Straight type thrust rod automatic assembly device and automatic assembly process

Abstract

The application discloses a straight type thrust rod automatic assembling device and automatic assembling process and belongs to the technical field of thrust rod assembling. The automatic assembling device comprises an automatic feeding device, a spherical pin pressing device, a check ring pressing device and an automatic offline device. The automatic feeding device comprises a feeding conveying line and a spherical pin conveying line. The spherical pin pressing device comprises a pressing support platform and a pressing cylinder. The check ring pressing device comprises a check ring assembling support table and a check ring assembling tool. A material containing cylinder is installed on the check ring assembling tool. A top stretching cylinder is installed at the lower part of the material containing cylinder. A check ring positioning cylinder is installed at the stretching end of the top stretching cylinder. A hydraulic cylinder is installed on the check ring positioning cylinder. The automatic offline device comprises an offline conveying line. Through automatic feeding, spherical pin pre-pressing, pressing, check ring pressing and automatic offline, the automatic assembling process of the straight type thrust rod is centralized and automated, the cross-area turnover is reduced, the parts are fed and the finished products are discharged, the labor intensity is saved, the production efficiency is improved, the consistency of the products is ensured and the production benefit is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of thrust rod assembly, in particular to a straight type thrust rod automatic assembly device and automatic assembly process. BACKGROUND

[0002] The thrust rod assembly is a key component for connecting the vehicle frame and the rear axle, and its main functions are to prevent the front and rear displacement of the middle and rear axle, to prevent the left and right displacement of the middle and rear axle, and to prevent the displacement of the middle and rear axle from causing the friction between the leaf spring and the tire when the vehicle turns, thereby avoiding tire wear and blowout accidents. The straight type thrust rod assembly is assembled by a metal skeleton, a spherical pin assembly and a check ring, as shown in FIG. 1; the traditional straight type thrust rod assembly process is feeding--pressing one side of the spherical pin--pressing the other side of the spherical pin--assembling one side of the check ring--assembling the other side of the check ring--painting and pasting bar code--brushing alkyd varnish--discharging, and in the traditional process, manual assembly is used, which requires more workers, more equipment and multiple rotations of the work station, and the production efficiency is low; due to the involvement of a large number of workers, the product consistency is poor; and the labor cost is huge, thereby reducing the production benefit. Figure 8 SUMMARY In order to solve the problems of traditional manual assembly of straight type thrust rod, more workers, more equipment, multiple rotations of work station, low production efficiency, poor product consistency due to the involvement of a large number of workers, and huge labor cost, thereby reducing the production benefit, the present application provides a straight type thrust rod automatic assembly device and automatic assembly process.

[0003] In one aspect, the present application is implemented by the following technical solutions:

[0004] A straight type thrust rod automatic assembly device, comprising an automatic feeding device, a spherical pin pressing device, a check ring pressing device, an automatic discharging device, a first robot, a second robot, a third robot, a fourth robot, a fifth robot and a sixth robot;

[0005] The automatic feeding device comprises a metal skeleton storage area, a spherical pin storage area, a feeding conveying line and a spherical pin conveying line; the first robot is used to grab the metal skeleton in the metal skeleton storage area and place it on the feeding conveying line, and the second robot is used to grab the spherical pin in the spherical pin storage area and place it on the spherical pin conveying line;

[0006] The third robot is used to grab the spherical pin on the spherical pin conveying line and pre-press it into the straight ball seat hole at both ends of the metal skeleton on the feeding conveying line;

[0007] The spherical pin pressing device comprises a pressing support platform for positioning and supporting the workpiece and a pressing cylinder for pressing the spherical pin;

[0008]

[0009] ​The retainer ring press-fitting device comprises a retainer ring assembly support table and a retainer ring assembly tool, the retainer ring assembly support table is used for supporting and positioning a workpiece, the retainer ring assembly tool is provided with a containing cylinder for storing retainer rings, a top-extending cylinder capable of pushing the retainer rings is arranged at the lower outlet of the containing cylinder, a retainer ring positioning cylinder corresponding to the workpiece is arranged at the extending end of the top-extending cylinder, and a hydraulic cylinder for press-fitting the retainer rings is arranged at the upper portion of the retainer ring positioning cylinder.

[0010] The fourth robot is used for placing the pre-press-fitted workpiece on the spherical pin press-fitting device and placing the workpiece press-fitted on the spherical pin press-fitting device on the retainer ring press-fitting device.

[0011] The fifth robot is used for placing the workpiece press-fitted on the retainer ring press-fitting device on the automatic offline device.

[0012] The automatic offline device comprises an offline conveying line, an offline work station tool and a buffer work station tool, and the sixth robot is used for placing the assembled workpiece on the offline conveying line into the offline work station tool or the buffer work station tool.

[0013] Further improvements of the present application also include that the spherical pin press-fitting device further comprises a temporary storage tool for supporting and positioning the pre-press-fitted workpiece placed by the fourth robot and a moving positioning mechanism for lifting and moving the pre-press-fitted workpiece on the temporary storage tool, and the moving positioning mechanism is horizontally slidably arranged on the spherical pin press-fitting device through a directional sliding rod.

[0014] Further improvements of the present application also include that the retainer ring positioning cylinder has a conical structure with a large upper portion and a small lower portion, and the retainer ring press-fitting device is provided with a guide column capable of vertically slidingly guiding the retainer ring assembly tool.

[0015] Further improvements of the present application also include that the automatic offline device further comprises a code printer for spraying product marks on one side of the metal framework rod, a label printer for printing and attaching bar codes corresponding to the workpieces to the other side of the metal framework rod and an oiling machine capable of applying alkyd varnish to the outer leakage portions of the retainer ring grooves on both sides of the metal framework.

[0016] Further improvements of the present application also include a turnover mechanism for adjusting the direction of the workpiece, and the turnover mechanism comprises a turnover mechanism frame body, a turnover mechanism lifting cylinder, a turnover mechanism rotating cylinder, a turnover mechanism clamping cylinder and turnover mechanism clamping claws for clamping the workpiece, which are sequentially connected and arranged.

[0017] Another aspect of the present application is achieved by the following technical scheme:

[0018] A straight type push rod automatic assembly process comprises the following steps:

[0019] Step one: automatic feeding; the first vision system automatically identifies the metal skeleton in the metal skeleton storage area, the first robot picks up the metal skeleton and places it into the tool on the feeding conveying line; the second vision system automatically identifies the spherical pin in the spherical pin storage area, the second robot picks up the spherical pin and places it into the tool on the spherical pin conveying line;

[0020] Step two: spherical pin pre-pressing; the fifth vision system automatically identifies the spherical pin on the spherical pin conveying line, the sixth vision system automatically identifies the metal skeleton on the feeding conveying line, the third robot picks up the spherical pin on the spherical pin conveying line, installs it at a specified angle, and installs it into the straight ball seat hole at both ends of the metal skeleton on the feeding conveying line;

[0021] Step three: spherical pin pressing; when the workpiece after the spherical pin pre-pressing moves to the specified position along the feeding conveying line, the fourth robot picks up the workpiece after the pre-pressing and places it onto the temporary tool of the spherical pin pressing device; the workpiece on the temporary tool is lifted to a predetermined height by the moving positioning mechanism on both sides, and is horizontally moved to above the pressing support platform along the directional sliding rod, the moving positioning mechanism falls, and the workpiece is placed on the pressing support platform; the two pressing cylinders are extended to press the two spherical pins; the two pressing cylinders are retracted, the workpiece after the spherical pin pressing is lifted to a predetermined height by the moving positioning mechanism, and is horizontally conveyed to above the temporary tool along the directional sliding rod, the moving positioning mechanism falls, and the workpiece after the spherical pin pressing is placed on the temporary tool;

[0022] Step four: retaining ring pressing; the retaining ring is placed into the material cylinder; the fourth robot picks up the workpiece after the spherical pin pressing on the temporary tool, and places it into the retaining ring assembly support table of the retaining ring pressing device, and positions the workpiece; the top extension cylinder pushes the retaining ring at the lowermost end of the material cylinder out to the retaining ring positioning cylinder, the retaining ring assembly tool moves vertically downward along the guide column, so that the lower end of the retaining ring positioning cylinder extends into the retaining ring groove of the workpiece; the hydraulic cylinder extends downward to press the retaining ring, the retaining ring moves downward in the conical structure of the retaining ring positioning cylinder, the diameter of the retaining ring becomes smaller, until the retaining ring is pressed out of the lower end of the retaining ring positioning cylinder, and the retaining ring is automatically clamped into the retaining ring groove of the workpiece;

[0023] Step five: automatic offline; the fifth robot picks up the workpiece after the retaining ring pressing, and places it into the tool on the offline conveying line; the sixth robot places the assembled workpiece into the offline work station; the sixth robot places the workpiece with incomplete retaining ring assembly into the buffer work station, and waits for manual adjustment.

[0024] Further improvements of the present application are that in step one, after the metal skeleton is placed on the feeding conveying line, the third visual system automatically detects whether the metal skeleton is placed horizontally, and if it is placed obliquely, the first overturning mechanism adjusts the metal skeleton to a horizontal state; after the spherical pin is placed on the spherical pin conveying line, the fourth visual system automatically detects whether the spherical pin is placed horizontally, and if it is placed obliquely, the second overturning mechanism adjusts the spherical pin to a horizontal state.

[0025] Further improvements of the present application are that in step three, after the spherical pin is pressed by the pressing cylinder, the blowing mechanism removes the residues at the straight ball seat hole of the workpiece.

[0026] Further improvements of the present application are that in step five, after the workpiece is placed on the offline conveying line, the first visual detection camera takes a photo of the workpiece after the pressing of the check ring, detects whether the check ring is installed in place and completely unfolded; if the workpiece with the check ring not pressed in place is detected, the first visual detection camera sends the detection information to the offline area computer.

[0027] Further improvements of the present application are that after the detection of the first visual detection camera, the second visual detection camera automatically identifies the steel stamp information on the workpiece rod body, and if no steel stamp information is identified on the rod body, the third overturning mechanism overturns the workpiece by 180°; the fourth overturning mechanism rotates the workpiece by 90° in the forward direction, and the product mark is sprayed on the workpiece rod body by the inkjet printer; the fifth overturning mechanism rotates the workpiece with the sprayed product mark by 180° in the forward direction, and the corresponding bar code is automatically printed by the label printer and pasted on the workpiece rod body; the sixth overturning mechanism rotates the workpiece with the pasted bar code by 90° in the forward direction, and the alcohol acid varnish is applied to the outer leakage part of the check ring groove on both sides of the workpiece by the oiling machine.

[0028] From the above technical solutions, the beneficial effects of the present application are:

[0029] Through automatic feeding, spherical pin pre-pressing, spherical pin pressing, check ring pressing and automatic offline, the centralized and automatic straight type thrust rod assembly process is realized, the cross-area turnover is effectively reduced, the parts are effectively saved, the labor intensity and the labor are effectively saved, the production efficiency is improved, the consistency of the straight type thrust rod product is ensured, and the production benefit is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0031] Figure 1 The present application is a schematic diagram of the specific embodiment.

[0032] Figure 2 Structure diagram of spherical pin conveying line of the embodiment of the present application.

[0033] Figure 3 Structure diagram of spherical pin pressing device of the embodiment of the present application.

[0034] Figure 4 Structure diagram of retainer ring pressing device of the embodiment of the present application.

[0035] Figure 5 Structure diagram of retainer ring assembly tool of the embodiment of the present application.

[0036] Figure 6 Structure diagram of offline conveying line of the embodiment of the present application.

[0037] Figure 7 Structure diagram of turnover mechanism of the embodiment of the present application.

[0038] Figure 8 Structure diagram of straight type push rod.

[0039] In the drawings: 1, metal framework; 11, feeding conveying line; 111, metal framework storage area; 112, first robot; 113, first vision system; 114, third vision system; 115, first turnover mechanism; 12, spherical pin conveying line; 121, spherical pin storage area; 122, fourth vision system; 123, fifth vision system; 124, second turnover mechanism; 125, second robot; 126, second vision system; 2, spherical pin; 21, sixth vision system; 22, third robot; 23, fourth robot; 24, pressing cylinder; 25, spherical pin pressing device; 251, temporary storage tool; 252, moving positioning mechanism; 253, directional sliding rod; 254, pressing support platform; 255, blowing mechanism; 3, retainer ring; 31, fifth robot; 32, top-stretching cylinder; 33, material containing cylinder; 34, retainer ring pressing device; 341, retainer ring assembly support table; 342, retainer ring assembly tool; 343, retainer ring positioning cylinder; 344, guide column; 345, hydraulic cylinder; 36, first vision detection camera; 41, second vision detection camera; 42, third turnover mechanism; 43, fourth turnover mechanism; 44, code printer; 51, fifth turnover mechanism; 52, label printer; 61, sixth turnover mechanism; 62, oiling machine; 71, offline conveying line; 72, offline area computer; 73, sixth robot; 74, offline station appliance; 75, buffer station appliance; 81, turnover mechanism clamping jaw, 82, turnover mechanism clamping cylinder, 83, turnover mechanism rotating cylinder, 84, turnover mechanism lifting cylinder, 85, turnover mechanism frame body. DETAILED DESCRIPTION

[0040] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0041] like Figure 8 The diagram shows the assembly structure of a straight thrust rod. The spherical pin 2 is installed in the straight ball seat holes at both ends of the metal frame 1, and the retaining ring 3 is installed in the retaining ring groove.

[0042] like Figures 1-7 As shown, the present invention discloses an automatic assembly device for a straight thrust rod, including an automatic feeding device, a spherical pin pressing device 25, a retaining ring pressing device 34, an automatic unloading device, a first robot 112, a second robot 125, a third robot 22, a fourth robot 23, a fifth robot 31 and a sixth robot 73.

[0043] The automatic feeding device includes a metal frame storage area 111, a spherical pin storage area 121, a feeding conveyor line 11, and a spherical pin conveyor line 12; a first robot 112 is used to grab the metal frame 1 in the metal frame storage area 111 and place it on the feeding conveyor line 11, and a second robot 125 is used to grab the spherical pin 2 in the spherical pin storage area 121 and place it on the spherical pin conveyor line 12;

[0044] The third robot 22 is used to pick up the spherical pin 2 on the spherical pin conveyor line 12 and pre-press it into the straight ball seat holes at both ends of the metal frame 1 on the feeding conveyor line 11, so as to realize the pre-pressing of the spherical pin 2.

[0045] The spherical pin pressing device 25 includes a pressing support platform 254 for positioning and supporting the workpiece and a pressing cylinder 24 for pressing the spherical pin 2; the pressing cylinder 24 performs the pressing action of pressing the spherical pin 2 on the pre-pressed workpiece placed on the pressing support platform 254.

[0046] The retaining ring pressing device 34 includes a retaining ring assembly support platform 341 and a retaining ring assembly fixture 342. The retaining ring assembly support platform 341 is used to support and position the workpiece. The retaining ring assembly fixture 342 is equipped with a material holding cylinder 33 for storing the retaining ring 3. A lifting cylinder 32 capable of pushing the retaining ring 3 is installed at the lower outlet of the material holding cylinder 33. A retaining ring positioning cylinder 343 corresponding to the workpiece is installed at the extended end of the lifting cylinder 32. A hydraulic cylinder 345 for pressing the retaining ring 3 is installed on the upper part of the retaining ring positioning cylinder 343. The retaining ring 3 at the lower end of the material holding cylinder 33 is pushed out into the retaining ring positioning cylinder 343 by the lifting cylinder 32, and the retaining ring 3 is pressed into the retaining ring groove by the hydraulic cylinder 345.

[0047] The fourth robot 23 is used for placing the pre-pressing assembled workpiece on the upper feeding line 11 to the spherical pin pressing device 25, and placing the pressing completed workpiece on the spherical pin pressing device 25 to the retainer ring pressing device 34;

[0048] The fifth robot 31 is used for placing the pressing completed workpiece on the retainer ring pressing device 34 to the automatic offline device;

[0049] The automatic offline device comprises an offline conveying line 71, an offline work station tool 74 and a buffer work station tool 75; the sixth robot 73 is used for placing the assembled workpiece on the offline conveying line 71 to the offline work station tool 74 or the buffer work station tool 75.

[0050] Through the automatic feeding, the pre-pressing of the spherical pin 2, the pressing of the spherical pin 2, the pressing of the retainer ring 3 and the automatic offline, the centralized and automatic straight type thrust rod assembling process is realized, the cross-area circulation is effectively reduced, the parts are effectively saved, the labor intensity and the labor are effectively saved, the production efficiency is improved, the consistency of the straight type thrust rod product is ensured, and the production benefit is effectively improved.

[0051] As shown in the figure, Figure 3 The spherical pin pressing device 25 further comprises a temporary tool 251 for supporting and positioning the pre-pressing workpiece placed by the fourth robot 23 and a moving positioning mechanism 252 for lifting and moving the pre-pressing workpiece on the temporary tool 251; the moving positioning mechanism 252 is horizontally slidably installed on the spherical pin pressing device 25 through a directional sliding rod 253. Through the lifting and moving of the moving positioning mechanism 252 and the horizontal sliding of the directional sliding rod 253, the workpiece can be flexibly converted between the temporary tool 251 and a pressing support platform 254, and the reliable pressing action of the spherical pin 2 can be realized.

[0052] Further, the moving positioning mechanism 252 and the upper end of the temporary tool 251 are respectively provided with V-shaped support blocks capable of positioning and supporting the workpiece. The reliable positioning and supporting of the workpiece can be realized through the V-shaped support blocks, and the unstable positioning of the workpiece is avoided.

[0053] As shown in the figure, Figure 5 The retainer ring positioning cylinder 343 is in a conical cylinder structure with the upper end larger than the lower end, and the retainer ring pressing device 34 is provided with a guide column 344 capable of vertically slidingly guiding the retainer ring assembling tool 342. The retainer ring assembling tool 342 is guided downward through the guide column 344, so that the lower end of the retainer ring positioning cylinder 343 extends into the workpiece retainer ring groove; the retainer ring 3 is pressed in the conical cylinder structure of the retainer ring positioning cylinder 343, so that the diameter is reduced, and the retainer ring 3 is clamped into the workpiece retainer ring groove, thereby realizing the convenient pressing of the retainer ring 3.

[0054] As shown in the figure, Figure 6As shown, the automatic offline device further comprises a code spraying machine 44 for spraying product identification on one side of the metal framework 1 rod body, a label printer 52 for printing corresponding workpiece bar codes and attaching the bar codes to the other side of the metal framework 1 rod body, and a paint applicator 62 capable of applying alkyd varnish to the exposed part of the retaining ring groove on both sides of the metal framework 1. The workpiece is sprayed with product identification by the code spraying machine 44, the workpiece is pasted with workpiece bar codes by the label printer 52, and the exposed part of the retaining ring groove of the workpiece is coated with alkyd varnish by the paint applicator 62, thereby realizing a more complete forming process of the straight type thrust rod, reducing labor intensity, saving labor, improving production efficiency, and improving production benefit.

[0055] Among them, the automatic assembly device of the straight type thrust rod further comprises a turnover mechanism for adjusting the direction of the workpiece; the turnover mechanism comprises a turnover mechanism frame body 85, a turnover mechanism lifting cylinder 84, a turnover mechanism rotating cylinder 83, a turnover mechanism clamping cylinder 82 and a turnover mechanism clamping jaw 81 connected and installed in sequence. The turnover mechanism clamping jaw 81 is driven by the turnover mechanism clamping cylinder 82 to clamp and release the workpiece, the turnover mechanism rotating cylinder 83 rotates the clamped workpiece, and the turnover mechanism lifting cylinder 84 lifts the clamped workpiece, so that the workpiece can be conveniently turned and adjusted.

[0056] Among them, the turnover mechanism comprises a first turnover mechanism 115, a second turnover mechanism 124, a third turnover mechanism 42, a fourth turnover mechanism 43, a fifth turnover mechanism 51 and a sixth turnover mechanism 61.

[0057] The application also discloses an automatic assembly process of a straight type thrust rod, which comprises the following steps:

[0058] Step one: automatic feeding; the first vision system 113 automatically identifies the metal framework 1 in the metal framework storage area 111, and the first robot 112 grabs the metal framework 1 and places it into the tool on the feeding conveying line 11; the second vision system 126 automatically identifies the spherical pin 2 in the spherical pin storage area 121, and the second robot 125 grabs the spherical pin 2 and places it into the tool on the spherical pin conveying line 12;

[0059] Step two: pre-pressing of the spherical pin 2; the fifth vision system 123 automatically identifies the posture-adjusted spherical pin 2 on the spherical pin conveying line 12, and the sixth vision system 21 automatically identifies the posture-adjusted metal framework 1 on the feeding conveying line 11; the third robot 22 grabs the spherical pin 2 on the spherical pin conveying line 12, installs it at a specified angle, and installs it into the straight spherical seat hole at both ends of the metal framework 1 on the feeding conveying line 11;

[0060] Step three: spherical pin 2 press fitting; the workpiece with pre-press fitting is moved to the specified position by the upper feeding conveying line 11, the fourth robot 23 grabs the workpiece with pre-press fitting on the upper feeding conveying line 11 and places it on the temporary storage tool 251 of the spherical pin press fitting device 25; the workpiece on the temporary storage tool 251 is lifted to a predetermined height by the moving positioning mechanism 252 on both sides and is horizontally moved to above the press fitting support platform 254 along the directional sliding rod 253, the moving positioning mechanism 252 falls, and the workpiece is placed on the press fitting support platform 254; the two press fitting gas cylinders 24 are simultaneously extended to press the two spherical pins 2; the two press fitting gas cylinders 24 are simultaneously retracted, the workpiece with spherical pin 2 press fitting is lifted to a predetermined height by the moving positioning mechanism 252 and is horizontally conveyed to above the temporary storage tool 251 along the directional sliding rod 253, the moving positioning mechanism 252 falls, and the workpiece with spherical pin 2 press fitting is placed on the temporary storage tool 251;

[0061] Step four: press fitting of the check ring 3; the check ring 3 is placed into the material containing cylinder 33; the fourth robot 23 grabs the workpiece with spherical pin 2 press fitting on the temporary storage tool 251, places it into the check ring assembly support table 341 of the check ring press fitting device 34, and positions the workpiece; the top extension gas cylinder 32 pushes the check ring 3 at the lowermost end of the material containing cylinder 33 out to the check ring positioning cylinder 343, the check ring assembly tool 342 moves vertically downward along the guide column 344, so that the lower end of the check ring positioning cylinder 343 extends into the check ring groove of the workpiece; the hydraulic cylinder 345 extends downward to press the check ring 3, the check ring 3 moves downward in the check ring positioning cylinder 343 with a conical structure, the diameter of the check ring 3 becomes smaller, until the check ring 3 is pressed out of the lower end port of the check ring positioning cylinder 343, and the check ring 3 is automatically clamped into the check ring groove of the workpiece; the workpiece with one side check ring 3 press fitted is automatically grabbed by the fifth robot 31 and placed on the second check ring press fitting device 34 for press fitting of the check ring 3 on the other side.

[0062] Step five: automatic offline; the fifth robot 31 grabs the workpiece with check ring 3 press fitting and places it into the tool on the offline conveying line 71; the sixth robot 73 places the assembled workpiece into the offline work station appliance 74; the sixth robot 73 places the workpiece with check ring 3 assembly out of position into the buffer work station appliance 75 and waits for manual adjustment.

[0063] The straight type thrust rod assembly process is centralized and automated, the cross-regional turnover is effectively reduced, the parts are effectively saved, the labor intensity and manual labor are effectively saved, the production efficiency is improved, the consistency of the straight type thrust rod product is ensured, and the production benefit is effectively improved.

[0064] Wherein, in step one, the metal skeleton 1 is placed on the feeding conveying line 11, the third vision system 114 automatically detects whether the metal skeleton 1 is placed horizontally, if placed obliquely, the first turnover mechanism 115 adjusts the metal skeleton 1 to the horizontal state; the spherical pin 2 is placed on the spherical pin conveying line 12, the fourth vision system 122 automatically detects whether the spherical pin 2 is placed horizontally, if placed obliquely, the second turnover mechanism 124 adjusts the spherical pin 2 to the horizontal state; effectively ensure the consistency of the posture of the spherical pin 2 and the metal skeleton 1 when the third robot 22 grabs the spherical pin 2 pre-presses, ensure the accuracy and reliability of the pre-pressing.

[0065] Wherein, in step three, the press-in air cylinder 24 tightens the spherical pin 2, and the residue at the straight spherical seat hole of the workpiece is removed by the blowing mechanism 255; and the press-in air cylinder 24 is provided with a force sensor and a displacement sensor, which can record the press-in process parameters in real time.

[0066] Wherein, in step five, after the workpiece is placed on the offline conveying line 71, the first vision detection camera 36 takes a photo of the workpiece after the press-in retainer ring 3, detects whether the retainer ring 3 is installed in place and completely expanded; if the workpiece is detected that the retainer ring 3 is not pressed in place, the first vision detection camera 36 sends the detection information to the offline area computer 72.

[0067] Wherein, after the first vision detection camera 36 detects, the second vision detection camera 41 automatically identifies the steel stamp information on the workpiece rod body, if no steel stamp information is identified on the rod body, the third turnover mechanism 42 turns the workpiece by 180°, to ensure that all the workpieces entering the subsequent process maintain consistent posture; the fourth turnover mechanism 43 rotates the workpiece by 90°, and the inkjet printer 44 sprays product marks on the workpiece rod body; the fifth turnover mechanism 51 rotates the workpiece with product marks by 180°, and the label printer 52 automatically prints the corresponding bar code and pastes it on the workpiece rod body; the sixth turnover mechanism 61 rotates the workpiece with the pasted bar code by 90°, and the oiling machine 62 applies alkyd varnish to the outer leakage part of the retainer ring groove on both sides of the workpiece.

[0068] The straight type thrust rod automatic assembly device and automatic assembly process realize the centralization and automation of the straight type thrust rod assembly process through automatic feeding, spherical pin 2 pre-pressing, spherical pin 2 pressing, retainer ring 3 pressing and automatic feeding, effectively reducing cross-area turnover, realizing the entry of parts and the output of finished products; effectively saving labor intensity and manpower, improving production efficiency, ensuring the good consistency of the straight type thrust rod finished product, and effectively improving production benefit.

[0069] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between each embodiment can be referred to each other.

[0070] The terms "upper," "lower," "outer," "inner," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish relative positional relationships and are not necessarily qualitative. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0071] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic assembly device for a straight thrust rod, characterized in that, It includes an automatic feeding device, a spherical pin pressing device (25), a retaining ring pressing device (34), an automatic unloading device, a first robot (112), a second robot (125), a third robot (22), a fourth robot (23), a fifth robot (31), and a sixth robot (73); The automatic feeding device includes a metal skeleton storage area (111), a spherical pin storage area (121), a feeding conveyor line (11), and a spherical pin conveyor line (12); a first robot (112) is used to grab the metal skeleton (1) in the metal skeleton storage area (111) and place it on the feeding conveyor line (11), and a second robot (125) is used to grab the spherical pin (2) in the spherical pin storage area (121) and place it on the spherical pin conveyor line (12); The third robot (22) is used to pick up the spherical pin (2) on the spherical pin conveyor line (12) and pre-press it into the straight ball seat holes at both ends of the metal skeleton (1) on the feeding conveyor line (11); The spherical pin pressing device (25) includes a pressing support platform (254) for positioning and supporting the workpiece and a pressing cylinder (24) for pressing the spherical pin (2). The retaining ring pressing device (34) includes a retaining ring assembly support platform (341) and a retaining ring assembly fixture (342). The retaining ring assembly support platform (341) is used to support and position the workpiece. The retaining ring assembly fixture (342) is equipped with a material storage cylinder (33) for storing the retaining ring (3). The lower outlet of the material storage cylinder (33) is equipped with a top extension cylinder (32) that can push the retaining ring (3). The extended end of the top extension cylinder (32) is equipped with a retaining ring positioning cylinder (343) corresponding to the workpiece. The upper part of the retaining ring positioning cylinder (343) is equipped with a hydraulic cylinder (345) for pressing the retaining ring (3). The fourth robot (23) is used to place the pre-pressed workpieces on the feeding conveyor line (11) onto the spherical pin pressing device (25) and to place the workpieces pressed on the spherical pin pressing device (25) onto the retaining ring pressing device (34); The fifth robot (31) is used to place the workpieces that have been pressed on the retaining ring pressing device (34) onto the automatic unloading device; The automatic unloading device includes an unloading conveyor line (71), an unloading station fixture (74), and a buffer station fixture (75); a sixth robot (73) is used to place the assembled workpieces on the unloading conveyor line (71) into the unloading station fixture (74) or the buffer station fixture (75).

2. The automatic assembly device for straight thrust rods according to claim 1, characterized in that, The spherical pin pressing device (25) also includes a temporary storage fixture (251) for supporting and positioning the pre-pressed workpiece placed by the fourth robot (23) and a moving positioning mechanism (252) for lifting and moving the pre-pressed workpiece on the temporary storage fixture (251); the moving positioning mechanism (252) is horizontally slidably mounted on the spherical pin pressing device (25) via a directional sliding rod (253).

3. The automatic assembly device for straight thrust rods according to claim 1, characterized in that, The retaining ring positioning cylinder (343) has a conical structure that is larger at the top and smaller at the bottom. The retaining ring pressing device (34) is equipped with a guide post (344) that can vertically slide and guide the retaining ring assembly fixture (342).

4. The automatic assembly device for straight thrust rods according to claim 1, characterized in that, The automatic unloading device also includes an inkjet printer (44) for spraying product markings on one side of the metal frame (1) rod, a label printer (52) for printing corresponding workpiece barcodes and attaching the barcodes to the other side of the metal frame (1) rod, and an oiling machine (62) for applying alkyd varnish to the exposed parts of the retaining ring grooves on both sides of the metal frame (1).

5. The automatic assembly device for straight thrust rods according to claim 1, characterized in that, It also includes a flipping mechanism for adjusting the orientation of the workpiece; the flipping mechanism includes a flipping mechanism frame (85), a flipping mechanism lifting cylinder (84), a flipping mechanism rotating cylinder (83), a flipping mechanism clamping cylinder (82), and a flipping mechanism gripper (81) for clamping the workpiece, which are connected in sequence.

6. An automated assembly process for a straight thrust rod, characterized in that, Includes the following steps: Step 1: Automatic feeding; The first vision system (113) automatically identifies the metal skeleton (1) in the metal skeleton storage area (111), and the first robot (112) grabs the metal skeleton (1) and places it into the tooling on the feeding conveyor line (11); The second vision system (126) automatically identifies the spherical pin (2) in the spherical pin storage area (121), and the second robot (125) grabs the spherical pin (2) and places it into the tooling on the spherical pin conveyor line (12); Step 2: Pre-pressing of spherical pins (2); The fifth vision system (123) automatically identifies the spherical pins (2) on the spherical pin conveyor line (12), the sixth vision system (21) automatically identifies the metal skeleton (1) on the feeding conveyor line (11), and the third robot (22) grabs the spherical pins (2) on the spherical pin conveyor line (12) and installs them at a specified angle into the straight ball seat holes at both ends of the metal skeleton (1) on the feeding conveyor line (11); Step 3: Pressing of spherical pin (2); When the workpiece with pre-pressed spherical pin (2) moves to the designated position along the feeding conveyor line (11), the fourth robot (23) grabs the pre-pressed workpiece on the feeding conveyor line (11) and places it on the temporary storage fixture (251) of the spherical pin pressing device (25); The workpiece on the temporary storage fixture (251) is lifted to the predetermined height by the moving positioning mechanism (252) on both sides, and moves horizontally along the directional sliding rod (253) above the pressing support platform (254), and the moving positioning is completed. The mechanism (252) falls, placing the workpiece onto the press-fit support platform (254); two press-fit cylinders (24) extend to press the two spherical pins (2); the two press-fit cylinders (24) retract, and the workpiece with the spherical pins (2) pressed is lifted to a predetermined height by the moving positioning mechanism (252) and horizontally transported to the top of the temporary storage fixture (251) along the directional sliding rod (253); the moving positioning mechanism (252) falls, placing the workpiece with the spherical pins (2) pressed onto the temporary storage fixture (251); Step 4: Pressing the retaining ring (3); The retaining ring (3) is placed into the holding cylinder (33); The fourth robot (23) grabs the workpiece with the spherical pin (2) pressed on the temporary storage fixture (251), places it into the retaining ring assembly support table (341) of the retaining ring pressing device (34), and positions the workpiece; The top extension cylinder (32) pushes the retaining ring (3) at the bottom of the holding cylinder (33) into the retaining ring positioning cylinder (343), and the retaining ring... The assembly fixture (342) moves vertically downward along the guide column (344), causing the lower end of the retaining ring positioning cylinder (343) to extend into the retaining ring groove of the workpiece; the hydraulic cylinder (345) extends downward to press down on the retaining ring (3), and the retaining ring (3) moves down inside the conical retaining ring positioning cylinder (343), the diameter of the retaining ring (3) becomes smaller, until the retaining ring (3) is pressed out of the lower port of the retaining ring positioning cylinder (343), and the retaining ring (3) automatically snaps into the retaining ring groove of the workpiece; Step 5: Automatic unloading; The fifth robot (31) grabs the workpiece with the retaining ring (3) pressed and places it into the tooling on the unloading conveyor line (71); The sixth robot (73) places the assembled workpiece into the unloading station fixture (74); The sixth robot (73) places the workpiece with the retaining ring (3) not assembled properly into the buffer station fixture (75) and waits for manual adjustment.

7. The automatic assembly process for straight thrust rods according to claim 6, characterized in that, In step one, after the metal frame (1) is placed on the feeding conveyor line (11), the third vision system (114) automatically detects whether the metal frame (1) is placed horizontally. If it is placed crookedly, the first flipping mechanism (115) adjusts the metal frame (1) to a horizontal state. After the spherical pin (2) is placed on the spherical pin conveyor line (12), the fourth vision system (122) automatically detects whether the spherical pin (2) is placed horizontally. If it is placed crookedly, the second flipping mechanism (124) adjusts the spherical pin (2) to a horizontal state.

8. The automatic assembly process for straight thrust rods according to claim 6, characterized in that, In step three, after the press-fit cylinder (24) presses the spherical pin (2) tightly, the residue at the straight ball seat hole of the workpiece is removed by the air blowing mechanism (255).

9. The automatic assembly process for straight thrust rods according to claim 6, characterized in that, In step five, after the workpiece is placed on the lower conveyor line (71), the first vision inspection camera (36) takes a picture of the workpiece after the retaining ring (3) is pressed in, and checks whether the retaining ring (3) is installed in place and fully unfolded; if the retaining ring (3) is not pressed in place, the first vision inspection camera (36) sends the detection information to the unloading area computer (72).

10. The automatic assembly process for a straight thrust rod according to claim 9, characterized in that, After the first visual inspection camera (36) detects the workpiece, the second visual inspection camera (41) automatically identifies the steel stamp information on the workpiece rod. If no steel stamp information is identified on the rod, the third flipping mechanism (42) flips the workpiece 180°. The fourth flipping mechanism (43) rotates the workpiece 90° forward and sprays the product mark on the workpiece rod through the inkjet printer (44). The fifth flipping mechanism (51) rotates the workpiece with the product mark sprayed 180° forward and automatically prints the corresponding barcode through the label printer (52) and pastes it on the workpiece rod. The sixth flipping mechanism (61) rotates the workpiece with the barcode pasted 90° forward and applies alkyd varnish to the exposed part of the retaining ring groove on both sides of the workpiece through the oiling machine (62).

Images