are equidistantly arranged on the top of the pressing rotary table along its circumference. All sets of clamping cylinders are bolted to the top of the pressing rotary table. The upper jaw of each clamping cylinder is detachably connected to a guide shaft, and the lower jaw is detachably connected to a pressing head.

[0011] Preferably, a vision camera is mounted on the bottom surface of the upper plate of the frame, and an acrylic plate is mounted on the top surface of the upper plate.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: a flexible pressing device for steering knuckle seals based on a six-axis robot ensures unmanned, accurate and safe pressing of the internal seals of the steering knuckle, realizes control over the pressing quality of the seals, saves production costs and labor costs, and greatly improves production capacity. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0014] Figure 1 This is a schematic diagram of the overall structure of a flexible pressing device for a steering knuckle seal ring based on a six-axis robot proposed in this invention.

[0015] Figure 2 This is a front view of a flexible press-fitting device for steering knuckle seals based on a six-axis robot, as proposed in this invention.

[0016] Figure 3 This is a front sectional view of a flexible pressing device for steering knuckle seals based on a six-axis robot proposed in this invention;

[0017] Figure 4 This is a top view of a flexible press-fitting device for steering knuckle seals based on a six-axis robot, as proposed in this invention.

[0018] Figure 5 This is a left view of a flexible press-fitting device for steering knuckle seals based on a six-axis robot proposed in this invention;

[0019] Figure 6 This is a schematic diagram of the pushing mechanism of a flexible pressing device for a steering knuckle seal ring based on a six-axis robot proposed in this invention;

[0020] Figure 7 This is a partially enlarged view of the pressing mechanism of a flexible pressing device for steering knuckle seals based on a six-axis robot proposed in this invention.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1-Frame, 2-Six-axis robot, 3-Steering knuckle, 4-Sealing ring loading platform, 5-Material cylinder, 6-Sealing ring pickup position, 7-Through-shooting switch, 8-Rodless cylinder, 9-First lifting cylinder, 10-Second lifting cylinder, 11-Pressure-fitting rotary table, 12-Clamping cylinder, 13-Guide shaft, 14-Pressure head, 15-Vision camera, 16-Acrylic plate. Detailed Implementation

[0023] The invention will now be described in detail with reference to the accompanying drawings, by way of example. Obviously, the described embodiments are only some embodiments of the invention, and not all embodiments.

[0024] like Figure 1-7 As shown, a flexible pressing device for steering knuckle seals based on a six-axis robot includes a frame 1 and a six-axis robot 2 arranged on one side of the frame 1. The grippers of the six-axis robot 2 pick up and adjust the position of the steering knuckle 3. A feeding mechanism, a pushing mechanism, and a pressing mechanism are arranged sequentially on the top of the frame 1. The feeding mechanism is used to convey multiple seals. The pushing mechanism is located below the feeding mechanism and is used to push multiple seals in the feeding mechanism to the pressing mechanism in sequence. The pressing mechanism is used to convey and press the seals into the steering knuckle.

[0025] Furthermore, in this embodiment, the feeding mechanism includes a disc-shaped sealing ring feeding platform 4 fixed to the top of the frame 1. The sealing ring feeding platform 4 is driven by a servo motor, which is fixed inside the frame 1. Multiple material cylinders 5 are equidistantly arranged along the circumference of the top of the sealing ring feeding platform 4. Multiple material cylinders 5 can be configured according to different sizes of the sealing rings. The bottoms of the multiple material cylinders 5 are fixedly connected to the top of the sealing ring feeding platform 4 by bolts. Each material cylinder 5 has a set of symmetrical through holes, and the positions of the multiple sets of through holes are consistent. It also includes a photoelectric switch 7. The receiving end and transmitting end of the photoelectric switch 7 are respectively fixed to the top of the frame 1 by support columns, and the height of the receiving end and transmitting end corresponds to the position of the through holes. By setting the photoelectric switch 7 and the through holes, it is convenient to detect whether there are sealing rings inside the material cylinders 5.

[0026] Furthermore, in this embodiment, a sealing ring picking position 6 is provided on one side of the sealing ring feeding platform 4. The sealing ring picking position 6 is fixed to the top of the frame 1 by a bracket, and the starting position of the sealing ring feeding platform 4 corresponds to the sealing ring picking position 6.

[0027] Furthermore, in this embodiment, the pushing mechanism includes a rodless cylinder 8 fixedly mounted on the top of the frame 1, a first lifting cylinder 9 connected to the rodless cylinder 8, and a second lifting cylinder 10 provided on one side of the rodless cylinder 8. The second lifting cylinder 10 is fixedly mounted on the top of the frame 1 and located below the sealing ring pickup position 6.

[0028] In the above technical solution, the rodless cylinder 8 is activated. After it reaches its position, the first lifting cylinder 9 extends. The claw of the first lifting cylinder 9 grabs the sealing ring and pushes it to the sealing ring pickup position 6 before stopping. The first lifting cylinder 9 retracts, the rodless cylinder 8 resets, and at the same time, the second lifting cylinder 10 extends and pushes the sealing ring onto the pressure head 14 of the press-fitting rotary table 11.

[0029] Furthermore, in this embodiment, the pressing mechanism includes a pressing rotary table 11 fixed to the top of the frame 1. The pressing rotary table 11 is driven by a servo motor, which is fixed inside the frame 1. Multiple sets of clamping cylinders 12 are equidistantly arranged along the circumference of the top of the pressing rotary table 11. All sets of clamping cylinders 12 are bolted to the top of the pressing rotary table 11. The upper jaw of each clamping cylinder 12 is detachably connected to a guide shaft 13, and the lower jaw is detachably connected to a pressing head 14. By setting the guide shaft 13, guidance within the bushing of the steering knuckle 6 is achieved during pressing. The guide shaft 13 is detachably connected for easy replacement to meet the guidance requirements of different bushing inner diameters. The pressing head 14 is also detachably connected for easy replacement, facilitating the pressing of different sealing ring specifications and sizes.

[0030] Furthermore, in this embodiment, a vision camera 15 is installed on the bottom surface of the upper plate of the frame 1, and an acrylic plate 16 is installed on the top surface of the upper plate to shield against dust. After the sealing ring is installed in place on the pressure head 14, the pressing rotary table 11 rotates to the sealing ring material detection position, and the presence or absence and orientation of the sealing ring are detected by taking pictures.

[0031] Working principle: Multiple sealing rings are manually placed into the material cylinder 5 on the sealing ring loading platform 4. The sealing ring loading platform 4 is driven by a servo motor to rotate the sealing rings to the starting position. The rodless cylinder 8 is activated. After reaching the starting position, the first lifting cylinder 9 extends. The gripper of the first lifting cylinder 9 grabs the sealing ring and pushes it to the sealing ring pickup position 6 before stopping. The first lifting cylinder 9 retracts, and the rodless cylinder 8 resets. At the same time, the second lifting cylinder 10 extends and pushes the sealing ring onto the pressing head 14 of the pressing rotary table 11. After the sealing ring is installed in place on the pressing head 14, the pressing rotary table 11 is driven by a servo motor to rotate to the sealing ring presence detection position. The presence and orientation of the sealing ring are detected by taking a picture. After the inspection is completed, the press-fitting rotary table 11 rotates to rotate the sealing ring to the press-fitting station. The clamping cylinder 12 opens its two fingers to press the sealing ring onto the steering knuckle 6 and then stops. The steering knuckle 6 is picked up in advance by the six-axis robot 2 through the gripper and its posture is adjusted to the sealing ring press-fitting position. After the pressing is in place, the clamping cylinder 12 retracts and resets to the next sealing ring press-fitting work cycle.

[0032] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and application concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A knuckle seal ring flexible press fitting device based on a six-axis robot, comprising a rack (1) and a six-axis robot (2) arranged on one side of the rack (1), the gripper of the six-axis robot (2) picks up and adjusts the position of a knuckle (3), characterized in that: The rack (1) top is provided with sequentially arranged feeding mechanism, pushing mechanism and pressing mechanism, the feeding mechanism is used for conveying multiple sealing rings, the pushing mechanism is located below the feeding mechanism, the pushing mechanism is used for sequentially pushing multiple sealing rings in the feeding mechanism to the pressing mechanism, and the pressing mechanism is used for conveying and pressing the sealing ring into the knuckle; ​ The feeding mechanism comprises a disc-shaped sealing ring feeding table (4) fixed on the top of the rack (1), the sealing ring feeding table (4) is driven by a servo motor, the servo motor is fixed in the rack (1), a plurality of barrels (5) are equidistantly arranged on the top of the sealing ring feeding table (4) along the circumference thereof, the bottoms of the plurality of barrels (5) are fixedly connected to the top of the sealing ring feeding table (4) by bolts, a group of through holes symmetrical to each other are formed in each barrel (5), and the positions of the multiple groups of through holes are consistent. It also comprises a pair of photoelectric switches (7), the receiving end and the transmitting end of the pair of photoelectric switches (7) are fixed on the top of the rack (1) by support columns, and the heights of the receiving end and the transmitting end correspond to the positions of the through holes. The pressing mechanism comprises a pressing rotary table (11) fixed on the top of the rack (1), the pressing rotary table (11) is driven by a servo motor, the servo motor is fixed in the rack (1), a plurality of clamping air cylinders (12) are equidistantly arranged on the top of the pressing rotary table (11) along the circumference thereof, the plurality of clamping air cylinders (12) are fixedly connected to the top of the pressing rotary table (11) by bolts, the upper jaw of the clamping air cylinder (12) is detachably connected with a guide shaft (13), and the lower jaw is detachably connected with a pressing head (14).

2. The knuckle seal ring flexible press fitting device based on a six-axis robot according to claim 1, characterized in that: One side of the sealing ring feeding table (4) is provided with a sealing ring pickup position (6), the sealing ring pickup position (6) is fixed on the top of the rack (1) by a support, and the starting position of the sealing ring feeding table (4) corresponds to the sealing ring pickup position (6).

3. The knuckle seal flexible press fitting device based on a six-axis robot of claim 2, wherein: The pushing mechanism comprises a rodless cylinder (8) fixed on the top of the rack (1), the rodless cylinder (8) is connected with a first lifting cylinder (9), one side of the rodless cylinder (8) is provided with a second lifting cylinder (10), and the second lifting cylinder (10) is fixed on the top of the rack (1) and located below the sealing ring pickup position (6).

4. The knuckle seal flexible press fitting device based on a six-axis robot of claim 1, wherein: A visual camera (15) is mounted on the bottom surface of the upper plate of the rack (1), and an acrylic plate (16) is mounted on the top surface of the upper plate.

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