Pneumatic lifting upender system for disassembly and assembly of high-pressure oil pump

Abstract

The invention discloses a pneumatic lifting upender system for dismounting and mounting a high-pressure oil pump. The pneumatic lifting upender system comprises a console, a plunger carrying platform, a mechanical arm assembly I and a mechanical arm assembly II, the first mechanical arm assembly comprises a first mechanical arm and a first assembly used for driving the first mechanical arm to move front, back, left and right. The second mechanical arm assembly comprises a second mechanical arm and a second assembly used for driving the second mechanical arm to move front, back, left and right. The plunger carrying platform is used for placing a high-pressure oil pump plunger; the console is used for controlling the first mechanical arm to grab, rotate and lift the high-pressure oil pump and controlling the second mechanical arm to disassemble and extract the plunger. The high-pressure oil pump can be lifted and rotated accurately and efficiently, the plunger of the high-pressure oil pump can be disassembled accurately and efficiently, mechanization is improved, and meanwhile the hidden danger that potential threats are caused to the life of workers is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of transportation and disassembly of a high-pressure oil pump, and in particular to a pneumatic lifting and turning machine system for disassembling and assembling a high-pressure oil pump. Background Art

[0002] Marine high-pressure oil pumps can increase fuel pressure and provide high-pressure fuel to ship injectors regularly, and need to be repaired and maintained. Due to its heavy weight, the disassembly and assembly process is relatively complicated, and the human involvement is too high, which greatly limits the efficiency of disassembly and assembly of high-pressure oil pumps. Therefore, a new type of lifting and turning machine system is urgently needed to replace manual maintenance of high-pressure oil pumps.

[0003] The robotic arm can imitate the movement of human hands and complete many difficult tasks instead of manual labor. It has been widely used in various fields such as industrial production and processing. Common driving methods on the market include hydraulic transmission, pneumatic transmission, electrical control, etc. With the development of sensor technology, pneumatic technology, and computer technology, the control technology based on computer technology has developed rapidly. Among them, pneumatic technology has the advantages of economy, cheapness, and sensitivity. Therefore, the present invention adopts pneumatic technology as the driving method. The use of a robotic arm to disassemble the high-pressure oil pump can realize the automation and mechanization of the process. The design of the automated and mechanized pneumatic lifting and turning machine system not only reduces the degree of manual participation and reduces the risk of worker injury, but also optimizes the entire disassembly and assembly process, solving the problem of difficult disassembly and assembly of the high-pressure oil pump and low efficiency of the high-pressure oil pump disassembly and assembly process.

[0004] The existing patents mentioned about the design of lifting and turning machine systems mainly involve the transmission, lifting and turning of products. For example, CN218087337U provides a lifting and turning machine, but the invention is mainly used for turning over material bins, and is not installed with detection, and has poor applicability to high-pressure oil pumps; for example, CN218433533U proposes a carton lifting and turning machine, but the turning angle is too large and the occasions of use are limited; for example, CN107571031B proposes a pneumatic turning machine with automatic clamp moving, but does not specifically describe the detection principle.

[0005] 1. "A lifting and turning machine", patent number CN218087337U. This invention discloses a lifting and turning machine, which mainly includes a column and a silo. A driving structure for driving the lifting and turning of the silo and a guide assembly for guiding the lifting and lowering of the silo are arranged between the column and the silo. The silo is hinged with a cover plate for covering the silo, and the silo is provided with a control assembly for driving the opening and closing of the cover plate. The control assembly includes a bracket fixed to the silo, an actuator whose main body is hinged to the bracket and whose output end is hinged to the cover plate, the hinged end of the cover plate and the bracket are located at the same side wall position of the silo, and the bracket, the actuator and the cover plate are arranged in a triangular shape. This invention covers the silo by flipping the cover to ensure that when the silo is turned over, the material in the silo is prevented from spilling out and the material falls into the receiving position, but this invention is mainly used for turning over the material silo of the material, and has not been installed and tested, and its applicability to high-pressure oil pumps is poor.

[0006] 2. "A carton lifting and turning machine", patent number CN218433533U. The invention provides a carton lifting and turning machine, including a low-level infeed conveyor and a high-level outfeed conveyor. The lifting and turning machine includes a support frame composed of a horizontal base frame and a vertical frame thereon, and a plurality of lifting frames are arranged on the support frame, as well as a driving mechanism for enabling the plurality of lifting frames to complete lifting, turning and turning, and a first annular guide rail and a second annular guide rail for enabling the plurality of lifting frames to lift and turn along the same. The carton sent by the low-level infeed conveyor can be conveniently lifted and turned by the lifting and turning machine, and then sent out via the high-level outfeed conveyor, thereby achieving continuous vertical lifting of the carton and completing a 90° turning of the carton. The structure is simple, and the lifting and turning are flexible, reliable and stable, and the footprint is small. It is very suitable for applications where the carton needs to be lifted in height and turned 90°. The invention proposes a carton lifting and turning machine, but the turning angle is too large, and the application occasions are limited.

[0007] 3. "A pneumatic flipping machine tool with automatic fixture transfer", patent number CN107571031B. This invention discloses a pneumatic flipping machine tool with automatic fixture transfer, including a frame, a machine head, a tool magazine mechanism, a fixture flipping mechanism, a fixture mechanism and a fixture position detection device; the machine head is arranged on the frame, the tool magazine mechanism is arranged below the machine head and located inside the frame, the fixture flipping mechanism is symmetrically arranged on both sides of the frame, the fixture mechanism is arranged between the fixture flipping mechanism, and the fixture position detection device is arranged on the machine head; the fixture position detection device detects whether the fixture of the fixture mechanism is in the specified position of the workpiece according to the processing requirements of the workpiece to be processed; after the detection is completed, the machine head clamps the tool handle of the mobile fixture pushed out from the tool magazine mechanism and moves the fixture to the specified position. The purpose of this invention is to propose a pneumatic flipping machine tool with automatic fixture transfer, using a cylinder instead of a motor to flip the fixture. Although it reduces the production cost, the principle of detection is not described in detail. Summary of the invention

[0008] The present invention provides a pneumatic lifting and turning machine system for disassembling and assembling a high-pressure oil pump, which can automatically grab the high-pressure oil pump, lift and rotate it to adjust its posture, and automatically extract the high-pressure oil pump plunger after removing the screws. The system uses a mechanical arm to replace manual work, which can effectively improve mechanization efficiency while reducing manual participation to ensure construction safety.

[0009] The present invention provides a pneumatic lifting and turning machine system for disassembling and assembling a high-pressure oil pump, comprising: a control console, a plunger carrying platform, a mechanical arm component one, and a mechanical arm component two; the mechanical arm component one comprises a mechanical arm one and a first component for driving the mechanical arm one to achieve forward, backward, left and right movements; the mechanical arm component two comprises a mechanical arm two and a second component for driving the mechanical arm two to achieve forward, backward, left and right movements; the plunger carrying platform is used for placing a plunger of a high-pressure oil pump; the control console is used for controlling the mechanical arm one to grab, rotate, and lift the high-pressure oil pump, and controlling the mechanical arm two to disassemble and extract the plunger.

[0010] Furthermore, the robotic arm assembly 1 includes slide rail 1, slide rail 2, slide rail 3, linear motion cylinder 1, linear motion cylinder 2, linear motion cylinder 3, and robotic arm 1; slide rail 3 and slide rail 2 are parallel to each other and are respectively arranged on two pillars, linear motion cylinder 2 is arranged at the end of slide rail 2, and linear motion cylinder 3 is arranged at the end of slide rail 3; linear motion cylinder 1 is slidably connected to slide rail 3, linear motion cylinder 1 is connected to slide rail 2, and the end of slide rail 2 is slidably connected to slide rail 2; linear motion cylinder 2 and linear motion cylinder 3 are used to drive slide rail 1 and linear motion cylinder 1 to move on slide rail 3 and slide rail 2; robotic arm 1 is slidably connected below slide rail 1, and linear motion cylinder 1 is used to drive robotic arm 1 to move on slide rail 1.

[0011] Furthermore, the robot arm assembly 2 includes a linear motion cylinder 4, a linear motion cylinder 5, a linear motion cylinder 6, a slide rail 4, a slide rail 5, a slide rail 6, and a robot arm 2; the slide rail 5 and the slide rail 6 are arranged in parallel at one end of the inner lower area of ​​the slide rail 3 and the slide rail 2, the linear motion cylinder 6 is arranged at one end of the slide rail 6, and the linear motion cylinder 5 is arranged at one end of the slide rail 5; the slide rail 4 is vertically slidably connected to the slide rail 5 and the slide rail 6, and the linear motion cylinder 6 and the linear motion cylinder 5 are used to drive the slide rail 4 to move on the slide rail 5 and the slide rail 6; the linear motion cylinder 4 is arranged at one end of the slide rail 4, the robot arm 2 is slidably connected to the slide rail 4, and the linear motion cylinder 4 is used to drive the robot arm 2 to move on the slide rail 4.

[0012] Furthermore, the robot arm 1 includes a rotating cylinder 1, a lifting cylinder 1 and an air claw cylinder 1; the top of the rotating cylinder 1 is slidably connected to the bottom of the slide rail 1, the lifting cylinder 1 is connected to the bottom of the rotating cylinder 1, and the air claw cylinder 1 is connected to the bottom of the lifting cylinder 1.

[0013] Furthermore, the robot arm 2 includes a rotating cylinder 2, a lifting cylinder 2 and a claw cylinder 2; the rotating cylinder 2 is slidably connected to the slide rail 4, the lifting cylinder 2 is connected to the top of the rotating cylinder 2, and the claw cylinder 2 is arranged above the lifting cylinder 2.

[0014] Further, the linear motion cylinder 1 is driven by the solenoid valve A22, the linear motion cylinder 2 is driven by the solenoid valve A23, the linear motion cylinder 3 is driven by the solenoid valve A24, the rotating cylinder 1 is driven by the solenoid valve A21, the lifting cylinder 1 is driven by the solenoid valve A20, the claw cylinder 1 is driven by the solenoid valve A19, the linear motion cylinder 4 is driven by the solenoid valve B22, the linear motion cylinder 5 is driven by the solenoid valve B23, the linear motion cylinder 6 is driven by the solenoid valve B24, the rotating cylinder 2 is driven by the solenoid valve B21, the lifting cylinder 2 is driven by the solenoid valve B20, and the claw cylinder 2 is driven by the solenoid valve B19.

[0015] Further, it also includes: speed sensor 2, linear sensor 4, linear sensor 1, linear sensor 3, angle sensor 1, visual sensor 1, speed sensor 1;

[0016] Speed ​​sensor 2 is installed on linear motion cylinder 2, and linear sensor 4 is installed on slide rail 2; speed sensor 1 is installed on linear motion cylinder 1, and linear sensor 3 is installed on slide rail 1; linear sensor 1 is installed on lifting cylinder 1, angle sensor 1 is installed on rotating cylinder 1, and visual sensor 1 is installed on air claw cylinder 1.

[0017] Furthermore, it also includes: linear sensor seven, linear sensor five, linear sensor six, speed sensor four, linear sensor eight, linear sensor six; visual sensor two, linear sensor two, angle sensor two;

[0018] Linear sensor seven is installed on slide rail five, linear sensor five is installed on linear motion cylinder five, linear sensor six is ​​installed on linear motion cylinder six, speed sensor four is installed on linear motion cylinder four, linear sensor eight is installed on slide rail six, visual sensor two is installed on air claw cylinder two, linear sensor two is installed on lifting cylinder two, and angle sensor two is installed on rotating cylinder two.

[0019] Furthermore, the console is used to implement the following control steps:

[0020] S1: console starts the system;

[0021] S2: Linear motion cylinder drives the robot arm to run on the slide rail;

[0022] S3: Rotate the cylinder to adjust the direction of the robot arm;

[0023] S4: lift cylinder → extend the robotic arm → to a specified height;

[0024] S5: The air claw cylinder drives the air claw to grasp the high-pressure oil pump;

[0025] S6: Lifting cylinder 1 retracts mechanical arm 1 and lifts the high-pressure oil pump;

[0026] S7: Rotate the cylinder to adjust one end of the high-pressure oil pump to a specified direction;

[0027] S8: Linear motion cylinders 2 and 3 transport the robot arm component 1 to the designated position;

[0028] S9: Linear motion cylinder 4 drives robot arm 2 to run on slide rail 4;

[0029] S10: Rotate cylinder 2 to adjust the direction of robot arm 2;

[0030] S11: Lifting cylinder 2 adjusts air gripper 2 to a specified height;

[0031] S12: Linear motion cylinder 5 and linear motion cylinder 6 drive robot arm 2 and slide rail 4 to run on slide rail 5 and slide rail 6;

[0032] S13: The second claw cylinder drives the claw to grab one end of the plunger;

[0033] S14: Linear motion cylinder five and linear motion cylinder six drive mechanical arm two to pull the plunger away from the high-pressure oil pump.

[0034] Furthermore, the cylinder motion equation satisfies the following relationship:

[0035]

[0036] Where: M is the effective mass of the moving part; x is the displacement of the piston; p α 、p β are the air pressures of the rodless cavity and the rod cavity respectively; A α , A β are the force-bearing areas of the pistons in the rodless chamber and the rod chamber respectively; F f is the friction force of the cylinder; F1 is the external load force;

[0037] Assuming that there is no heat exchange between the two chambers of the cylinder and the external atmosphere, the temperature inside the chamber remains unchanged during filling and discharging, and is equal to the ambient temperature, then the cylinder thermodynamic equation satisfies the following relationship:

[0038]

[0039] Where: c is the specific heat capacity of air; R is the ideal gas constant; are the mass flow rates flowing into the rodless cavity and the rod cavity respectively; are the mass flow rates out of the rodless cavity and the rod cavity respectively; V α 、V β are the volumes of the rodless cavity and the rod cavity respectively; T α , T β , T0 are the temperatures of the rodless cavity, the rod cavity and the environment respectively;

[0040] The cylinder system satisfies the following dynamic model relationship:

[0041]

[0042] Among them: the state vector x includes the displacement, velocity and acceleration of the piston and the pressure of the two chambers of the cylinder; η is the correction term; ξ is the friction reduction coefficient.

[0043] The present invention has the following beneficial effects: a pneumatic lifting and turning machine system for disassembling and assembling a high-pressure oil pump of the present invention is composed of a mechanical arm assembly, a control console and a plunger carrying platform. The mechanical arm assembly is composed of a mechanical arm and a corresponding slide rail, and the two mechanical arms are composed of a lifting cylinder, a rotating cylinder and an air claw cylinder. The slide rail is driven by a linear motion cylinder, and the cylinder is controlled by a corresponding solenoid valve. At the same time, a visual sensor, a linear sensor, an angle sensor and a speed sensor are installed on the mechanical arm and the slide rail to ensure the accurate completion of the high-pressure oil pump disassembly and assembly process. The visual sensor is used to help the mechanical arm identify the position of the high-pressure oil pump and the plunger, and feedback to the entire system. The angle sensor is used to control the rotation angle of the rotating cylinder, and further rotate to adjust the posture of the high-pressure oil pump. The linear sensor is used to accurately identify and control the running distance of the linear motion cylinder and the lifting cylinder, so that the mechanical arm can accurately reach the predetermined position. The speed sensor is used to control the speed of the slide rail when it is running, to prevent excessive speed from causing damage to the high-pressure oil pump and the plunger, and to reduce the occurrence of danger. The present invention can accurately and efficiently realize the lifting and rotation of the high-pressure oil pump and the disassembly of its plunger, thereby improving mechanization and reducing hidden dangers that pose potential threats to workers' lives. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 It is an overall diagram of the high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system;

[0046] Figure 2 This is the console structure diagram;

[0047] Figure 3 It is the structural diagram of the plunger carrying platform;

[0048] Figure 4 This is the overall diagram of the robotic arm assembly;

[0049] Figure 5 This is a structural diagram of the robotic arm assembly;

[0050] Figure 6 This is a structural diagram of a component of a robotic arm;

[0051] Figure 7 This is the structural diagram of the second component of the robotic arm;

[0052] Figure 8 A pneumatic transmission system for a component of a robotic arm;

[0053] Fig. 9 It is the pneumatic transmission system of the two components of the robot arm;

[0054] Fig.10 This is a control flow chart of a high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system.

[0055] In the figure: 2-control console; 3-plunger carrying platform; 3a-plunger carrying platform; 3b-plunger; 5a-linear motion cylinder three; 5b-slide rail one; 5c-linear motion cylinder two; 5d-slide rail two; 5e-high pressure oil pump; 5f-slide rail five; 5g-linear motion cylinder five; 5h-slide rail four; 5i-linear motion cylinder six; 5j-slide rail six; 5k-linear motion cylinder four; 5l-slide rail three; 5m-linear motion cylinder one; 6-mechanical arm one; 7-mechanical arm two; 10-speed sensor two; 11-linear sensor four; 12-mechanical arm one; 12a-rotation cylinder one; 12b-linear sensor one; 12c-pneumatic claw cylinder one; 12d-linear sensor three; 12e-angle sensor one; 12f-lifting cylinder one; 12g-visual sensor one; 13-speed sensor one; 14-linear sensor five; 15-speed sensor three; 16-linear sensor seven; 17-speed sensor five; 18-robotic arm two; 18a-visual sensor two; 18b-linear sensor two; 18c-rotating cylinder two; 18d-pneumatic claw cylinder two; 18e-lifting cylinder two; 18f-angle sensor two; 19-speed sensor six; 20-speed sensor four; 21-linear sensor eight; 22-linear sensor six. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. The technical solutions provided by the embodiments of the present invention are described in detail below in conjunction with the drawings.

[0057] See also Figures 1 to 10 The embodiment of the present invention provides a high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system, including: a control console 2, a plunger carrying platform 3, a mechanical arm assembly 1 6, and a mechanical arm assembly 2 7.

[0058] Among them, the robot arm component 6 includes a robot arm 12 and a first component for driving the robot arm 12 to move forward, backward, left and right; the robot arm component 2 7 includes a robot arm 2 18 and a second component for driving the robot arm 2 18 to move forward, backward, left and right; the plunger carrying platform 3 is used to place the high-pressure oil pump plunger; the control console 2 is used to control the robot arm 12 to grab, rotate, and lift the high-pressure oil pump, and control the robot arm 2 18 to disassemble and extract the plunger.

[0059] Specifically, the robot arm assembly 6 includes a slide rail 1 5b, a slide rail 2 5d, a slide rail 3 5l, a linear motion cylinder 1 5m, a linear motion cylinder 2 5c, a linear motion cylinder 3 5a, and a robot arm 12; the slide rail 3 5l and the slide rail 2 5d are parallel to each other and are respectively arranged on two pillars, the linear motion cylinder 2 5c is arranged at the second end of the slide rail 5d, and the linear motion cylinder 3 5a is arranged at the third end of the slide rail 5l; the linear motion cylinder 1 5m is slidably connected to the slide rail 3 5l, the linear motion cylinder 1 5m is connected to the slide rail 2 5d, and the end of the slide rail 2 5d is slidably connected to the slide rail 2 5d; the linear motion cylinder 2 5c and the linear motion cylinder 3 5a are used to drive the slide rail 1 5b and the linear motion cylinder 1 5m to move on the slide rail 3 5l and the slide rail 2 5d; the robot arm 12 is slidably connected to the bottom of the slide rail 1 5b, and the linear motion cylinder 1 5m is used to drive the robot arm 12 to move on the slide rail 1 5b.

[0060] Specifically, the robot arm assembly 27 includes a linear motion cylinder 45k, a linear motion cylinder 55g, a linear motion cylinder 65i, a slide rail 45h, a slide rail 55f, a slide rail 65j, and a robot arm 218; the slide rails 55f and 65j are arranged in parallel at one end of the inner lower area of ​​the slide rails 351 and 25d, the linear motion cylinder 65i is arranged at one end of the slide rail 65j, and the linear motion cylinder 55g is arranged at one end of the slide rail 55f; the slide rail 45h is vertically slidably connected to the slide rails 55f and 65j, the linear motion cylinder 65i and the linear motion cylinder 55g are used to drive the slide rail 45h to move on the slide rails 55f and 65j; the linear motion cylinder 45k is arranged at one end of the slide rail 45h, the robot arm 218 is slidably connected to the slide rail 45h, and the linear motion cylinder 45k is used to drive the robot arm 182 to move on the slide rail 45h.

[0061] The robot arm 12 includes a rotating cylinder 12a, a lifting cylinder 12f and a claw cylinder 12c; the top of the rotating cylinder 12a is slidably connected to the bottom of the slide rail 15b, the lifting cylinder 12f is connected to the bottom of the rotating cylinder 12a, and the claw cylinder 12c is connected to the bottom of the lifting cylinder 12f. The robot arm 2 18 includes a rotating cylinder 2 18c, a lifting cylinder 2 18e and a claw cylinder 2 18d; the rotating cylinder 2 18c is slidably connected to the slide rail 45h, the lifting cylinder 2 18e is connected to the top of the rotating cylinder 2 18c, and the claw cylinder 2 18d is arranged above the lifting cylinder 2 18e.

[0062] Robot arm 1 is driven by lifting cylinder 1 to lower to the location of the high-pressure oil pump and then lifted, driven by rotating cylinder 1 to rotate to a specified angle, and driven by claw cylinder 1 to grab the high-pressure oil pump. Robot arm 2 is driven by lifting cylinder 2 to lift to the height where mechanical claw 1 and the high-pressure oil pump are located, driven by rotating cylinder 2 to rotate to a corresponding angle, and driven by claw cylinder 2 to grab and extract the plunger of the high-pressure oil pump.

[0063] The linear motion cylinder 1 5m is driven by the solenoid valve A22, the linear motion cylinder 2 5c is driven by the solenoid valve A23, the linear motion cylinder 3 5a is driven by the solenoid valve A24, the rotary cylinder 12a is driven by the solenoid valve A21, the lifting cylinder 12f is driven by the solenoid valve A20, the claw cylinder 12c is driven by the solenoid valve A19, the linear motion cylinder 4 5k is driven by the solenoid valve B22, the linear motion cylinder 5g is driven by the solenoid valve B23, the linear motion cylinder 6 5i is driven by the solenoid valve B24, the rotary cylinder 2 18c is driven by the solenoid valve B21, the lifting cylinder 2 18e is driven by the solenoid valve B20, and the claw cylinder 2 18d is driven by the solenoid valve B19.

[0064] The high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system also includes: a speed sensor 210, a linear sensor 411, a linear sensor 12b, a linear sensor 312d, an angle sensor 12e, a visual sensor 12g, and a speed sensor 13; the speed sensor 210 is installed on the linear motion cylinder 25c, and the linear sensor 411 is installed on the slide rail 25d; the speed sensor 13 is installed on the linear motion cylinder 15m, and the linear sensor 312d is installed on the slide rail 5b; the linear sensor 12b is installed on the lifting cylinder 12f, the angle sensor 12e is installed on the rotating cylinder 12a, and the visual sensor 12g is installed on the claw cylinder 12c.

[0065] The high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system also includes: linear sensor seven 16, linear sensor five 17, linear sensor six 19, speed sensor four 20, linear sensor eight 21, linear sensor six 22; visual sensor two 18a, linear sensor two 18b, angle sensor two 18f; linear sensor seven 16 is installed on the slide rail five 5f, linear sensor five 17 is installed on the linear motion cylinder five 5g, linear sensor six 19 is installed on the linear motion cylinder six 5i, speed sensor four 20 is installed on the linear motion cylinder four 5k, linear sensor eight 21 is installed on the slide rail six 5j, visual sensor two 18a is installed on the air claw cylinder two 18d, linear sensor two 18b is installed on the lifting cylinder two 18e, and angle sensor two 18f is installed on the rotating cylinder two 18c.

[0066] Figure 8 , 9 This is the pneumatic transmission system diagram of the robot arm 1 and robot arm 2 components. The linear motion cylinder, rotary cylinder, lifting cylinder and claw cylinder are all driven by the corresponding solenoid valves and controlled by the corresponding throttle valves. When the corresponding solenoid valve is energized, the air source passes through the working pressure control circuit, passes through the corresponding solenoid valve, and then passes through the corresponding one-way throttle valve into the corresponding cylinder, pushing the piston of the cylinder to move;

[0067] The working principle of the robotic arm and slide rail components is:

[0068] When the solenoid valve YA7 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A22, and then passes through the one-way throttle valve A10 into the left side of the linear motion cylinder, pushing it to extend to the left.

[0069] When the solenoid valve YA9 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A23, and then enters the left side of the linear motion cylinder through the one-way throttle valve A13, pushing it forward.

[0070] When the solenoid valve YA11 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A24, and then enters the left side of the linear motion cylinder through the one-way throttle valve A16, pushing it forward.

[0071] When the solenoid valve YA5 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A21, and then enters the left side of the rotating cylinder through the one-way throttle valve A7, pushing it to swing to the left.

[0072] When the solenoid valve YA3 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A20, and then enters the left side of the lifting cylinder through the one-way throttle valve A4, pushing it downward.

[0073] When the solenoid valve YA1 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A19, and then enters the left side of the air gripper cylinder through the one-way throttle valve A1 to grab the object.

[0074] When the solenoid valve YA8 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A22, and then enters the right side of the linear motion cylinder through the one-way throttle valve A11, pushing it to extend to the right.

[0075] When the solenoid valve YA10 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A23, and then enters the right side of the linear motion cylinder through the one-way throttle valve A14, pushing it to retract backward.

[0076] When the solenoid valve YA12 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A24, and then enters the right side of the linear motion cylinder through the one-way throttle valve A17, pushing it to retract backward.

[0077] When the solenoid valve YA6 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A21, and then enters the right side of the rotating cylinder through the one-way throttle valve A8, pushing it to swing to the right.

[0078] When the solenoid valve YA4 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A20, and then enters the right side of the lifting cylinder through the one-way throttle valve A5, pushing it upward and retracting.

[0079] When the solenoid valve YA2 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve A19, and then enters the right side of the air claw cylinder through the one-way throttle valve A2 to release the object.

[0080] When the solenoid valve YB7 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B22, and then enters the left side of the linear motion cylinder through the one-way throttle valve B10, pushing it to extend to the left.

[0081] When the solenoid valve YB9 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B23, and then enters the left side of the linear motion cylinder through the one-way throttle valve B13, pushing it forward.

[0082] When the solenoid valve YB11 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B24, and then enters the left side of the linear motion cylinder through the one-way throttle valve B16, pushing it forward.

[0083] When the solenoid valve YB5 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B21, and then enters the left side of the rotating cylinder through the one-way throttle valve B7, pushing it to swing to the left.

[0084] When the solenoid valve YB3 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B20, and then enters the left side of the lifting cylinder through the one-way throttle valve B4, pushing it downward.

[0085] When the solenoid valve YB1 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B19, and then enters the left side of the air gripper cylinder through the one-way throttle valve B1 to grab the object.

[0086] When the solenoid valve YB8 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B22, and then enters the right side of the linear motion cylinder through the one-way throttle valve B11, pushing it to extend to the right.

[0087] When the solenoid valve YB10 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B23, and then enters the right side of the linear motion cylinder through the one-way throttle valve B14, pushing it to retract backward.

[0088] When the solenoid valve YB12 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B24, and then enters the right side of the linear motion cylinder through the one-way throttle valve B17, pushing it to retract backward.

[0089] When the solenoid valve YB6 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B21, and then enters the right side of the rotating cylinder through the one-way throttle valve B8, pushing it to swing to the right.

[0090] When the solenoid valve YB4 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B20, and then enters the right side of the lifting cylinder through the one-way throttle valve B5, pushing it upward and retracting.

[0091] When the solenoid valve YB2 is energized, the air source passes through the working pressure control circuit, passes through the solenoid valve B19, and then enters the right side of the air claw cylinder through the one-way throttle valve B2 to release the object.

[0092] The cylinder motion equation satisfies the following relationship:

[0093]

[0094] Where: M is the effective mass of the moving part; x is the displacement of the piston; p α 、p β are the air pressures of the rodless cavity and the rod cavity respectively; A α , A β are the force-bearing areas of the pistons in the rodless chamber and the rod chamber respectively; F f is the friction force of the cylinder; F1 is the external load force;

[0095] Assuming that there is no heat exchange between the two chambers of the cylinder and the external atmosphere, the temperature inside the chamber remains unchanged during filling and discharging, and is equal to the ambient temperature, then the cylinder thermodynamic equation satisfies the following relationship:

[0096]

[0097] Where: c is the specific heat capacity of air; R is the ideal gas constant; are the mass flow rates flowing into the rodless cavity and the rod cavity respectively; are the mass flow rates out of the rodless cavity and the rod cavity respectively; V α 、V β are the volumes of the rodless cavity and the rod cavity respectively; T α , T β , T0 are the temperatures of the rodless cavity, the rod cavity and the environment respectively;

[0098] The cylinder system satisfies the following dynamic model relationship:

[0099]

[0100] Among them: the state vector x includes the displacement, velocity and acceleration of the piston and the pressure of the two chambers of the cylinder; η is the correction term; ξ is the friction reduction coefficient.

[0101] Console 2 is used to implement the following control steps:

[0102] S1: console starts the system;

[0103] S2: Linear motion cylinder drives the robot arm to run on the slide rail;

[0104] S3: Rotate the cylinder to adjust the direction of the robot arm;

[0105] S4: lift cylinder → extend the robotic arm → to a specified height;

[0106] S5: The air claw cylinder drives the air claw to grasp the high-pressure oil pump;

[0107] S6: Lifting cylinder 1 retracts mechanical arm 1 and lifts the high-pressure oil pump;

[0108] S7: Rotate the cylinder to adjust one end of the high-pressure oil pump to a specified direction;

[0109] S8: Linear motion cylinders 2 and 3 transport the robot arm component 1 to the designated position;

[0110] S9: Linear motion cylinder 4 drives robot arm 2 to run on slide rail 4;

[0111] S10: Rotate cylinder 2 to adjust the direction of robot arm 2;

[0112] S11: Lifting cylinder 2 adjusts air gripper 2 to a specified height;

[0113] S12: Linear motion cylinder 5 and linear motion cylinder 6 drive robot arm 2 and slide rail 4 to run on slide rail 5 and slide rail 6;

[0114] S13: The second claw cylinder drives the claw to grab one end of the plunger;

[0115] S14: Linear motion cylinder five and linear motion cylinder six drive mechanical arm two to pull the plunger away from the high-pressure oil pump.

[0116] The present invention uses a cylinder drive to grab, lift, flip and withdraw the plunger of the high-pressure oil pump, and the control system is stable and simple. Each cylinder corresponds to a fixed solenoid valve drive and a corresponding throttle valve to control it. In actual work, the cylinder is controlled to reciprocate, the whole process is stable and reliable, and the cylinder operation is relatively simple.

[0117] The present invention adopts a mechanical arm combination to replace manual work to grab, lift, flip and extract the plunger of the high-pressure oil pump, and the whole process is highly mechanized and automated, which reduces the degree of manual participation, achieves efficient operation and ensures the quality of the whole process.

[0118] The present invention uses a slide rail transportation method to move the mechanical arm assembly and the high-pressure oil pump assembly. Compared with manual handling, the slide rail transportation is efficient and convenient. During the process, a single slide rail is used to move the mechanical arm and the high-pressure oil pump assembly, which has a simple structure and is easy to operate; two slide rails are used to move the mechanical arm assembly and the high-pressure oil pump assembly, which has a reliable structure and ensures the safety of the moving process.

[0119] The present invention adopts a detection method with multiple sensors to ensure the accuracy and efficiency of the entire operation process. The speed sensor ensures that the speed of the linear motion cylinder remains within the specified range, the linear sensor controls the distance of the linear motion cylinder, the angle sensor controls the angle of rotation of the rotator cylinder, and the visual sensor is used to identify and grab the required workpiece, ensuring the accuracy and reliability of the entire operation process.

[0120] The innovation of the present invention is to design a high-pressure oil pump lifting and turning machine system, which uses a cylinder as a drive. Pneumatic drive is more economical, cheap, and sensitive than other drive methods. Each cylinder in the present invention is driven by a solenoid valve and is equipped with a corresponding throttle valve for stable control. Compared with other patents in this field, the present invention adopts a combination of a mechanical arm and a slide rail, which is more convenient for movement; a variety of sensors are used for feedback and detection to achieve high precision and a higher degree of automation. The combination of a mechanical arm and a slide rail is used to disassemble the high-pressure oil pump, which solves many problems encountered in the current disassembly of the high-pressure oil pump, such as: the weight of the high-pressure oil pump is too large, and multiple people are required to assist in the manual handling process; the manual operation of the high-pressure oil pump is difficult; the process of disassembling and assembling the high-pressure oil pump is time-consuming and inefficient. In order to ensure the efficiency and accuracy of the entire disassembly and assembly process, the present invention installs various sensors on the mechanical arm and the slide rail, and the measured data is fed back to the console in real time, and then autonomously regulated. The present invention has a high degree of automation and mechanization, can achieve efficient work, and produce higher benefits.

[0121] The above-described embodiments of the present invention do not limit the protection scope of the present invention.

Claims

1. A high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system, characterized in that: include: A control console (2), a plunger carrying platform (3), a mechanical arm assembly 1 (6), and a mechanical arm assembly 2 (7); The mechanical arm assembly 1 (6) comprises a mechanical arm 1 (12) and a first assembly for driving the mechanical arm 1 (12) to move forward, backward, left and right; the mechanical arm assembly 2 (7) comprises a mechanical arm 2 (18) and a second assembly for driving the mechanical arm 2 (18) to move forward, backward, left and right; The plunger carrying platform (3) is used to place the plunger of the high-pressure oil pump; the control console (2) is used to control the first mechanical arm (12) to grab, rotate and lift the high-pressure oil pump, and control the second mechanical arm (18) to disassemble and extract the plunger.

2. A high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system as claimed in claim 1, characterized in that: The mechanical arm assembly 1 (6) comprises a slide rail 1 (5b), a slide rail 2 (5d), a slide rail 3 (5l), a linear motion cylinder 1 (5m), a linear motion cylinder 2 (5c), a linear motion cylinder 3 (5a), and a mechanical arm 1 (12); the slide rail 3 (5l) and the slide rail 2 (5d) are parallel to each other and are respectively arranged on two pillars, the linear motion cylinder 2 (5c) is arranged at the second end of the slide rail (5d), and the linear motion cylinder 3 (5a) is arranged at the third end of the slide rail (5l); the linear motion cylinder 1 (5m) is slidably connected to On the slide rail three (51), the linear motion cylinder one (5m) is connected to the slide rail two (5d), and the end of the slide rail two (5d) is slidably connected to the slide rail two (5d); the linear motion cylinder two (5c) and the linear motion cylinder three (5a) are used to drive the slide rail one (5b) and the linear motion cylinder one (5m) to move on the slide rail three (51) and the slide rail two (5d); the mechanical arm one (12) is slidably connected to the bottom of the slide rail one (5b), and the linear motion cylinder one (5m) is used to drive the mechanical arm one (12) to move on the slide rail one (5b).

3. A high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system as claimed in claim 2, characterized in that: The robot arm assembly 2 (7) comprises a linear motion cylinder 4 (5k), a linear motion cylinder 5 (5g), a linear motion cylinder 6 (5i), a slide rail 4 (5h), a slide rail 5 (5f), a slide rail 6 (5j), and a robot arm 2 (18); the slide rail 5 (5f) and the slide rail 6 (5j) are arranged in parallel at one end of the inner lower area of ​​the slide rail 3 (5l) and the slide rail 2 (5d), the linear motion cylinder 6 (5i) is arranged at one end of the slide rail 6 (5j), and the linear motion cylinder 5 (5g) is arranged at the slide rail 5 (5f). ) one end; the slide rail four (5h) is vertically slidably connected to the slide rail five (5f) and the slide rail six (5j); the linear motion cylinder six (5i) and the linear motion cylinder five (5g) are used to drive the slide rail four (5h) to move on the slide rail five (5f) and the slide rail six (5j); the linear motion cylinder four (5k) is arranged at one end of the slide rail four (5h), the robot arm two (18) is slidably connected to the slide rail four (5h), and the linear motion cylinder four (5k) is used to drive the robot arm (18) two to move on the slide rail four (5h).

4. A high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system as claimed in claim 3, characterized in that: The robot arm 1 (12) includes a rotating cylinder 1 (12a), a lifting cylinder 1 (12f) and an air claw cylinder 1 (12c); the top of the rotating cylinder 1 (12a) is slidably connected to the bottom of the slide rail 1 (5b), the lifting cylinder 1 (12f) is connected to the bottom of the rotating cylinder 1 (12a), and the air claw cylinder 1 (12c) is connected to the bottom of the lifting cylinder 1 (12f).

5. A high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system as claimed in claim 4, characterized in that: The robot arm 2 (18) includes a rotating cylinder 2 (18c), a lifting cylinder 2 (18e) and a claw cylinder 2 (18d); the rotating cylinder 2 (18c) is slidably connected to the slide rail 4 (5h), the lifting cylinder 2 (18e) is connected to the top of the rotating cylinder 2 (18c), and the claw cylinder 2 (18d) is arranged above the lifting cylinder 2 (18e).

6. A high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system as claimed in claim 5, characterized in that: The linear motion cylinder 1 (5m) is driven by the solenoid valve A22, the linear motion cylinder 2 (5c) is driven by the solenoid valve A23, the linear motion cylinder 3 (5a) is driven by the solenoid valve A24, the rotating cylinder 1 (12a) is driven by the solenoid valve A21, the lifting cylinder 1 (12f) is driven by the solenoid valve A20, the claw cylinder 1 (12c) is driven by the solenoid valve A19, the linear motion cylinder 4 (5k) is driven by the solenoid valve B22, the linear motion cylinder 5 (5g) is driven by the solenoid valve B23, the linear motion cylinder 6 (5i) is driven by the solenoid valve B24, the rotating cylinder 2 (18c) is driven by the solenoid valve B21, the lifting cylinder 2 (18e) is driven by the solenoid valve B20, and the claw cylinder 2 (18d) is driven by the solenoid valve B19.

7. A high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system as claimed in claim 6, characterized in that: Also includes: Speed ​​sensor 2 (10), linear sensor 4 (11), linear sensor 1 (12b), linear sensor 3 (12d), angle sensor 1 (12e), visual sensor 1 (12g), speed sensor 1 (13); Speed ​​sensor 2 (10) is installed on linear motion cylinder 2 (5c), and linear sensor 4 (11) is installed on slide rail 2 (5d); speed sensor 1 (13) is installed on linear motion cylinder 1 (5m), and linear sensor 3 (12d) is installed on slide rail 1 (5b); linear sensor 1 (12b) is installed on lifting cylinder 1 (12f), angle sensor 1 (12e) is installed on rotating cylinder 1 (12a), and visual sensor 1 (12g) is installed on claw cylinder 1 (12c).

8. A high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system as claimed in claim 7, characterized in that: Also includes: Linear sensor seven (16), linear sensor five (17), linear sensor six (19), speed sensor four (20), linear sensor eight (21), linear sensor six (22); visual sensor two (18a), linear sensor two (18b), angle sensor two (18f); Linear sensor seven (16) is installed on slide rail five (5f), linear sensor five (17) is installed on linear motion cylinder five (5g), linear sensor six (19) is installed on linear motion cylinder six (5i), speed sensor four (20) is installed on linear motion cylinder four (5k), linear sensor eight (21) is installed on slide rail six (5j), visual sensor two (18a) is installed on air claw cylinder two (18d), linear sensor two (18b) is installed on lifting cylinder two (18e), and angle sensor two (18f) is installed on rotating cylinder two (18c).

9. A high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system as claimed in claim 6, characterized in that: The control console (2) is used to implement the following control steps: S1: console starts the system; S2: Linear motion cylinder drives the robot arm to run on the slide rail; S3: Rotate the cylinder to adjust the direction of the robot arm; S4: lift cylinder → extend the robotic arm → to a specified height; S5: The air claw cylinder drives the air claw to grasp the high-pressure oil pump; S6: Lifting cylinder 1 retracts mechanical arm 1 and lifts the high-pressure oil pump; S7: Rotate the cylinder to adjust one end of the high-pressure oil pump to a specified direction; S8: Linear motion cylinders 2 and 3 transport the robot arm assembly 1 to the designated position; S9: Linear motion cylinder 4 drives robot arm 2 to run on slide rail 4; S10: Rotate cylinder 2 to adjust the direction of robot arm 2; S11: Lifting cylinder 2 adjusts air gripper 2 to a specified height; S12: Linear motion cylinder 5 and linear motion cylinder 6 drive robot arm 2 and slide rail 4 to run on slide rail 5 and slide rail 6; S13: The second claw cylinder drives the claw to grab one end of the plunger; S14: Linear motion cylinder five and linear motion cylinder six drive mechanical arm two to pull the plunger away from the high-pressure oil pump.

10. A high-pressure oil pump disassembly and assembly pneumatic lifting and turning machine system as claimed in claim 9, characterized in that: The cylinder motion equation satisfies the following relationship: Where: M is the effective mass of the moving part; x is the displacement of the piston; p α 、p β are the air pressures of the rodless cavity and the rod cavity respectively; A α , A β are the force-bearing areas of the pistons in the rodless chamber and the rod chamber respectively; F f is the friction force of the cylinder; F1 is the external load force; Assuming that there is no heat exchange between the two chambers of the cylinder and the external atmosphere, the temperature inside the chamber remains unchanged during filling and discharging, and is equal to the ambient temperature, then the cylinder thermodynamic equation satisfies the following relationship: Where: c is the specific heat capacity of air; R is the ideal gas constant; are the mass flow rates flowing into the rodless cavity and the rod cavity respectively; are the mass flow rates out of the rodless cavity and the rod cavity respectively; V α 、V β are the volumes of the rodless cavity and the rod cavity respectively; T α 、T β , T0 are the temperatures of the rodless cavity, the rod cavity and the environment respectively; The cylinder system satisfies the following dynamic model relationship: Among them: the state vector x includes the displacement, velocity and acceleration of the piston and the pressure of the two chambers of the cylinder; η is the correction term; ξ is the friction reduction coefficient.

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