A fully automatic assembly device and method for gas spring end joints

Abstract

The present invention discloses a fully automatic assembly device and method for joints at both ends of a gas spring, which includes a dustproof seal assembly unit, which includes a first conveying unit, a dust cover assembly mechanism and a dust cover detection mechanism sequentially arranged along the rear side of the first conveying unit, a bullet loading mechanism, a dust cover pre-loading mechanism, a bullet unloading mechanism and a dust cover assembly mechanism sequentially arranged along the front side of the first conveying unit, and a bullet reflux mechanism is arranged between the bullet loading mechanism and the bullet unloading mechanism; a joint assembly unit, which includes a transfer conveying unit, a joint tightening station and a joint angle adjustment station sequentially arranged along the transfer conveying unit, a first joint assembly mechanism and a second joint assembly mechanism relatively arranged at the joint tightening station, and a joint angle adjustment mechanism located at the joint angle adjustment station. The present invention can realize the automatic assembly of joints at both ends of the cylinder barrel and the automatic adjustment of the joint plane angle state, greatly improving the production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of gas spring production equipment, and in particular relates to a fully automatic assembly device and an assembly method for joints at both ends of a gas spring. Background Art

[0002] Gas spring is a part that can realize functions such as support, buffer, brake, height and angle adjustment. Gas spring is mainly composed of cylinder rod, piston, sealing guide sleeve, filler, pressure cylinder and joint. The pressure cylinder is a closed cavity filled with inert gas or oil-gas mixture. The pressure in the cavity is several times or dozens of times the atmospheric pressure. When the gas spring is working, the pressure difference on both sides of the piston is used to realize the movement of the cylinder rod.

[0003] At present, there is a gas spring that needs to install a large joint and a small joint at one end of the cylinder and one end of the cylinder rod respectively after the cylinder and cylinder rod are assembled. After the joints at both ends are tightened, the planes of the joints at both ends need to maintain a set relative angle state. Patent CN112832A in the prior art discloses an automatic assembly line for gas springs, which realizes the assembly of the cylinder and cylinder rod, but does not involve the assembly of the joints at both ends of the cylinder and cylinder rod and the adjustment of the joint angle. Patent CN1580756U in the prior art discloses an automatic joint plane correction gas spring joint assembly device, which is provided with a lower end servo tightening and a joint plane angle correction mechanism at both ends. The mechanism has the ability to automatically control the torque of the joint installation at both ends of the gas spring body, and can accurately and stably control the angle of the joint plane at both ends of the gas spring body. The patent only defines the function of the "lower end servo tightening and joint plane angle correction mechanism at both ends", and does not specifically disclose how the mechanism realizes joint tightening and joint plane angle adjustment. For the operation of tightening the joint threads, a screw gun is generally used to perform the tightening operation. The tightening degree is controlled by torque during the tightening process. However, the rotation angle of each joint is not uniform at the end of tightening. Even for the screw gun, the angle direction information of the joint is unknown at this time. Therefore, the joint cannot be rotated to the set angle state.

[0004] Therefore, it is necessary to provide a new fully automatic assembly device and assembly method for the joints at both ends of a gas spring to solve the above technical problems. Summary of the invention

[0005] One of the main purposes of the present invention is to provide a fully automatic assembly device for the joints at both ends of a gas spring, which can realize the automatic assembly of the joints at both ends of the cylinder and the automatic adjustment of the plane angle state of the joints, thereby greatly improving the production efficiency.

[0006] The present invention achieves the above-mentioned purpose through the following technical scheme: a fully automatic assembly device for gas spring two-end joints, comprising

[0007] A transfer and conveying unit, along which joint tightening stations and joint angle adjustment stations are sequentially arranged;

[0008] The first joint assembly mechanism and the second joint assembly mechanism are arranged at the joint tightening station in a front-to-back manner relative to each other, and both include a fourth motor, a fourth support plate driven by the fourth motor to move forward and backward, a fifth support plate slidably arranged forward and backward and moving with the fourth support plate, a screwing rod rotatably arranged on the fourth support plate and capable of moving forward and backward relative to the fourth support plate, a first joint bearing seat fixedly arranged at the end of the screwing rod, a screw gun fixed on the fifth support plate and driving the screwing rod to rotate to tighten the joint, and a fifth motor fixed on the fifth support plate and driving the screwing rod to rotate to return to zero and record the rotation angle;

[0009] A clamping and fixing mechanism, for clamping and fixing both ends of the gas spring;

[0010] The first angle adjustment module and the second angle adjustment module are arranged relative to each other at the joint angle adjustment station, and both include a fifth cylinder, a sixth support plate driven by the fifth cylinder to move forward and backward, a rotating rod rotatably arranged on the sixth support plate, a second joint supporting seat fixed at the end of the rotating rod, and a sixth motor fixed on the sixth support plate and driving the rotating rod to rotate.

[0011] Furthermore, it also includes a first joint feeding unit for feeding the first joint assembly mechanism and a second joint feeding unit for feeding the second joint assembly mechanism; the first joint feeding unit and the second joint feeding unit both include a joint feeding mechanism and a joint transporting mechanism for transporting the joint from the output end of the joint feeding mechanism to the first joint assembly mechanism or the second joint assembly mechanism.

[0012] Furthermore, the joint feeding mechanism includes a joint feeding module and a receiving block arranged at the output end of the joint feeding module; a sensor for detecting whether the direction or model of the joint taken out from the receiving block is correct and a waste box are arranged below the transfer range of the joint transporting mechanism; the joint transporting mechanism includes a third motor, a third support plate driven by the third motor to move left and right, and at least one joint picking module fixed on the third support plate; the joint picking module includes a third cylinder fixed on the third support plate and a second clamping jaw assembly driven by the third cylinder to move up and down.

[0013] Furthermore, the first joint feeding unit includes a first large joint feeding mechanism and a first small joint feeding mechanism located on the left and right sides of the first joint assembly mechanism, and a first joint transporting mechanism for clamping and moving the joints output by the first large joint feeding mechanism and the first small joint feeding mechanism to the position of the first joint assembly mechanism;

[0014] The second joint feeding unit includes a second large joint feeding mechanism and a second small joint feeding mechanism located on the left and right sides of the second joint assembly mechanism, and a second joint transporting mechanism that clamps and moves the joints output by the second large joint feeding mechanism and the second small joint feeding mechanism to the position of the second joint assembly mechanism.

[0015] Furthermore, the transfer and conveying unit includes a second motor and at least one lifting and clamping module driven by the second motor to move left and right; the lifting and clamping module includes a second support plate, a first cylinder fixed on the second support plate, and a first clamping jaw assembly driven by the first cylinder to move up and down.

[0016] Furthermore, the first joint bearing seat is provided with a receiving groove conforming to the outer peripheral contour of the joint part section, and the receiving groove has an opening arranged horizontally outward; the second joint bearing seat has the same structure as the first joint bearing seat.

[0017] Furthermore, the fourth support plate and the fifth support plate are connected together by a tension spring to achieve follow-up; a mounting seat is provided on the fourth support plate, the screwing rod is rotatably arranged on the mounting seat and can move axially relative to the mounting seat, and axial movement limit blocks are provided on the screwing rod at the front and rear sides of the mounting seat to limit the axial movement range of the screwing rod relative to the mounting seat; a connecting rod connected to the screwing rod is provided at the output end of the screw gun, the connecting rod and the screwing rod are connected together by a coupling to achieve synchronous rotation, a driven pulley is provided on the connecting rod, and a driving pulley is provided at the rotating end of the fifth motor, and the driving pulley and the driven pulley are connected together by a synchronous belt to achieve synchronous rotation.

[0018] Furthermore, a spacing adjustment mechanism is provided, which includes a first motor and a first support plate driven by the first motor to move forward and backward; the clamping and fixing mechanism includes a first clamping and fixing mechanism for clamping and fixing the cylinder rod end and a second clamping and fixing mechanism for clamping and fixing the cylinder barrel end; the first angle adjustment module and the first clamping and fixing mechanism are integrally arranged on the first support plate.

[0019] Furthermore, the clamping and fixing mechanism includes a fourth cylinder and a third clamping jaw assembly driven by the fourth cylinder to move up and down.

[0020] Another object of the present invention is to provide a method for fully automatic assembly of joints at both ends of a gas spring, which is implemented based on the fully automatic assembly equipment for joints at both ends of a gas spring as described above, and comprises: moving the gas spring to the joint tightening station, the clamping and fixing mechanism clamps and fixes the two ends of the gas spring; the joint feeding mechanism outputs the joint in an orderly manner; the joint transport mechanism clamps the joint and moves it to the joint tightening station after detection, and tightens the joints at both ends of the gas spring into place at the same time through the torque control of the screw gun; the encoder in the fifth motor uploads the angle state information when the joint stops rotating to the control system, the first joint bearing seat axially withdraws and rotates to the initial angle state under the drive of the fifth motor, waiting to receive the next group of joints; the gas spring is moved to the joint angle adjustment station, the control system transmits the angle state information to the sixth motor, and the sixth motor drives the second joint bearing seat to rotate to the corresponding angle state so that the joint can be smoothly placed; the fifth cylinder drives the second joint bearing seat to extend and hold the joints at both ends of the gas spring, and the sixth motor drives the second joint bearing seat to rotate with the joints at both ends of the gas spring to the set angle state, completing the joint assembly and angle adjustment.

[0021] Compared with the prior art, the beneficial effect of the fully automatic assembly equipment and assembly method of the gas spring end joints of the present invention is that it can realize the automatic assembly of the joints at both ends of the cylinder and the automatic adjustment of the plane angle state of the joints, which greatly improves the production efficiency. Specifically,

[0022] (1) The screw gun is used to automatically tighten the joint, and the encoder built into the motor is used to record the rotation angle of the screw rod in real time. After the joint is tightened, the screw rod is driven to rotate back to zero. On the one hand, it ensures that the next joint material can be smoothly placed in the joint bearing seat at the end of the screw rod; on the other hand, it can record the angle when the screw rod stops rotating, that is, the angle at which the joint stays on the two ends of the gas spring, providing angle information for the subsequent angle adjustment of the joints at both ends. In conjunction with the joint angle adjustment mechanism, the relative angle of the joint planes at both ends of the gas spring can be automatically and accurately adjusted, so that the joints at both ends of the gas spring can be kept in a tightened state and assembled to the designed angle state;

[0023] (2) A large joint feeding mechanism, a small joint feeding mechanism, a joint assembly mechanism and a joint transporting mechanism are respectively arranged at the cylinder barrel end and the cylinder rod end. The large joint assembly and the small joint assembly at the same end share the same joint assembly mechanism. The large joint feeding mechanism and the small joint feeding mechanism are arranged on the left and right sides of the structural assembly mechanism. The large joint and the small joint are respectively transported from the large joint feeding mechanism and the small joint feeding mechanism to the joint assembly mechanism by the joint transporting mechanism. The automatic assembly of the large and small joints at both ends of the gas spring is realized by utilizing the smallest space, thereby greatly improving the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of a top view of the structure of an embodiment of the present invention;

[0025] Figure 2 It is a partial structural schematic diagram of a transfer and conveying unit in an embodiment of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of the cylinder end at the joint tightening station in an embodiment of the present invention;

[0027] Figure 4 This is a schematic structural diagram of a first joint bearing seat in an embodiment of the present invention;

[0028] Figure 5 It is a schematic diagram of the structure of the clamping and fixing mechanism and the joint angle adjustment mechanism in an embodiment of the present invention;

[0029] The numbers in the figure represent:

[0030] 100- Fully automatic assembly equipment for joints at both ends of gas springs;

[0031] 200-gas spring; 300-connector;

[0032] 1-transfer and conveying unit, 11-second motor, 12-lifting and clamping module, 121-second support plate, 122-first cylinder, 123-first clamping jaw assembly, 13-connecting rod;

[0033] 2-first joint assembly mechanism, 21-fourth motor, 22-fourth support plate, 23-fifth support plate, 24-screwing rod, 25-first joint bearing seat, 251-accommodating groove, 26-screw gun, 27-fifth motor, 28-tension spring, 29-mounting seat; 3-second joint assembly mechanism;

[0034] 4-first large joint feeding mechanism, 41-joint feeding module, 42-joint block, 43-sensor, 44-waste box; 5-first small joint feeding mechanism; 6-second large joint feeding mechanism; 7-second small joint feeding mechanism;

[0035] 8-first clamping and fixing mechanism, 81-fourth cylinder, 82-third clamping jaw assembly; 9-second clamping and fixing mechanism;

[0036] 10-first joint handling mechanism, 101-third motor, 102-third support plate, 103-third cylinder, 104-second clamping jaw assembly; 20-second joint handling mechanism;

[0037] 30-joint angle adjustment mechanism, 301-first angle adjustment module, 3011-fifth cylinder, 3012-sixth support plate, 3013-rotating rod, 3014-second joint bearing seat, 3015-sixth motor, 302-second angle adjustment module;

[0038] 40- Spacing adjustment mechanism: 401- First support plate. DETAILED DESCRIPTION

[0039] Embodiment 1:

[0040] Please refer to Figure 1-Figure 5 The present embodiment is a fully automatic assembly device 100 for joints at both ends of a gas spring, which includes a transfer and conveying unit 1 for driving the gas spring to move, a joint tightening station and a joint angle adjustment station arranged in sequence along the transfer and conveying unit 1, a first joint assembly mechanism 2 and a second joint assembly mechanism 3 arranged at the joint tightening station in front and back relative to each other, a first joint feeding unit (not marked in the figure) for feeding the first joint assembly mechanism 2, a second joint feeding unit (not marked in the figure) for feeding the second joint assembly mechanism 3, a first clamping and fixing mechanism 8 for fixing the end of the clamping cylinder rod, a second clamping and fixing mechanism 9 for fixing the clamping cylinder barrel end, and a joint angle adjustment mechanism 30 located at the joint angle adjustment station.

[0041] In this embodiment, two joints, one large joint and one small joint, are respectively installed at both ends of the gas spring. Therefore, the first joint feeding unit includes a first large joint feeding mechanism 4 and a first small joint feeding mechanism 5 located on the left and right sides of the first joint assembly mechanism 2, and a first joint conveying mechanism 10 that clamps and moves the joints output by the first large joint feeding mechanism 4 and the first small joint feeding mechanism 5 to the position of the first joint assembly mechanism 2. The second joint feeding unit includes a second large joint feeding mechanism 6 and a second small joint feeding mechanism 7 located on the left and right sides of the second joint assembly mechanism 3, and a second joint conveying mechanism 20 that clamps and moves the joints output by the second large joint feeding mechanism 6 and the second small joint feeding mechanism 7 to the position of the second joint assembly mechanism 3.

[0042] In other embodiments, if only one joint is required at each end of the gas spring, then in the first joint feeding unit, only one of the first large joint feeding mechanism 4 and the first small joint feeding mechanism 5 needs to be provided. Similarly, in the second joint feeding unit, only one of the second large joint feeding mechanism 6 and the second small joint feeding mechanism 7 needs to be provided.

[0043] The first joint assembly mechanism 2 installs a joint at the cylinder rod end of the gas spring; the second joint assembly mechanism 3 installs a joint at the cylinder barrel end of the gas spring.

[0044] The transfer and conveying unit 1 mainly realizes the movement of the gas spring between the joint tightening station and the joint angle adjustment station. It includes a second motor 11 and at least one lifting and clamping module 12 driven by the second motor 11 to move left and right; if multiple lifting and clamping modules 12 are provided, the multiple lifting and clamping modules 12 can be arranged on the same support plate to move left and right synchronously, or two adjacent lifting and clamping modules 12 can be connected together by a connecting rod 13 to perform synchronous left and right movement under the driving action of the second motor 11.

[0045] The lifting clamping module 12 includes a second support plate 121, a first cylinder 122 fixed on the second support plate 121, and a first clamping jaw assembly 123 driven by the first cylinder 122 to move up and down. The first clamping jaw assembly 123 first moves upward at the joint tightening station to clamp the gas spring to a high position, and then moves rightward to the joint angle adjustment station.

[0046] The first large joint feeding mechanism 4, the first small joint feeding mechanism 5, the second large joint feeding mechanism 6 and the second small joint feeding mechanism 7 have the same structure and all include a joint feeding module 41 and a receiving block 42 arranged at the output end of the joint feeding module 41. The joint feeding module 41 can adopt a feeding mechanism in the prior art, such as a vibrating plate.

[0047] A sensor 43 and a waste box 44 are provided below the transfer range of the first joint transport mechanism 10 and the second joint transport mechanism 20 to detect whether the direction or type of the joint taken out from the material receiving block 42 is correct. The sensor 43 can be a visual camera. After the first joint transport mechanism 10 or the second joint transport mechanism 20 takes out the joint from the material receiving block 42, it moves to the top of the sensor 43 for detection. If the detection is correct, it moves to the joint tightening station. If the detection is incorrect, it is thrown into the waste box 44.

[0048] The first joint handling mechanism 10 and the second joint handling mechanism 20 have the same structure, and both include a third motor 101, a third support plate 102 driven by the third motor 101 to move left and right, and at least one joint material taking module fixed on the third support plate 102, wherein the joint material taking module includes a third cylinder 103 fixed on the third support plate 102 and a second clamping jaw assembly 104 driven by the third cylinder 103 to move up and down. In this embodiment, two joint material taking modules are arranged on the third support plate 102, one of which is used for taking and placing large joints, and the other is used for taking and placing small joints.

[0049] The direction of the joints output from the joint feeding mechanism is uniform. During the tightening process of the joint, the engagement depth between the screw hole in the joint and the threaded rod at the end of the gas spring will gradually increase. Therefore, during the tightening process, the joint will move slightly along the axial direction of the gas spring. In order to ensure that the joint has sufficient rotational tightening force and can also achieve slight axial movement, the joint assembly mechanism is optimized in this embodiment. Specifically, the first joint assembly mechanism 2 and the second joint assembly mechanism 3 have the same structure and both include a fourth motor 21, a fourth support plate 22 driven by the fourth motor 21 to move forward and backward, a fifth support plate 23 slidably arranged and moving with the fourth support plate 22, a screw rod 24 rotatably arranged on the fourth support plate 22 and capable of moving forward and backward relative to the fourth support plate 22, a first joint bearing seat 25 fixedly arranged at the end of the screw rod 24, a screw gun 26 fixed on the fifth support plate 23 and driving the screw rod 24 to rotate to achieve joint tightening, and a fifth motor 27 fixed on the fifth support plate 23 and driving the screw rod 24 to rotate to achieve origin return. The first joint bearing seat 25 is provided with a receiving groove 251 conforming to the outer peripheral contour of the joint section, and the receiving groove 251 has a horizontal opening facing outward, and the joint 300 extends from the opening into the receiving groove 251. The fourth support plate 22 and the fifth support plate 23 are connected together by a tension spring 28 to achieve follow-up.

[0050] The fourth support plate 22 is provided with a mounting seat 29, the screw rod 24 is rotatably provided on the mounting seat 29 and can move axially relative to the mounting seat 29, and the screw rod 24 is provided with axial movement limit blocks (not marked in the figure) on both sides of the mounting seat 29 to limit the axial movement range of the screw rod 24 relative to the mounting seat 29. The output end of the screw gun 26 is provided with a connecting rod (not marked in the figure) connected to the screw rod 24, the connecting rod and the screw rod 24 are connected together by a coupling to achieve synchronous rotation, and a driven pulley is provided on the connecting rod, and a driving pulley is provided at the rotating end of the fifth motor 27, and the driving pulley and the driven pulley are connected together by a synchronous belt to achieve synchronous rotation.

[0051] The first joint transporting mechanism 10 or the second joint transporting mechanism 20 transports the joint 300 to the front of the opening, and the fourth motor 21 drives the fourth support plate 22 to move a set distance, so that a partial section of the joint 300 extends into the accommodating groove 251, and then the first joint transporting mechanism 10 or the second joint transporting mechanism 20 withdraws; the fourth motor 21 drives the joint 300 to move to the starting position of screwing, and under the action of the tension spring 28, the fifth support plate 23 moves together with the fourth support plate 22 close to the end of the gas spring; at this time, the screw gun 26 starts, drives the screwing rod 24 to rotate, and at the same time applies axial pressure to the screwing rod 24, and the first joint bearing seat 25 rotates with the screwing rod 24 with the joint 300, and the axial pressure is It is beneficial for the initial thread engagement between the joint and the end thread of the gas spring, and the rotational driving force is used to realize the rotational tightening of the joint; after the screw gun 26 tightens the joint to the set torque, the fourth motor 21 drives the screw rod 24 to withdraw axially, and the first joint support seat 25 is separated from the joint 300; because the screw gun 26 does not have the function of rotating back to the original state, and the incoming direction of the joint 300 is consistent each time, it is necessary to perform the initial return to the original state of the rotation angle of the first joint support seat 25. In this embodiment, the fifth motor 27 is arranged to drive the screw rod 24 to return to the zero point. The fifth motor 27 has its own encoder, so it can record the rotation angle of the screw rod 24 when tightening the joint, and realize the restoration of the initial angle through rotation, so as to ensure the effective insertion of the new joint next time.

[0052] In order to improve the versatility of the assembly inspection production line of this embodiment, this embodiment is further provided with a spacing adjustment mechanism 40, which includes a first motor (not shown in the figure) and a first support plate 401 driven by the first motor to move forward and backward. The first clamping and fixing mechanism 8 is integrally arranged on the first support plate 401, and the spacing between the first clamping and fixing mechanism 8 and the second clamping and fixing mechanism 9 is adjusted as the first support plate 401 moves, so as to meet the requirements of gas springs of various length specifications.

[0053] The first clamping and fixing mechanism 8 and the second clamping and fixing mechanism 9 both include a fourth cylinder 81 and a third clamping jaw assembly 82 driven by the fourth cylinder 81 to move up and down. The third clamping jaw assembly 82 clamps and fixes both ends of the gas spring to ensure that the first joint assembly mechanism 2 and the second joint assembly mechanism 3 can carry the joint 300 and accurately align the ends of the gas spring for screwing and assembly.

[0054] The joints at both ends of the gas spring have a plane. According to the product structure design requirements, the plane of the joint at one end needs to be set downward, and the plane of the joint at the other end needs to be set vertically. However, at the joint tightening station, the tightening of the joints at both ends of the gas spring relies on the torque in the screw gun 26 to control the tightening degree. Therefore, after the joints are tightened, the angle state of the joint plane is random and uncontrolled. Therefore, in this embodiment, the joints at both ends of the gas spring are rotated to a set angle state by setting a joint angle adjustment mechanism 30. Since the angle of rotation of the joint during the angle adjustment will not exceed 180°, that is, it will not exceed half a circle, the tightening degree of the joint will not be greatly affected, and the number of rotations during the angle adjustment can also be taken into account when tightening the joint. When the joint is tightened, the tightening torque can be increased to compensate for the rotation of the joint when the angle is adjusted.

[0055] In this embodiment, the joint angle adjustment mechanism 30 includes a first angle adjustment module 301 for adjusting the joint angle of the cylinder rod end and a second angle adjustment module 302 for adjusting the joint angle of the cylinder barrel end. The first angle adjustment module 301 and the second angle adjustment module 302 have the same structural principle and both include a fifth cylinder 3011, a sixth support plate 3012 driven by the fifth cylinder 3011 to move forward and backward, a rotating rod 3013 rotatably arranged on the sixth support plate 3012, a second joint bearing seat 3014 fixed to the end of the rotating rod 3013, and a sixth motor 3015 fixed to the sixth support plate 3012 and driving the rotating rod 3013 to rotate. The joint of the second joint bearing seat 3014 has the same structure as the first joint bearing seat 25.

[0056] Since the first joint assembly mechanism 2 and the second joint assembly mechanism 3 are provided with a fifth motor 27 capable of monitoring the rotation angle of the joint in real time, the encoder in the fifth motor 27 can be used to obtain the angle status information of the movable joint when it is tightened and stops rotating. If the angle status information is transmitted to the sixth motor 3015, on the one hand, the sixth motor 3015 can drive the second joint support seat 3014 to rotate to the corresponding angle according to the angle status information, so that it can be exactly plugged into the joints at both ends of the incoming gas spring; on the other hand, it also provides an adjustment basis for the second joint support seat 3014 to rotate when the sixth motor 3015 drives the second joint support seat 3014 to adjust the joint angle after receiving the joint of the incoming gas spring, so as to ensure that the final angle of the joints at both ends of the gas spring meets the design requirements.

[0057] In this embodiment, the first angle adjustment module 301 is disposed on the first support plate 401, and position adjustment is achieved as the first support plate 401 moves, so as to be applicable to angle adjustment of joints at both ends of gas springs of various length specifications.

[0058] The present embodiment also provides a method for fully automatic assembly of joints at both ends of a gas spring, which comprises: a transfer and conveying unit 1 moves the gas spring 200 to the joint tightening station, a first clamping and fixing mechanism 8 and a second clamping and fixing mechanism 9 clamp and fix the two ends of the gas spring to prevent the gas spring from axial sliding; a first large joint feeding mechanism 4 and a first small joint feeding mechanism 5 respectively output large joints and small joints in an orderly manner; a first joint transporting mechanism 10 clamps a large joint at the output end of the first large joint feeding mechanism 4, moves to the joint tightening station after detection, and tightens it to the cylinder rod through the first joint assembling mechanism 2, and then clamps a small joint at the output end of the first small joint feeding mechanism 5, moves to the joint tightening station after detection, and tightens it to the cylinder rod through the first joint assembling mechanism 2; at the same time, the second joint transporting mechanism 20 respectively feeds the large joints at the output end of the first large joint feeding mechanism 4 and the small joints at the output end of the first small joint feeding mechanism 5. Mechanism 6 and the second small joint feeding mechanism 7 clamp the joint, move it to the joint tightening station after detection, and tighten it to the cylinder barrel through the second joint assembly mechanism 3; after the joint is assembled, the gas spring is moved to the joint angle adjustment station, and the encoder in the fifth motor 27 uploads the angle state information when the joint stops rotating, and then drives the first joint support seat 25 to rotate to the initial angle state, waiting to receive the next group of joints; the control system transmits the angle state information to the sixth motor 3015, the sixth motor 3015 drives the second joint support seat 3014 to rotate to the corresponding angle state, the fifth cylinder 3011 drives the second joint support seat 3014 to extend and support the joints at both ends of the gas spring, and the sixth motor 3015 drives the second joint support seat 3014 to rotate with the joints at both ends of the gas spring to the set angle state, completing the joint assembly and angle adjustment.

[0059] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A fully automatic assembly equipment for gas spring joints at both ends, characterized by: It includes A transfer and conveying unit, along which joint tightening stations and joint angle adjustment stations are sequentially arranged; The first joint assembly mechanism and the second joint assembly mechanism are arranged at the joint tightening station in a front-to-back manner relative to each other, and both include a fourth motor, a fourth support plate driven by the fourth motor to move forward and backward, a fifth support plate slidably arranged forward and backward and moving with the fourth support plate, a screwing rod rotatably arranged on the fourth support plate and capable of moving forward and backward relative to the fourth support plate, a first joint bearing seat fixedly arranged at the end of the screwing rod, a screw gun fixed on the fifth support plate and driving the screwing rod to rotate to tighten the joint, and a fifth motor fixed on the fifth support plate and driving the screwing rod to rotate to return to zero and record the rotation angle; A clamping and fixing mechanism, for clamping and fixing both ends of the gas spring; The first angle adjustment module and the second angle adjustment module are arranged at the joint angle adjustment station in a front-to-back manner, and both include a fifth cylinder, a sixth support plate driven by the fifth cylinder to move forward and backward, a rotating rod rotatably arranged on the sixth support plate, a second joint bearing seat fixed to the end of the rotating rod, and a sixth motor fixed to the sixth support plate and driving the rotating rod to rotate; A first joint feeding unit, feeding the first joint assembly mechanism; The second joint feeding unit feeds the second joint assembly mechanism; the first joint feeding unit and the second joint feeding unit both include a joint feeding mechanism and a joint transporting mechanism for transporting joints from the output end of the joint feeding mechanism to the first joint assembly mechanism or the second joint assembly mechanism; the joint feeding mechanism includes a joint feeding module and a material receiving block arranged at the output end of the joint feeding module; a sensor and a waste box for detecting whether the direction or model of the joint taken out from the material receiving block is correct are arranged below the transfer range of the joint transporting mechanism; the joint transporting mechanism includes a third motor, a third support plate driven by the third motor to move left and right, and at least one joint taking module fixed on the third support plate; the joint taking module includes a third cylinder fixed on the third support plate and a second clamping claw assembly driven by the third cylinder to move up and down; the first joint feeding unit includes a first large joint feeding mechanism and a first small joint feeding mechanism located on the left and right sides of the first joint assembly mechanism, and a first joint transporting mechanism for clamping and moving the joints output by the first large joint feeding mechanism and the first small joint feeding mechanism to the position of the first joint assembly mechanism; The second joint feeding unit includes a second large joint feeding mechanism and a second small joint feeding mechanism located on the left and right sides of the second joint assembly mechanism, and a second joint transport mechanism that clamps and moves the joints output by the second large joint feeding mechanism and the second small joint feeding mechanism to the position of the second joint assembly mechanism; The spacing adjustment mechanism includes a first motor and a first support plate driven by the first motor to move forward and backward; the clamping and fixing mechanism includes a first clamping and fixing mechanism for clamping and fixing the cylinder rod end and a second clamping and fixing mechanism for clamping and fixing the cylinder barrel end; the first angle adjustment module and the first clamping and fixing mechanism are integrally arranged on the first support plate.

2. The fully automatic assembly equipment for gas spring joints at both ends according to claim 1, characterized in that: The transfer and conveying unit includes a second motor and at least one lifting and clamping module driven by the second motor to move left and right; the lifting and clamping module includes a second support plate, a first cylinder fixed on the second support plate, and a first clamping claw assembly driven by the first cylinder to move up and down.

3. The fully automatic assembly equipment for gas spring end joints according to claim 1, characterized in that: The first joint bearing seat is provided with a receiving groove conforming to the outer peripheral contour of the joint section, and the receiving groove has an opening arranged horizontally outwards; the second joint bearing seat has the same structure as the first joint bearing seat.

4. The fully automatic assembly equipment for gas spring end joints according to claim 1, characterized in that: The fourth support plate and the fifth support plate are connected together by a tension spring to achieve follow-up; a mounting seat is provided on the fourth support plate, the screwing rod is rotatably arranged on the mounting seat and can move axially relative to the mounting seat, and axial movement limit blocks are provided on the screwing rod at the front and rear sides of the mounting seat to limit the axial movement range of the screwing rod relative to the mounting seat; a connecting rod connected to the screwing rod is provided at the output end of the screw gun, the connecting rod and the screwing rod are connected together by a coupling to achieve synchronous rotation, a driven pulley is provided on the connecting rod, and a driving pulley is provided at the rotating end of the fifth motor, and the driving pulley and the driven pulley are connected together by a synchronous belt to achieve synchronous rotation.

5. The fully automatic assembly equipment for gas spring joints at both ends according to claim 1, characterized in that: The clamping and fixing mechanism comprises a fourth cylinder and a third clamping jaw assembly driven by the fourth cylinder to move up and down.

6. A fully automatic assembly method for joints at both ends of a gas spring, characterized in that: The fully automatic assembly equipment for joints at both ends of the gas spring according to claim 1 is implemented, comprising: moving the gas spring to the joint tightening station, the clamping and fixing mechanism clamps and fixes the two ends of the gas spring; the joint feeding mechanism outputs the joints in an orderly manner; the joint transport mechanism clamps the joint and moves it to the joint tightening station after the joint is detected to be correct, and the joints at both ends of the gas spring are tightened in place at the same time through the torque control of the screw gun; the encoder in the fifth motor uploads the angle state information when the joint stops rotating to the control system, the first joint bearing seat axially withdraws and rotates to the initial angle state under the drive of the fifth motor, waiting to receive the next group of joints; the gas spring is moved to the joint angle adjustment station, the control system transmits the angle state information to the sixth motor, and the sixth motor drives the second joint bearing seat to rotate to the corresponding angle state so that the joint can be smoothly placed; the fifth cylinder drives the second joint bearing seat to extend and hold the joints at both ends of the gas spring, and the sixth motor drives the second joint bearing seat to rotate with the joints at both ends of the gas spring to the set angle state, completing the joint assembly and angle adjustment.

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